CN108007336A - Underwater penetration detection method, device and vehicle - Google Patents

Underwater penetration detection method, device and vehicle Download PDF

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Publication number
CN108007336A
CN108007336A CN201610958063.7A CN201610958063A CN108007336A CN 108007336 A CN108007336 A CN 108007336A CN 201610958063 A CN201610958063 A CN 201610958063A CN 108007336 A CN108007336 A CN 108007336A
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vehicle
water
source location
depth
represent
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廖国红
李明
钟学明
罗金亮
杨福
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BYD Co Ltd
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BYD Co Ltd
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Priority to CN201610958063.7A priority Critical patent/CN108007336A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/26—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring depth

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Present disclose provides a kind of underwater penetration detection method, device and vehicle.The described method includes：When vehicle is paddled, the underwater penetration information of four sensors installed in vehicle chassis corner is obtained；Inclination of vehicle information is obtained, wherein, the inclination of vehicle information includes roll angle and pitch angle；According to the underwater penetration information of four sensors and the inclination of vehicle information, the current depth of water at source location on vehicle body is determined, wherein, the source location is any one or more location points in vehicle body surrounding.Thus, it is possible to know the current depth of water at any location point of vehicle body surrounding, thus reduce because vehicle paddle it is too deep caused by the probability that occurs of the failure such as engine misses, the electric leakage of vehicle high-voltage component, lift the person and property safety of driver.

Description

Underwater penetration detection method, device and vehicle
Technical field
This disclosure relates to vehicular field, and in particular, to a kind of underwater penetration detection method, device and vehicle.
Background technology
With the popularization of new energy vehicle, the problem of vehicle safety receives much concern as people, in paddle state when Vehicle safety is more exposed to the attention of people.At present, for vehicle in ponding road traveling, driver can not understand whole car in real time Underwater penetration.When vehicle is paddled it is too deep when, intake and exhaust pipeline is easily intake, and may cause engine misses, vehicle high-voltage The failures such as component electric leakage, the person and property safety of driver will be subject to serious threat.
The content of the invention
The purpose of the disclosure is to be directed to the driver caused by vehicle can not know the underwater penetration of whole vehicle The problem of person and property safety are subject to serious threat, there is provided a kind of underwater penetration detection method, device and vehicle.
To achieve these goals, the disclosure provides a kind of underwater penetration detection method, the described method includes：Related in vehicle During water, the underwater penetration information of four sensors installed in vehicle chassis corner is obtained；Inclination of vehicle information is obtained, wherein, The inclination of vehicle information includes roll angle and pitch angle；According to the underwater penetration information of four sensors and the vehicle Inclination information, determines the current depth of water at source location on vehicle body, wherein, the source location is appointing in vehicle body surrounding One or more location points.
The disclosure also provides a kind of underwater penetration detection device, and described device includes：First acquisition module, in vehicle When paddling, the underwater penetration information of four sensors installed in vehicle chassis corner is obtained；Second acquisition module, for obtaining Inclination of vehicle information, wherein, the inclination of vehicle information includes roll angle and pitch angle；Determining module, for according to described four The underwater penetration information of a sensor and the inclination of vehicle information, determine the current depth of water at source location on vehicle body, its In, the source location is any one or more location points in vehicle body surrounding.
The disclosure also provides a kind of vehicle, including：First sensor, in the left-front corner of the vehicle, for examining The underwater penetration information of measuring car left-front corner；Second sensor, in the right anterior angle of the vehicle, for detecting the vehicle right side The underwater penetration information of anterior angle；3rd sensor, in the left rear corner of the vehicle, for detecting entering for vehicle left rear corner Water depth information；4th sensor, in the right relief angle of the vehicle, the underwater penetration for detecting the right relief angle of vehicle is believed Breath；Gyro sensor, is arranged on the vehicle, for detecting inclination of vehicle information；And above-mentioned underwater penetration detection Device.
The technical scheme provided by this disclosed embodiment can include the following benefits：When vehicle is paddled, by obtaining Take the underwater penetration information and inclination of vehicle information of four sensors, it may be determined that the current water on vehicle body at source location It is deep.By the technical solution, vehicle can know the current depth of water at any location point of vehicle body surrounding, so as to reduce because of vehicle Paddle it is too deep caused by engine misses, vehicle high-voltage component electric leakage etc. failure occur probability, lifted driver the person and Property safety.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Attached drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool Body embodiment is used to explain the disclosure together, but does not form the limitation to the disclosure.In the accompanying drawings：
Figure 1A is a kind of flow chart of underwater penetration detection method according to an exemplary embodiment.
Figure 1B is the current depth of water mistake at source location on a kind of definite vehicle body according to an exemplary embodiment The flow chart of journey.
Fig. 1 C are a kind of flow charts of the underwater penetration detection method shown according to another exemplary embodiment.
Fig. 1 D are the depth of water mistakes at a kind of source location of definite subsequent time according to an exemplary embodiment The flow chart of journey.
Fig. 1 E are a kind of flow charts of the underwater penetration detection method shown according to another exemplary embodiment.
Fig. 2A is a kind of definition schematic diagram of the 3-dimensional reference axis of vehicle according to an exemplary embodiment.
Fig. 2 B are a kind of schematic diagrames of the roll angle of vehicle according to an exemplary embodiment.
Fig. 2 C are a kind of schematic diagrames of the roll angle of the vehicle shown according to another exemplary embodiment.
Fig. 2 D are a kind of schematic diagrames of the pitch angle of vehicle according to an exemplary embodiment.
Fig. 2 E are a kind of schematic diagrames of the pitch angle of the vehicle shown according to another exemplary embodiment.
Fig. 3 A are worked as at a kind of definite at least one source location of body forward structure according to an exemplary embodiment The schematic diagram of the preceding depth of water.
Fig. 3 B are worked as at least one source location in a kind of definite vehicle body left side according to an exemplary embodiment The schematic diagram of the preceding depth of water.
Fig. 3 C and Fig. 3 D are a kind of schematic diagrames of definite vehicle vertical displacement according to an exemplary embodiment.
Fig. 4 A are a kind of block diagrams of underwater penetration detection device according to an exemplary embodiment.
Fig. 4 B are a kind of block diagrams of the underwater penetration detection device shown according to another exemplary embodiment.
Fig. 4 C are a kind of block diagrams of the underwater penetration detection device shown according to another exemplary embodiment.
Embodiment
The embodiment of the disclosure is described in detail below in conjunction with attached drawing.It should be appreciated that this place is retouched The embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
Figure 1A is a kind of flow chart of underwater penetration detection method according to an exemplary embodiment.Such as Figure 1A institutes Show, this method can include：
In a step 101, when vehicle is paddled, the underwater penetration of four sensors installed in vehicle chassis corner is obtained Information.
In the disclosure, the underwater penetration information of the sensor includes the distance between sensor and the water surface.Four sensings Device can include first sensor, second sensor, 3rd sensor and the 4th sensor, wherein, first sensor is installed on In the left-front corner of vehicle, for detecting the underwater penetration information of vehicle left-front corner；Second sensor is installed on the right anterior angle of vehicle On, for detecting the underwater penetration information of the right anterior angle of vehicle；3rd sensor is installed in the left rear corner of the vehicle, for examining The underwater penetration information of measuring car left rear corner；4th sensor is installed in the right relief angle of the vehicle, for detecting the vehicle right side The underwater penetration information of relief angle.When vehicle, which is in, paddles transport condition, four sensors gather the underwater penetration information of itself, Vehicle is subsequently transmitted to, vehicle receives the underwater penetration information from four sensors.
In a step 102, inclination of vehicle information is obtained, wherein, which includes roll angle and pitch angle.
In the disclosure, inclination of vehicle information can include roll angle and pitch angle.During vehicle paddles traveling, The roll angle and pitch angle of vehicle can be monitored in real time by configuring the gyro sensor on vehicle.
By taking gyroscope as an example, A is please referred to Fig.2, it is assumed that its straight line direction of motion is X-axis, and the X direction of vehicle is Y Axis, is Z axis perpendicular to the direction of level ground.As shown in Fig. 2 B or Fig. 2 C, the angle β between X-axis and the water surface is roll angle.Such as Shown in Fig. 2 D or Fig. 2 E, the angle α between Y-axis and the water surface is pitch angle.
In step 103, according to the underwater penetration information of four sensors and the inclination of vehicle information, car is determined The current depth of water at source location with it, wherein, the source location is any one or more positions in vehicle body surrounding Point.
In one embodiment, the current depth of water on vehicle body at source location can be determined in the following manner.Such as Shown in Figure 1B, above-mentioned steps 103 can include：
In step 1031, respectively according to the underwater penetration information of four sensors, the underwater penetration of vehicle corner is determined.
Illustratively, the underwater penetration of vehicle corner can be determined by below equation (1)：
Wherein, HnRepresent n-th jiao of underwater penetration in vehicle corner；dnRepresent and the n-th jiao of corresponding sensing The distance between device and vehicle k level；γ represents the angle between the Z axis and the water surface；hnRepresent and described n-th jiao The distance between corresponding sensor and the water surface.
In step 1032, according to the underwater penetration of vehicle corner and inclination of vehicle information, target location on vehicle body is determined The current depth of water at point.
In the disclosure, which includes the first object location point positioned at body forward structure, positioned at tail of the body The second source location, the 3rd source location on the left of vehicle body and the 4th target location on the right side of vehicle body Point.
Illustratively, first object location point can be included positioned at the first sensor of vehicle left-front corner and before the vehicle right side Any location point between the second sensor at angle.Illustrated in Fig. 3 A by taking two location points as an example.As shown in Figure 3A, A points Represent the installation site of second sensor 302, B points represent the installation site of first sensor 301, D1Point, D2Point is to be located at first Location point between sensor 301 and second sensor 302.
Illustratively, the 3rd source location can be included positioned at the first sensor of vehicle left-front corner and left back positioned at vehicle Any location point between the 3rd sensor at angle.Illustrated in Fig. 3 B by taking two location points as an example.As shown in Figure 3B, E points Represent the installation site of 3rd sensor 303, B points represent the installation site of first sensor 301, D1Point, D2Point is to be located at first Location point between sensor 301 and 3rd sensor 303., can be by with lower section in a kind of embodiment of the disclosure Formula determines the current depth of water at source location on vehicle body.
According to the underwater penetration of vehicle left-front corner, the underwater penetration of right anterior angle and inclination of vehicle information, described first is determined The current depth of water at source location；Believed according to the underwater penetration of vehicle left rear corner, the underwater penetration of right relief angle and inclination of vehicle Breath, determines the current depth of water at the second source location；According to the underwater penetration of vehicle left-front corner, the underwater penetration of left rear corner and Inclination of vehicle information, determines the current depth of water at the 3rd source location；And according to the underwater penetration of the right anterior angle of vehicle, it is right after The underwater penetration and inclination of vehicle information at angle, determine the current depth of water at the 4th source location.
Illustratively, the current depth of water at first object location point can be determined by below equation (2)：
front_depthCi=Min (H1,H2)+x1i·M1·sinα (2)
Wherein, front_depthCiRepresent the current depth of water at the first object location point；H1Represent vehicle left-front corner Underwater penetration；H2Represent the underwater penetration of the right anterior angle of vehicle；x1iRepresent first object location point relative to corresponding with left-front corner Sensor and sensor corresponding with right anterior angle position ratio；M1Represent corresponding with left-front corner sensor and with right anterior angle pair The distance between sensor answered；α represents the pitch angle.
As shown in Figure 3A, above-mentioned first object location point D1Relative to sensor corresponding with left-front corner and with right anterior angle pair The position ratio for the sensor answeredWherein,Represent B points and D1The distance between point, LABRepresent between A points and B points Distance；Above-mentioned first object location point D2Relative to sensor corresponding with left-front corner and sensor corresponding with right anterior angle Position ratioWherein,Represent B points and D2The distance between point, LABRepresent the distance between A points and B points.
Illustratively, the current depth of water at the second source location can be determined by below equation (3)：
tail_depthCj=Min (H3,H4)+x2j·M2·sinα (3)
Wherein, tail_depthCjRepresent the current depth of water at second source location；H3Represent vehicle left rear corner Underwater penetration；H4Represent the underwater penetration of the right relief angle of vehicle；x2jRepresent second source location relative to left rear corner pair The sensor and the position ratio of sensor corresponding with right relief angle answered；M2Represent corresponding with left rear corner sensor and with right relief angle The distance between corresponding sensor；α represents the pitch angle.
Illustratively, the current depth of water at the 3rd source location can be determined by below equation (4)：
left_depthCk=Min (H1,H3)+x3k·M3·sinβ (4)
Wherein, left_depthCkRepresent the current depth of water at the 3rd source location；H1Represent vehicle left-front corner Underwater penetration；H3Represent the underwater penetration of vehicle left rear corner；x3kRepresent the 3rd source location relative to left-front corner pair The sensor and the position ratio of sensor corresponding with left rear corner answered；M3Represent sensor corresponding with left-front corner and and left rear corner The distance between corresponding sensor；β represents the roll angle.
As shown in Figure 3B, above-mentioned 3rd source location D1Relative to sensor corresponding with left-front corner and with left rear corner pair The position ratio for the sensor answeredWherein,Represent B points and D3The distance between point, LEBRepresent between E points and B points Distance；Above-mentioned 3rd source location D4Relative to sensor corresponding with left-front corner and sensor corresponding with left rear corner Position ratioWherein,Represent B points and D4The distance between point, LEBRepresent the distance between E points and B points.
Illustratively, the current depth of water at the 4th source location can be determined by below equation (5)：
right_depthCm=Min (H2,H4)+x4m·M4·sinβ (5)
Wherein, rihgt_depthCmRepresent the current depth of water at the 4th source location；H2Represent the right anterior angle of vehicle Underwater penetration；H4Represent the underwater penetration of the right relief angle of vehicle；x4mRepresent the 4th source location relative to right anterior angle The position ratio of corresponding sensor and sensor corresponding with right relief angle；M4Represent corresponding with right anterior angle sensor and with behind the right side The distance between corresponding sensor in angle；β represents the roll angle.
The technical scheme provided by this disclosed embodiment can include the following benefits：When vehicle is paddled, by obtaining Take the underwater penetration information and inclination of vehicle information of four sensors, it may be determined that the current water on vehicle body at source location It is deep.By the technical solution, vehicle can know the current depth of water at any location point of vehicle body surrounding, so as to reduce because of vehicle Paddle it is too deep caused by engine misses, vehicle high-voltage component electric leakage etc. failure occur probability, lifted driver the person and Property safety.
As shown in Figure 1 C, on the basis of the method shown in Figure 1A, this method can also comprise the following steps.
At step 104, the steering wheel anglec of rotation, vehicle speed and acceleration are obtained.
In step 105, according to the steering wheel anglec of rotation, the speed, the acceleration, the inclination of vehicle information The current depth of water with the source location, determines the depth of water at the source location of subsequent time.
In the disclosure, the steering wheel anglec of rotation, vehicle can be obtained by the gyro sensor being arranged on vehicle Speed and acceleration, are subsequently transmitted to vehicle, and vehicle receives these three parameter values.
In one embodiment, the water at the source location of subsequent time can be determined in the following manner It is deep.As shown in Figure 2 D, above-mentioned steps 105 can include：
In step 1051, according to the steering wheel anglec of rotation, speed, acceleration and inclination of vehicle information, determine that vehicle is vertical Displacement.
Illustratively, vehicle vertical displacement can be determined by below equation (6)：
Wherein, Δ H represents the vehicle vertical displacement；V0Represent the speed；A represents the acceleration；Described in δ is represented The steering wheel anglec of rotation；C represents the proportionality coefficient of the wheel anglec of rotation and the steering wheel anglec of rotation；Δ t represents subsequent time Time interval between current time；β represents the roll angle.
In step 1052, according to the current depth of water at vehicle vertical displacement and source location, subsequent time is determined The depth of water at source location.
In the disclosure, which can include the first object location point positioned at body forward structure, positioned at vehicle body The second source location, the 3rd source location on the left of vehicle body and the 4th target position on the right side of vehicle body of afterbody Put a little.
In one embodiment, the water at the source location of subsequent time can be determined by below equation (7) It is deep：
Wherein, front_depthiT represents the depth of water at the first object location point of subsequent time；front_ depthCiRepresent the current depth of water at first object location point；tail_depthTjRepresent the second target position of subsequent time The depth of water at putting；tail_depthCjRepresent the current depth of water at second source location；left_depthTkUnder expression The depth of water at 3rd source location at one moment；front_depthCkRepresent working as at the 3rd source location The preceding depth of water；right_depthTmRepresent the depth of water at the 4th source location of subsequent time；right_depthCmRepresent The current depth of water at 4th source location；Δ H represents the vehicle vertical displacement.
In addition, the value of above-mentioned Δ H can be just, or negative.When vehicle is in forward-lean state as shown in Figure 3 C, For the value of Δ H for just, vehicle moves down a distance Δ H in vertical direction, and the depth of water at the source location of subsequent time is more than phase Answer the current depth of water at source location；When vehicle is in retroverted state as shown in Figure 3D, the value of Δ H is negative, and vehicle exists Vertical direction moves up a distance Δ H, and the depth of water at the source location of subsequent time is less than working as at respective target locations point The preceding depth of water.
In this way, vehicle can not only know the current depth of water at any location point of vehicle body surrounding, and under can knowing Depth at one moment vehicle body surrounding any location point, can provide for the definite and risk averse of follow-up traveling strategy of paddling More accurate, reliable data are supported.
As referring to figure 1E, on the basis of the method shown in Fig. 1 C, this method can also comprise the following steps 106.
In step 106, the depth of water at the source location of the current depth of water at source location or subsequent time surpasses When crossing default depth of water threshold value, alarm.
In one embodiment, the current depth of water or next at detected any one source location of vehicle body surrounding When the depth of water at the either objective location point at moment exceedes default depth of water threshold value, indicator light, audio alert, transmission can be passed through Reminder message reminds driver to evade danger in advance to modes such as the intelligent wearable device of driver, mobile terminals.
Paddle the security of traveling to further improve vehicle, vehicle can also supervise the depth of accumulated water of cockpit Survey：
First, the depth of accumulated water in vehicle cab is obtained；
Next, when the depth of accumulated water in cockpit exceedes default depth of accumulated water threshold value, alarm.
In one embodiment, vehicle can obtain vehicle cab by the sensor being arranged in the cockpit Interior depth of accumulated water, and when detecting that the depth of accumulated water in cockpit exceedes default depth of accumulated water threshold value, perform alarm behaviour Make, and the type of alarm should be otherwise varied with above-mentioned type of alarm, the reason for can quickly determining to alarm so as to driver.
Fig. 4 A are a kind of block diagrams of underwater penetration detection device according to an exemplary embodiment.As shown in Figure 4 A, The underwater penetration detection device 400 can include：
First acquisition module 401, for when vehicle is paddled, obtaining four sensors installed in vehicle chassis corner Underwater penetration information；
Second acquisition module 402, for obtaining inclination of vehicle information, wherein, the inclination of vehicle information includes roll angle And pitch angle；
Determining module 403, for the underwater penetration information according to four sensors and the inclination of vehicle information, really Determine the current depth of water at source location on vehicle body, wherein, the source location is any one or more in vehicle body surrounding Location point.
Alternatively, the underwater penetration information of the sensor includes the distance between sensor and the water surface；
Its straight line direction of motion is X-axis, and the X direction of vehicle is Y-axis, is Z perpendicular to the direction of level ground Axis, roll angle described in the angle between the X-axis and the water surface, the angle between the Y-axis and the water surface are the pitch angle.
Alternatively, the determining module 403 can include：First determination sub-module, for respectively according to described four biographies The underwater penetration information of sensor, determines the underwater penetration of vehicle corner；Second determination sub-module, for according to the vehicle corner Underwater penetration and the inclination of vehicle information, determine the current depth of water at source location on vehicle body.
Alternatively, first determination sub-module is used for respectively according to the underwater penetration information of four sensors, can To determine the underwater penetration of vehicle corner by above formula (1).
Alternatively, the source location includes the first object location point positioned at body forward structure, positioned at tail of the body Second source location, the 3rd source location on the left of vehicle body and the 4th source location on the right side of vehicle body；
Second determination sub-module includes：Depth of water determination sub-module at first object location point, for left according to vehicle The underwater penetration of anterior angle, the underwater penetration of right anterior angle and the inclination of vehicle information, determine at the first object location point The current depth of water；Depth of water determination sub-module at second source location, behind the underwater penetration according to the vehicle left rear corner, the right side The underwater penetration and inclination of vehicle information at angle, determine the current depth of water at second source location；3rd source location Locate depth of water determination sub-module, for the underwater penetration according to the vehicle left-front corner, the underwater penetration of left rear corner and inclination of vehicle Information, determines the current depth of water at the 3rd source location；And the 4th depth of water determination sub-module at source location, use In the underwater penetration according to the right anterior angle of the vehicle, the underwater penetration of right relief angle and inclination of vehicle information, the 4th mesh is determined The current depth of water at cursor position point.
Alternatively, depth of water determination sub-module is used for underwater penetration according to vehicle left-front corner, the right side at first object location point The underwater penetration of anterior angle and the inclination of vehicle information, can determine the first object location point by above formula (2) The current depth of water at place；At second source location depth of water determination sub-module be used for according to the underwater penetration of the vehicle left rear corner, The underwater penetration and inclination of vehicle information of right relief angle, can be determined at second source location by above formula (3) The current depth of water；Depth of water determination sub-module is for the underwater penetration according to the vehicle left-front corner, a left side at 3rd source location The underwater penetration and inclination of vehicle information of relief angle, can be determined at the 3rd source location by above formula (4) The current depth of water；And the 4th depth of water determination sub-module at source location be used for the underwater penetration according to the right anterior angle of the vehicle, The underwater penetration and inclination of vehicle information of right relief angle, can be determined at the 4th source location by above formula (5) The current depth of water.
Fig. 4 B are a kind of block diagrams of the underwater penetration detection device shown according to another exemplary embodiment.Such as Fig. 4 B institutes Show, which can also include：
3rd acquisition module 404, for obtaining the steering wheel anglec of rotation, vehicle speed and acceleration；
Module 405 is prejudged, for according to the steering wheel anglec of rotation, the speed, the acceleration, the inclination of vehicle The current depth of water at information and the source location, determines the depth of water at the source location of subsequent time.
Alternatively, the anticipation module 405 includes：
3rd determination sub-module, for according to the steering wheel anglec of rotation, the speed, the acceleration and the vehicle Inclination information, determines vehicle vertical displacement；
Submodule is prejudged, for according to the current depth of water at the vehicle vertical displacement and the source location, determining The depth of water at the source location of subsequent time.
Alternatively, the 3rd determination sub-module is used for according to the steering wheel anglec of rotation, the speed, the acceleration and institute Inclination of vehicle information is stated, vehicle vertical displacement can be determined by above formula (6).
Alternatively, the source location can include the first object location point positioned at body forward structure, positioned at vehicle body tail Second source location, the 3rd source location on the left of vehicle body and the 4th target location on the right side of vehicle body in portion Point；
The anticipation submodule is used for according to the current depth of water at the vehicle vertical displacement and the source location, can To determine the depth of water at the source location of subsequent time by above formula (7).
Fig. 4 C are a kind of block diagrams of the underwater penetration detection device shown according to another exemplary embodiment.Such as Fig. 4 C institutes Show, which can also include：
First alarm module 406, for the current depth of water or the target of subsequent time at the source location When the depth of water at location point exceedes default depth of water threshold value, alarm.
Alternatively, described device 400 can also include：
4th acquisition module 407, for obtaining the depth of accumulated water in vehicle cab；
Second alarm module 408, for when the depth of accumulated water in cockpit exceedes default depth of accumulated water threshold value, carrying out Alarm.
In addition, the disclosure also provides a kind of vehicle, which can include：First sensor, installed in the vehicle In left-front corner, for detecting the underwater penetration information of vehicle left-front corner；Second sensor, installed in the right anterior angle of the vehicle On, for detecting the underwater penetration information of the right anterior angle of vehicle；3rd sensor, in the left rear corner of the vehicle, is used for Detect the underwater penetration information of vehicle left rear corner；
4th sensor, in the right relief angle of the vehicle, for detecting the underwater penetration information of the right relief angle of vehicle； Gyro sensor, is arranged on the vehicle, for detecting inclination of vehicle information；And the disclosure provide it is above-mentioned enter the depth of water Spend detection device.
Alternatively, the vehicle can also include the 5th sensor, in the cockpit of the vehicle, for detecting Depth of accumulated water in the cockpit.
The preferred embodiment of the disclosure is described in detail above in association with attached drawing, still, the disclosure is not limited to above-mentioned reality The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can The combination of energy no longer separately illustrates.
In addition, it can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally Disclosed thought, it should equally be considered as disclosure disclosure of that.

Claims (26)

  1. A kind of 1. underwater penetration detection method, it is characterised in that the described method includes：
    When vehicle is paddled, the underwater penetration information of four sensors installed in vehicle chassis corner is obtained；
    Inclination of vehicle information is obtained, wherein, the inclination of vehicle information includes roll angle and pitch angle；
    According to the underwater penetration information of four sensors and the inclination of vehicle information, determine on vehicle body at source location The current depth of water, wherein, the source location is any one or more location points in vehicle body surrounding.
  2. 2. according to the method described in claim 1, it is characterized in that, the underwater penetration information of the sensor include sensor with The distance between water surface；
    The linear movement direction of the vehicle is X-axis, and the X direction of vehicle is Y-axis, is Z perpendicular to the direction of level ground Axis, roll angle described in the angle between the X-axis and the water surface, the angle between the Y-axis and the water surface are the pitch angle.
  3. 3. the according to the method described in claim 1, it is characterized in that, underwater penetration information according to four sensors With the inclination of vehicle information, the current depth of water at source location on vehicle body is determined, including：
    Respectively according to the underwater penetration information of four sensors, the underwater penetration of vehicle corner is determined；
    According to the underwater penetration of the vehicle corner and the inclination of vehicle information, determine current at source location on vehicle body The depth of water.
  4. 4. the method according to right wants 3, it is characterised in that described to be believed respectively according to the underwater penetration of four sensors Breath, determines the underwater penetration of vehicle corner, including：
    <mrow> <msub> <mi>H</mi> <mi>n</mi> </msub> <mo>=</mo> <mfrac> <msub> <mi>d</mi> <mi>n</mi> </msub> <mrow> <mi>sin</mi> <mi>&amp;gamma;</mi> </mrow> </mfrac> <mo>+</mo> <msub> <mi>h</mi> <mi>n</mi> </msub> <mo>,</mo> <mi>n</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>2</mn> <mo>,</mo> <mn>3</mn> <mo>,</mo> <mn>4</mn> </mrow>
    Wherein, HnRepresent n-th jiao of underwater penetration in vehicle corner；dnRepresent with the n-th jiao of corresponding sensor and The distance between vehicle k level；γ represents the angle between Z axis and the water surface, wherein, it is Z perpendicular to the direction of level ground Axis；hnRepresent the distance between the n-th jiao of corresponding sensor and water surface.
  5. 5. according to the method described in claim 3, it is characterized in that, the source location includes first positioned at body forward structure Source location, the second source location positioned at tail of the body, the 3rd source location on the left of vehicle body and it is located at The 4th source location on the right side of vehicle body；
    The underwater penetration according to the vehicle corner and the inclination of vehicle information, determine on vehicle body at source location The current depth of water, including：
    According to the underwater penetration of vehicle left-front corner, the underwater penetration of right anterior angle and the inclination of vehicle information, described first is determined The current depth of water at source location；
    According to the underwater penetration of the vehicle left rear corner, the underwater penetration of right relief angle and inclination of vehicle information, described second is determined The current depth of water at source location；
    According to the underwater penetration, the underwater penetration of left rear corner and inclination of vehicle information of the vehicle left-front corner, the described 3rd is determined The current depth of water at source location；And
    According to the underwater penetration of the right anterior angle of the vehicle, the underwater penetration of right relief angle and inclination of vehicle information, the described 4th is determined The current depth of water at source location.
  6. 6. according to the method described in claim 5, it is characterized in that, underwater penetration, the right anterior angle according to vehicle left-front corner Underwater penetration and the inclination of vehicle information, determine the current depth of water at the first object location point, including：
    front_depthCi=Min (H1,H2)+x1i·M1·sinα
    Wherein, front_depthCiRepresent the current depth of water at the first object location point；H1Represent entering for vehicle left-front corner Water depth；H2Represent the underwater penetration of the right anterior angle of vehicle；x1iRepresent first object location point relative to biography corresponding with left-front corner The position ratio of sensor and sensor corresponding with right anterior angle；M1Represent corresponding with left-front corner sensor and corresponding with right anterior angle The distance between sensor；α represents the pitch angle；
    It is described according to the underwater penetration of the vehicle left rear corner, the underwater penetration of right relief angle and inclination of vehicle information, determine described The current depth of water at second source location, including：
    tail_depthCj=Min (H3,H4)+x2j·M2·sinα
    Wherein, tail_depthCjRepresent the current depth of water at second source location；H3Represent vehicle left rear corner enters water Depth；H4Represent the underwater penetration of the right relief angle of vehicle；x2jRepresent second source location relative to corresponding with left rear corner The position ratio of sensor and sensor corresponding with right relief angle；M2Represent corresponding with left rear corner sensor and corresponding with right relief angle The distance between sensor；α represents the pitch angle；
    The underwater penetration, the underwater penetration of left rear corner and inclination of vehicle information according to the vehicle left-front corner, determines described The current depth of water at 3rd source location, including：
    left_depthCk=Min (H1,H3)+x3k·M3·sinβ
    Wherein, left_depthCkRepresent the current depth of water at the 3rd source location；H1Represent vehicle left-front corner enters water Depth；H3Represent the underwater penetration of vehicle left rear corner；x3kRepresent the 3rd source location relative to corresponding with left-front corner The position ratio of sensor and sensor corresponding with left rear corner；M3Represent corresponding with left-front corner sensor and corresponding with left rear corner The distance between sensor；β represents the roll angle；And
    It is described according to the underwater penetration of the right anterior angle of the vehicle, the underwater penetration of right relief angle and inclination of vehicle information, determine described The current depth of water at 4th source location, including：
    right_depthCm=Min (H2,H4)+x4m·M4·sinβ
    Wherein, rihgt_depthCmRepresent the current depth of water at the 4th source location；H2Represent entering for the right anterior angle of vehicle Water depth；H4Represent the underwater penetration of the right relief angle of vehicle；x4mRepresent the 4th source location relative to corresponding with right anterior angle Sensor and sensor corresponding with right relief angle position ratio；M4Represent corresponding with right anterior angle sensor and with right relief angle pair The distance between sensor answered；β represents the roll angle.
  7. 7. according to the method any one of claim 1-6, it is characterised in that the method further includes：Obtain steering wheel The anglec of rotation, vehicle speed and acceleration；
    According to the steering wheel anglec of rotation, the speed, the acceleration, the inclination of vehicle information and the source location The current depth of water at place, determines the depth of water at the source location of subsequent time.
  8. It is 8. the method according to the description of claim 7 is characterized in that described according to the steering wheel anglec of rotation, the speed, institute The current depth of water at acceleration, the inclination of vehicle information and the source location is stated, determines the target of subsequent time The depth of water at location point, including：
    According to the steering wheel anglec of rotation, the speed, the acceleration and the inclination of vehicle information, the vertical position of vehicle is determined Move；
    According to the current depth of water at the vehicle vertical displacement and the source location, the target position of subsequent time is determined The depth of water at putting.
  9. It is 9. according to the method described in claim 8, it is characterized in that, described according to the steering wheel anglec of rotation, the speed, institute Acceleration and the inclination of vehicle information are stated, determines vehicle vertical displacement, including：
    <mrow> <mi>&amp;Delta;</mi> <mi>H</mi> <mo>=</mo> <mrow> <mo>(</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mi>t</mi> <mo>+</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mi>a</mi> <mo>&amp;CenterDot;</mo> <msup> <mi>&amp;Delta;t</mi> <mn>2</mn> </msup> <mo>)</mo> </mrow> <mo>*</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>c</mi> <mo>&amp;CenterDot;</mo> <mi>&amp;delta;</mi> <mo>)</mo> </mrow> <mo>*</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;beta;</mi> </mrow>
    Wherein, Δ H represents the vehicle vertical displacement；V0Represent the speed；A represents the acceleration；δ represents the direction Spiral corner；C represents the proportionality coefficient of the wheel anglec of rotation and the steering wheel anglec of rotation；Δ t represents subsequent time with working as Time interval between the preceding moment；β represents the roll angle.
  10. 10. according to the method described in claim 8, it is characterized in that, the source location includes the positioned at body forward structure One source location, the second source location positioned at tail of the body, the 3rd source location on the left of vehicle body and position The 4th source location on the right side of vehicle body；
    The current depth of water according at the vehicle vertical displacement and the source location, determines the mesh of subsequent time The depth of water at cursor position point, including：
    <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>f</mi> <mi>r</mi> <mi>o</mi> <mi>n</mi> <mi>t</mi> <mo>_</mo> <msub> <mi>depthT</mi> <mi>i</mi> </msub> <mo>=</mo> <mi>f</mi> <mi>r</mi> <mi>o</mi> <mi>n</mi> <mi>t</mi> <mo>_</mo> <msub> <mi>depthC</mi> <mi>i</mi> </msub> <mo>+</mo> <mi>&amp;Delta;</mi> <mi>H</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>t</mi> <mi>a</mi> <mi>i</mi> <mi>l</mi> <mo>_</mo> <msub> <mi>depthT</mi> <mi>j</mi> </msub> <mo>=</mo> <mi>t</mi> <mi>a</mi> <mi>i</mi> <mi>l</mi> <mo>_</mo> <msub> <mi>depthC</mi> <mi>j</mi> </msub> <mo>+</mo> <mi>&amp;Delta;</mi> <mi>H</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>l</mi> <mi>e</mi> <mi>f</mi> <mi>t</mi> <mo>_</mo> <msub> <mi>depthT</mi> <mi>k</mi> </msub> <mo>=</mo> <mi>l</mi> <mi>e</mi> <mi>f</mi> <mi>t</mi> <mo>_</mo> <msub> <mi>depthC</mi> <mi>k</mi> </msub> <mo>+</mo> <mi>&amp;Delta;</mi> <mi>H</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>r</mi> <mi>i</mi> <mi>g</mi> <mi>h</mi> <mi>t</mi> <mo>_</mo> <msub> <mi>depthT</mi> <mi>m</mi> </msub> <mo>=</mo> <mi>r</mi> <mi>i</mi> <mi>g</mi> <mi>h</mi> <mi>t</mi> <mo>_</mo> <msub> <mi>depthC</mi> <mi>m</mi> </msub> <mo>+</mo> <mi>&amp;Delta;</mi> <mi>H</mi> </mrow> </mtd> </mtr> </mtable> </mfenced>
    Wherein, front_depthiT represents the depth of water at the first object location point of subsequent time；front_depthCiTable Show the current depth of water at first object location point；tail_depthTjAt second source location for representing subsequent time The depth of water；tail_depthCjRepresent the current depth of water at second source location；left_depthTkRepresent subsequent time The depth of water at 3rd source location；front_depthCkRepresent the current depth of water at the 3rd source location； right_depthTmRepresent the depth of water at the 4th source location of subsequent time；right_depthCmRepresent described The current depth of water at four source locations；Δ H represents the vehicle vertical displacement.
  11. 11. the method according to the description of claim 7 is characterized in that the method further includes：
    The current depth of water at the source location or the depth of water at the source location of subsequent time exceed default During depth of water threshold value, alarm.
  12. 12. according to the method described in claim 1, it is characterized in that, the method further includes：
    Obtain the depth of accumulated water in vehicle cab；
    When the depth of accumulated water in cockpit exceedes default depth of accumulated water threshold value, alarm.
  13. 13. a kind of underwater penetration detection device, it is characterised in that described device includes：
    First acquisition module, for when vehicle is paddled, obtain four sensors installed in vehicle chassis corner to enter the depth of water Spend information；
    Second acquisition module, for obtaining inclination of vehicle information, wherein, the inclination of vehicle information includes roll angle and pitching Angle；
    Determining module, for the underwater penetration information according to four sensors and the inclination of vehicle information, determines vehicle body The current depth of water at upper source location, wherein, the source location is any one or more location points in vehicle body surrounding.
  14. 14. device according to claim 13, it is characterised in that the underwater penetration information of the sensor includes sensor The distance between water surface；
    Its straight line direction of motion is X-axis, and the X direction of vehicle is Y-axis, is Z axis perpendicular to the direction of level ground, Roll angle described in angle between the X-axis and the water surface, the angle between the Y-axis and the water surface are the pitch angle.
  15. 15. device according to claim 13, it is characterised in that the determining module, including：
    First determination sub-module, for according to the underwater penetration information of four sensors, determining entering for vehicle corner respectively Water depth；
    Second determination sub-module, for the underwater penetration according to the vehicle corner and the inclination of vehicle information, determines vehicle body The current depth of water at upper source location.
  16. 16. the device according to right wants 15, it is characterised in that first determination sub-module is used for respectively according to described four The underwater penetration information of a sensor, the underwater penetration of vehicle corner is determined by the following formula：
    <mrow> <msub> <mi>H</mi> <mi>n</mi> </msub> <mo>=</mo> <mfrac> <msub> <mi>d</mi> <mi>n</mi> </msub> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;gamma;</mi> </mrow> </mfrac> <mo>+</mo> <msub> <mi>h</mi> <mi>n</mi> </msub> <mo>,</mo> <mi>n</mi> <mo>=</mo> <mn>1</mn> <mo>,</mo> <mn>2</mn> <mo>,</mo> <mn>3</mn> <mo>,</mo> <mn>4</mn> </mrow>
    Wherein, HnRepresent n-th jiao of underwater penetration in vehicle corner；dnRepresent with the n-th jiao of corresponding sensor and The distance between vehicle k level；γ represents the angle between the Z axis and the water surface, wherein, perpendicular to the side of level ground To for Z axis；hnRepresent the distance between the n-th jiao of corresponding sensor and water surface.
  17. 17. device according to claim 15, it is characterised in that the source location includes the positioned at body forward structure One source location, the second source location positioned at tail of the body, the 3rd source location on the left of vehicle body and position The 4th source location on the right side of vehicle body；
    Second determination sub-module, including：
    Depth of water determination sub-module at first object location point, enters water for the underwater penetration according to vehicle left-front corner, right anterior angle Depth and the inclination of vehicle information, determine the current depth of water at the first object location point；
    Depth of water determination sub-module at second source location, for underwater penetration according to the vehicle left rear corner, right relief angle Underwater penetration and inclination of vehicle information, determine the current depth of water at second source location；
    Depth of water determination sub-module at 3rd source location, for underwater penetration according to the vehicle left-front corner, left rear corner Underwater penetration and inclination of vehicle information, determine the current depth of water at the 3rd source location；And
    Depth of water determination sub-module at 4th source location, for the underwater penetration according to the right anterior angle of the vehicle, right relief angle Underwater penetration and inclination of vehicle information, determine the current depth of water at the 4th source location.
  18. 18. device according to claim 17, it is characterised in that depth of water determination sub-module at the first object location point For the underwater penetration according to vehicle left-front corner, the underwater penetration of right anterior angle and the inclination of vehicle information, pass through the following formula Determine the current depth of water at the first object location point：
    front_depthCi=Min (H1+H2)+x1i·M1·sinα
    Wherein, front_depthCiRepresent the current depth of water at first object location point；H1Represent vehicle left-front corner enters the depth of water Degree；H2Represent the underwater penetration of the right anterior angle of vehicle；x1iRepresent first object location point relative to sensor corresponding with left-front corner The position ratio of sensor corresponding with right anterior angle；M1Represent sensor corresponding with left-front corner and sensing corresponding with right anterior angle The distance between device；α represents the pitch angle；
    Depth of water determination sub-module is used for underwater penetration, right relief angle according to the vehicle left rear corner at second source location Underwater penetration and inclination of vehicle information, the current depth of water at second source location is determined by the following formula：
    tail_depthCj=Min (H3+H4)+x2j·M2·sinα
    Wherein, tail_depthCjRepresent the current depth of water at second source location；H3Represent vehicle left rear corner enters water Depth；H4Represent the underwater penetration of the right relief angle of vehicle；x2jRepresent second source location relative to corresponding with left rear corner The position ratio of sensor and sensor corresponding with right relief angle；M2Represent corresponding with left rear corner sensor and corresponding with right relief angle The distance between sensor；α represents the pitch angle；
    Depth of water determination sub-module is used for underwater penetration, left rear corner according to the vehicle left-front corner at 3rd source location Underwater penetration and inclination of vehicle information, the current depth of water at the 3rd source location is determined by the following formula：
    left_depthCk=Min (H1+H3)+x3k·M3·sinβ
    Wherein, left_depthCkRepresent the current depth of water at the 3rd source location；H1Represent vehicle left-front corner enters water Depth；H3Represent the underwater penetration of vehicle left rear corner；x3kRepresent the 3rd source location relative to corresponding with left-front corner The position ratio of sensor and sensor corresponding with left rear corner；M3Represent corresponding with left-front corner sensor and corresponding with left rear corner The distance between sensor；β represents the roll angle；And
    Depth of water determination sub-module is used for underwater penetration, right relief angle according to the right anterior angle of the vehicle at 4th source location Underwater penetration and inclination of vehicle information, determine the current depth of water at the 4th source location：
    right_depthCm=Min (H2+H4)+x4m·M4·sinβ
    Wherein, rihgt_depthCmRepresent the current depth of water at the 4th source location；H2Represent entering for the right anterior angle of vehicle Water depth；H4Represent the underwater penetration of the right relief angle of vehicle；x4mRepresent the 4th source location relative to corresponding with right anterior angle Sensor and sensor corresponding with right relief angle position ratio；M4Represent corresponding with right anterior angle sensor and with right relief angle pair The distance between sensor answered；β represents the roll angle.
  19. 19. according to the device any one of claim 13-18, it is characterised in that described device further includes：
    3rd acquisition module, for obtaining the steering wheel anglec of rotation, vehicle speed and acceleration；
    Prejudge module, for according to the steering wheel anglec of rotation, the speed, the acceleration, the inclination of vehicle information and The current depth of water at the source location, determines the depth of water at the source location of subsequent time.
  20. 20. device according to claim 19, it is characterised in that the anticipation module, including：
    3rd determination sub-module, for according to the steering wheel anglec of rotation, the speed, the acceleration and the inclination of vehicle Information, determines vehicle vertical displacement；
    Submodule is prejudged, for according to the current depth of water at the vehicle vertical displacement and the source location, determining next The depth of water at the source location at moment.
  21. 21. device according to claim 20, it is characterised in that the 3rd determination sub-module is used for according to the direction Spiral corner, the speed, the acceleration and the inclination of vehicle information, vehicle vertical displacement is determined by the following formula：
    <mrow> <mi>&amp;Delta;</mi> <mi>H</mi> <mo>=</mo> <mrow> <mo>(</mo> <msub> <mi>V</mi> <mn>0</mn> </msub> <mo>&amp;CenterDot;</mo> <mi>&amp;Delta;</mi> <mi>t</mi> <mo>+</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mi>a</mi> <mo>&amp;CenterDot;</mo> <msup> <mi>&amp;Delta;t</mi> <mn>2</mn> </msup> <mo>)</mo> </mrow> <mo>*</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>c</mi> <mo>&amp;CenterDot;</mo> <mi>&amp;delta;</mi> <mo>)</mo> </mrow> <mo>*</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;beta;</mi> </mrow>
    Wherein, Δ H represents the vehicle vertical displacement；V0Represent the speed；A represents the acceleration；δ represents the direction Spiral corner；C represents the proportionality coefficient of the wheel anglec of rotation and the steering wheel anglec of rotation；Δ t represents subsequent time with working as Time interval between the preceding moment；β represents the roll angle.
  22. 22. device according to claim 20, it is characterised in that the source location includes the positioned at body forward structure One source location, the second source location positioned at tail of the body, the 3rd source location on the left of vehicle body and position The 4th source location on the right side of vehicle body；
    The anticipation submodule is used for according to the current depth of water at the vehicle vertical displacement and the source location, by with Lower formula determines the depth of water at the source location of subsequent time：
    <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>f</mi> <mi>r</mi> <mi>o</mi> <mi>n</mi> <mi>t</mi> <mo>_</mo> <msub> <mi>depthT</mi> <mi>i</mi> </msub> <mo>=</mo> <mi>f</mi> <mi>r</mi> <mi>o</mi> <mi>n</mi> <mi>t</mi> <mo>_</mo> <msub> <mi>depthC</mi> <mi>i</mi> </msub> <mo>+</mo> <mi>&amp;Delta;</mi> <mi>H</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>t</mi> <mi>a</mi> <mi>i</mi> <mi>l</mi> <mo>_</mo> <msub> <mi>depthT</mi> <mi>j</mi> </msub> <mo>=</mo> <mi>t</mi> <mi>a</mi> <mi>i</mi> <mi>l</mi> <mo>_</mo> <msub> <mi>depthC</mi> <mi>j</mi> </msub> <mo>+</mo> <mi>&amp;Delta;</mi> <mi>H</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>l</mi> <mi>e</mi> <mi>f</mi> <mi>t</mi> <mo>_</mo> <msub> <mi>depthT</mi> <mi>k</mi> </msub> <mo>=</mo> <mi>l</mi> <mi>e</mi> <mi>f</mi> <mi>t</mi> <mo>_</mo> <msub> <mi>depthC</mi> <mi>k</mi> </msub> <mo>+</mo> <mi>&amp;Delta;</mi> <mi>H</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>r</mi> <mi>i</mi> <mi>g</mi> <mi>h</mi> <mi>t</mi> <mo>_</mo> <msub> <mi>depthT</mi> <mi>m</mi> </msub> <mo>=</mo> <mi>r</mi> <mi>i</mi> <mi>g</mi> <mi>h</mi> <mi>t</mi> <mo>_</mo> <msub> <mi>depthC</mi> <mi>m</mi> </msub> <mo>+</mo> <mi>&amp;Delta;</mi> <mi>H</mi> </mrow> </mtd> </mtr> </mtable> </mfenced>
    Wherein, front_depthiT represents the depth of water at the first object location point of subsequent time；front_depthCiTable Show the current depth of water at first object location point；tail_depthTjAt second source location for representing subsequent time The depth of water；tail_depthCjRepresent the current depth of water at second source location；left_depthTkRepresent subsequent time The depth of water at 3rd source location；front_depthCkRepresent the current depth of water at the 3rd source location； right_depthTmRepresent the depth of water at the 4th source location of subsequent time；right_depthCmRepresent described The current depth of water at four source locations；Δ H represents the vehicle vertical displacement.
  23. 23. device according to claim 19, it is characterised in that described device further includes：
    First alarm module, at the current depth of water at the source location or the source location of subsequent time Depth of water when exceeding default depth of water threshold value, alarm.
  24. 24. device according to claim 13, it is characterised in that described device further includes：
    4th acquisition module, for obtaining the depth of accumulated water in vehicle cab；
    Second alarm module, for when the depth of accumulated water in cockpit exceedes default depth of accumulated water threshold value, alarming.
  25. A kind of 25. vehicle, it is characterised in that including：
    First sensor, in the left-front corner of the vehicle, for detecting the underwater penetration information of vehicle left-front corner；
    Second sensor, in the right anterior angle of the vehicle, for detecting the underwater penetration information of the right anterior angle of vehicle；
    3rd sensor, in the left rear corner of the vehicle, for detecting the underwater penetration information of vehicle left rear corner；
    4th sensor, in the right relief angle of the vehicle, for detecting the underwater penetration information of the right relief angle of vehicle；
    Gyro sensor, is arranged on the vehicle, for detecting inclination of vehicle information；And
    According to claim 13-24 any one of them underwater penetration detection devices.
  26. 26. vehicle according to claim 25, it is characterised in that the vehicle further includes：
    5th sensor, in the cockpit of the vehicle, for detecting the depth of accumulated water in the cockpit.
CN201610958063.7A 2016-10-27 2016-10-27 Underwater penetration detection method, device and vehicle Pending CN108007336A (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090159020A1 (en) * 2007-12-19 2009-06-25 Deere & Company Damage Protected Motor Vehicle Fan
CN103562692A (en) * 2011-03-15 2014-02-05 捷豹路虎有限公司 Vehicle under-body mounted sensor and control system
CN104169697A (en) * 2012-02-15 2014-11-26 捷豹路虎有限公司 Method and system for determining a wading depth of a vehicle
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