CN108973894A - Vehicle is paddled detection method, system and vehicle - Google Patents
Vehicle is paddled detection method, system and vehicle Download PDFInfo
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- CN108973894A CN108973894A CN201710400540.2A CN201710400540A CN108973894A CN 108973894 A CN108973894 A CN 108973894A CN 201710400540 A CN201710400540 A CN 201710400540A CN 108973894 A CN108973894 A CN 108973894A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- 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
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Abstract
It paddles detection method, system and vehicle the present invention provides a kind of vehicle.Vehicle is paddled detection method, comprising: detection body gesture；The early warning distance for corresponding to body gesture is searched from the first tables of data prestored, wherein prestore multiple body gestures in the first tables of data and correspond respectively to the early warning distance of multiple body gestures；Detect the measurement distance between vehicle body base position and the water surface；Compare measurement distance and early warning distance；Determined whether to trigger early warning of paddling according to the comparison result of measurement distance and early warning distance.Method of the invention can be recognised that rapidly can be safely and reliably by road surfaces such as puddles, and then ensure traffic safety, in addition, by vehicle chassis height when vehicle zero load and load political reform etc., which is not occurred, for this method influences, regardless of vehicle chassis height changes, vehicle can be accurately carried out to paddle detection, have the advantages that vehicle paddle detect it is accurate, reliable.
Description
Technical field
The present invention relates to automobile technical field, in particular to a kind of vehicle is paddled detection method, system and vehicle.
Background technique
In order to make driver recognize vehicle fording depth, onboard installation is used to detect the sensor of regimen, Ke Yiyou
Effect improves vehicle and paddles the safety of process, in the related technology, if Chinese Patent Application No. is disclosed in 201380014395.4
One kind system that can detect depth of water when vehicle is paddled, the system of depth of water when which paddles, using being mounted on backsight
Water level sensor on mirror detects position of rear view mirror along the water surface elevation of vehicle body vertical direction, and combines body gesture and chassis high
The information such as degree, are calculated the depth of water at headstock or the tailstock.
The system of depth of water when this detection vehicle is paddled, although having the disadvantage in that the situation of paddling that can detect vehicle,
But it needs according to position of rear view mirror along water surface elevation, body gesture and chassis height (the i.e. rearview mirror position of vehicle body vertical direction
Set the height along vehicle body vertical direction to ground) etc. information calculate in real time, expend the time.In addition, calculating headstock or the tailstock
When the depth of water at place, be using position of rear view mirror along vehicle body vertical direction to ground height as definite value, by measuring backsight in advance
Mirror position obtains after the height of vehicle body vertical direction to ground.However, vehicle chassis height when due to vehicle zero load and load
More or less height change necessarily occurs, therefore, in conjunction with definite value the chassis height headstock or the tailstock that calculate at water
There are deviations deeply, and then influence detection accuracy.
Summary of the invention
In view of this, the detection method the present invention is directed to propose a kind of vehicle is paddled, this method, which can be identified rapidly, is
It is no safely and reliably to pass through the road surfaces such as puddle, and then ensure traffic safety, in addition, this method by vehicle zero load and is not born
Political reform etc., which occurs, for vehicle chassis height when load influences, and regardless of vehicle chassis height changes, can accurately carry out
Vehicle is paddled detection, have the advantages that vehicle paddle detect it is accurate, reliable.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of vehicle is paddled detection method, comprising the following steps: detection body gesture；It is looked into from the first tables of data prestored
Look for the early warning distance corresponding to the body gesture, wherein prestore multiple body gestures and difference in first tables of data
Early warning distance corresponding to the multiple body gesture；Detect the measurement distance between the vehicle body base position and the water surface；Than
The measurement distance and the early warning distance；Determined whether according to the measurement distance and the comparison result of the early warning distance
Trigger early warning of paddling.
Further, first tables of data is demarcated in advance according to early warning distance test experiments obtains, and specifically includes: obtaining
Positional relationship information between vehicle body target position and the vehicle body base position；According to the positional relationship information and described more
Each body gesture obtains the early warning distance for corresponding to each body gesture in the multiple body gesture in a body gesture；Root
Described the is generated according to the multiple body gesture and the early warning distance corresponding to each body gesture in the multiple body gesture
One tables of data.
Further, the vehicle body target position is the position corresponding to engine intake.
Further, the comparison result according to measurement distance and the early warning distance determines whether to trigger early warning of paddling
The step of prompt, comprising: if paddling early warning when measurement distance is less than or equal to the early warning distance described in triggering；
Alternatively, the measurement distance is greater than the difference between the early warning distance but the measurement distance and the early warning distance less than pre-
It paddles early warning described in triggering when determining threshold value.
Further, further includes: the early warning vehicle body for corresponding to the measurement distance is searched from the second tables of data prestored
Posture, wherein prestore multiple measurement distances in second tables of data and correspond respectively to the pre- of the multiple measurement distance
Alert body gesture；Compare the body gesture and the early warning body gesture；According to the body gesture and the early warning vehicle body
The comparison result of posture determines whether to trigger early warning of paddling.
Vehicle of the invention is paddled detection method, it is only necessary to be detected between body gesture and vehicle body base position and the water surface
Distance, can be by inquiring the early warning distance for corresponding to body gesture at this time that be stored in advance in the first tables of data, will
Compared with the distance between early warning distance and vehicle body base position and water surface carry out simply, it just can determine whether vehicle can pacify
It entirely reliably by road surfaces such as puddles, and then ensures traffic safety, has the advantages that detection is simple, detection is fireballing.In addition,
By vehicle chassis height when vehicle zero load and load political reform etc., which is not occurred, for this method influences, it may be assumed that regardless of vehicle chassis height
Change, can accurately carry out vehicle and paddle detection, have the advantages that vehicle paddle detect it is accurate, reliable.
Second object of the present invention is to propose that a kind of vehicle is paddled detection system, which can rapidly identify
Whether can be safely and reliably by the road surfaces such as puddle, and then ensure traffic safety, in addition, the system not by vehicle zero load and
Political reform etc., which occurs, for vehicle chassis height when load influences, regardless of vehicle chassis height changes, can accurately into
Driving is paddled detection, have the advantages that vehicle paddle detect it is accurate, reliable.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of vehicle is paddled detection system, comprising: body gesture detection device, to detect body gesture；It is arranged in vehicle body
The water-level detecting device of base position, to detect the measurement distance between vehicle body base position and the water surface；Memory, the storage
Device prestores the first tables of data, and multiple body gestures are prestored in first tables of data and correspond respectively to the multiple vehicle body
The early warning distance of posture；Processor, the processor respectively with the body gesture detection device, the water-level detecting device and
The memory is connected, to search the early warning distance for corresponding to the body gesture from first tables of data, and according to institute
The comparison result for stating measurement distance and the early warning distance determines whether to trigger early warning of paddling.
Further, first tables of data is demarcated in advance according to early warning distance test experiments obtains, and specifically includes: obtaining
Positional relationship information between vehicle body target position and the vehicle body base position；According to the positional relationship information and described more
Each body gesture obtains the early warning distance for corresponding to each body gesture in the multiple body gesture in a body gesture；Root
Described the is generated according to the multiple body gesture and the early warning distance corresponding to each body gesture in the multiple body gesture
One tables of data；In the memory by first tables of data storage.
Further, the processor includes: the first comparing unit, with the measurement distance and the early warning away from
From；First trigger unit, first trigger unit are connected with first comparing unit, to be less than in the measurement distance or
It paddles early warning described in triggering when equal to the early warning distance, or in the measurement distance greater than the early warning distance but institute
State early warning of paddling described in triggering when the difference between measurement distance and the early warning distance is less than predetermined threshold.
Further, the memory prestores the second tables of data, and second tables of data prestores multiple measurement distances
With the early warning body gesture for corresponding respectively to the multiple measurement distance；The processor further include: the second comparing unit, with than
The body gesture and the early warning body gesture；Second trigger unit, second trigger unit is compared with described second
Unit is connected, to determine whether that triggering early warning of paddling mentions according to the comparison result of the body gesture and the early warning body gesture
Show.
The vehicle paddles detection system and above-mentioned vehicle is paddled detection method compared with the existing technology possessed by
Advantage is identical, and details are not described herein.
Third object of the present invention is to propose a kind of vehicle, which can rapidly recognise that can be safe
Reliably by road surfaces such as puddles, and then traffic safety is ensured, in addition, the vehicle is not by vehicle bottom when vehicle zero load and load
Political reform etc., which occurs, for disk height influences, and regardless of vehicle chassis height changes, can accurately carry out vehicle and paddle spy
Survey, have the advantages that vehicle paddle detect it is accurate, reliable.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of vehicle is provided with the vehicle as described in any one above-mentioned embodiment and paddles detection system.
The vehicle is paddled with above-mentioned vehicle, and possessed advantage is identical compared with the existing technology for detection system, herein
It repeats no more.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is that vehicle described in one embodiment of the invention is paddled the flow chart of detection method；
Fig. 2 is that vehicle described in one embodiment of the invention paddles and calculates the schematic diagram of early warning distance in detection method；
Fig. 3 is that vehicle described in another embodiment of the present invention is paddled the flow chart of detection method；
Fig. 4 is that vehicle described in one embodiment of the invention is paddled the structural block diagram of detection system.
Description of symbols:
Vehicle paddle detection system 400, body gesture detection device 410, water-level detecting device 420, memory 430, place
Manage device 440.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Fig. 1 is that vehicle according to an embodiment of the invention is paddled the flow chart of detection method.
The detection method as shown in Figure 1, vehicle according to an embodiment of the invention is paddled, includes the following steps:
S101: detection body gesture.
Wherein, body gesture can be the data such as inclination and/or the pitching of vehicle (angle of heel, the pitch angle of such as vehicle body).
Wherein, the angle for referring to that the longitudinal axis around vehicle rotates is rolled, pitching is the rotation of the transverse axis around vehicle
Angle.It should be noted that the measurement of body gesture is usually vehicle body relative to horizontal axis or the angle of plane.
S102: the early warning distance for corresponding to body gesture is searched from the first tables of data prestored, wherein the first tables of data
In prestore and multiple body gestures and correspond respectively to the early warning distance of multiple body gestures.
Early warning distance is often referred to vehicle body base position along vehicle body vertical direction (opposite direction of Z axis arrow meaning in such as Fig. 2)
Extend downward into the distance of some target point.Vehicle body base position is, for example, the position where the front-surface mirror of vehicle.
First tables of data can be obtained by calibrating in advance according to early warning distance test experiments, specifically include: obtain vehicle body
Positional relationship information between target position and vehicle body base position；According to each in positional relationship information and multiple body gestures
Body gesture obtains the early warning distance for corresponding to each body gesture in multiple body gestures；According to multiple body gestures and correspondence
The early warning distance of each body gesture generates the first tables of data in multiple body gestures.
Vehicle body target position is, for example, the position for corresponding to engine intake, it is understood that for engine intake institute
Position.
It should be noted that the position of engine intake is merely exemplary as vehicle body target position, in the present invention
Other examples in, other suitable position can also be selected as the case may be as vehicle body target position.With engine into
As vehicle body target position, its purpose is to avoid water from entering in engine for the position of port, it may be assumed that if water level is more than to start
Machine air inlet, then engine, which can intake, causes to break down.
By taking the leaning forward of vehicle body as an example, as shown in Figure 2, wherein M point is vehicle body target position, and N point is vehicle body base position,
Positional relationship information between vehicle body target position M and vehicle body base position N includes but is not limited to distance D1, distance L, M point and N
The distance and angle, θ of point1.Wherein, angle, θ1It can be obtained according to vehicle attitude, due to vehicle body target position M and vehicle body benchmark
Position N is secured, and therefore, the distance of D1, L, M point and N point can measure calibration in advance by experiment and obtain.
It in turn, can be according to the distance and angle, θ of D1, L, M point and N point1Equal vehicle bodies target position M and vehicle body benchmark position
The positional relationship information between N is set, triangulation calculation is carried out and obtains the distance between N point and Q point, wherein between N point and Q point
Distance is the early warning distance (corresponding to distance D2) under the body gesture.That is: the small early warning value of body gesture is vehicle in the vehicle
It can be to the minimum range between personnel or vehicle the vehicle body base position N damaged and the water surface under figure state.Wherein, Q point
For target point, it may be assumed that vehicle body base position N along vehicle body vertical direction downwards with the horizontal intersection point Q where engine intake.
Vehicle is adjusted separately into a variety of different body gestures, can obtain through the above way correspond to it is a variety of not
The early warning distance of same body gesture.Then, multiple early warning distances and corresponding body gesture are generated into the first tables of data, and will
First tables of data is saved.
S103: the measurement distance between detection vehicle body base position and the water surface.
Such as: the water level sensor by the way that the position where the front-surface mirror of vehicle is arranged in detects.Water level sensor example
For example ultrasonic sensor.
S104: compare measurement distance and early warning distance.
S105: determined whether to trigger early warning of paddling according to the comparison result of measurement distance and early warning distance.
Specifically, if measurement distance triggers early warning of paddling when being less than or equal to early warning distance；Alternatively, measurement distance
Early warning of paddling is triggered greater than early warning distance but when measuring the difference between distance and early warning distance less than predetermined threshold.
As shown in connection with fig. 2, it is assumed that horizontal plane is water level line, then the front-surface mirror that water level sensor detects is vertical along vehicle body
Angle detecting to vehicle body base position and the water surface between measurement distance be D2.By taking position shown in Fig. 2 as an example, then examine at this time
The D2 measured is cut equal or close in corresponding to the early warning distance inquired under current vehicle posture, engine intake M
Point is not just intake, if the water surface goes up, measurement distance D2 is inquired certainly less than corresponding under current vehicle posture
Early warning distance, engine intake M point will intake.Therefore, if measurement distance just triggers when being less than or equal to early warning distance
It paddles early warning, to prompt driver's engine intake to there is water inlet risk, so that driver takes necessary reply to arrange
It imposes and guarantees vehicle and personnel safety.
In order to further enhance vehicle and personnel safety.Can also measurement distance be greater than early warning distance but measurement distance with
Difference between early warning distance triggers early warning of paddling when being less than predetermined threshold.That is: engine charge has not been reached yet in water level
When mouthful M, such as when with engine intake M (that is: predetermined threshold) poor there are also 5 cm heights, just prompt driver's engine into
There is water inlet risk in port, so that driver has the sufficient time to take necessary counter-measure to further ensure that vehicle and people
Member's safety.
It is merely exemplary, can be suitably adjusted as the case may be it is understood that predetermined threshold is set as 5 centimetres
Its numerical value.
Vehicle according to an embodiment of the present invention is paddled detection method, it is only necessary to detect body gesture and vehicle body base position
The distance between water surface can correspond to the pre- of body gesture at this time by inquiring be stored in advance in the first tables of data
Alert distance, by the progress simply of the distance between early warning distance and vehicle body base position and the water surface compared with, just can determine vehicle
Whether can be safely and reliably by road surfaces such as puddles, and then ensure traffic safety, with detecting, simple, detection is fireballing
Advantage.In addition, by vehicle chassis height when vehicle zero load and load political reform etc., which is not occurred, for this method influences, it may be assumed that regardless of vehicle bottom
How disk height changes, and can accurately carry out vehicle and paddle detection, have vehicle paddle detect it is accurate, reliable excellent
Point.
Above example carries out vehicle with early warning distance by comparing measurement distance and paddles detection, in its of the invention
In its example, vehicle can also be carried out by comparing body gesture and early warning body gesture and is paddled detection.Specifically, as schemed
Shown in 3, this method further include:
S301: the early warning body gesture for corresponding to measurement distance is searched from the second tables of data prestored, wherein the second number
According to the early warning body gestures for prestoring multiple measurement distances in table with corresponding respectively to multiple measurement distances.
S302: compare body gesture and early warning body gesture.
S303: determined whether to trigger early warning of paddling according to the comparison result of body gesture and early warning body gesture.
Compared with the above embodiments, it is only necessary to by by vehicle paddle multiple measurement distances that experimental calibration obtains and point
Not Dui Yingyu it is multiple measurement distances early warning body gestures be pre-reserved in the second tables of data, it is subsequent according to vehicle body appearance
State is compared with early warning body gesture with the mode in the above embodiments according to measurement distance compared with early warning distance in original
It is similar in reason, it is not repeated herein.
Vehicle according to an embodiment of the present invention is paddled detection method, it is only necessary to detect body gesture and vehicle body base position
The distance between water surface, can by inquire be stored in advance in the second tables of data correspond at this time measure distance it is pre-
Alert body gesture just can determine whether vehicle can be safe compared with carrying out body gesture simply with early warning body gesture
Reliably by road surfaces such as puddles, and then ensure traffic safety.In addition, this method is not by vehicle bottom when vehicle zero load and load
Political reform etc., which occurs, for disk height influences, it may be assumed that regardless of vehicle chassis height changes, can accurately carry out vehicle and paddle
Detection, have the advantages that vehicle paddle detect it is accurate, reliable.
Fig. 4 is that vehicle according to an embodiment of the invention is paddled the structural block diagram of detection system, as shown in figure 4, according to
The vehicle of one embodiment of the invention is paddled detection system 400, comprising: body gesture detection device 410, water-level detecting device
420, memory 430 and processor 440.
Wherein, body gesture detection device 410 is, for example, top for detecting body gesture, body gesture detection device 410
The combination of spiral shell instrument, acceleration transducer and angular transducer etc..The setting of water-level detecting device 420 is in vehicle body base position, with inspection
Measurement distance between measuring car body base position and the water surface, water-level detecting device 420 are, for example, water level sensor, as ultrasonic wave passes
Sensor.Memory 430 prestores the first tables of data, and multiple body gestures are prestored in the first tables of data and are corresponded respectively to multiple
The early warning distance of body gesture.Processor 440 respectively with the body gesture detection device 410, the water-level detecting device 420
It is connected with the memory 430, to search the early warning distance for corresponding to the body gesture, and root from first tables of data
Determine whether to trigger early warning of paddling according to the comparison result of the measurement distance and the early warning distance.
In one embodiment of the invention, the first tables of data is demarcated in advance according to early warning distance test experiments and is obtained, tool
Body includes: the positional relationship information obtained between vehicle body target position and the vehicle body base position；According to the positional relationship
Each body gesture obtains corresponding to each body gesture in the multiple body gesture in information and the multiple body gesture
Early warning distance；According to the multiple body gesture and corresponding to each body gesture in the multiple body gesture early warning away from
From generation first tables of data；First tables of data is stored in the memory 430.
In one embodiment of the invention, the processor 440 includes: the first comparing unit (being not shown in Fig. 4),
With the measurement distance and the early warning distance；First trigger unit (is not shown) in Fig. 4, first trigger unit
It is connected with first comparing unit, it is pre- to paddle described in the triggering when the measurement distance is less than or equal to the early warning distance
Alert prompt, or it is greater than the difference between the early warning distance but the measurement distance and the early warning distance in the measurement distance
It paddles early warning described in triggering when value is less than predetermined threshold.
Vehicle according to an embodiment of the present invention is paddled detection system, it is only necessary to detect body gesture and vehicle body base position
The distance between water surface can correspond to the pre- of body gesture at this time by inquiring be stored in advance in the first tables of data
Alert distance, by the progress simply of the distance between early warning distance and vehicle body base position and the water surface compared with, just can determine vehicle
Whether can be safely and reliably by road surfaces such as puddles, and then ensure traffic safety.In addition, the system not by vehicle zero load and
Political reform etc., which occurs, for vehicle chassis height when load influences, it may be assumed that, can be accurately regardless of vehicle chassis height changes
Vehicle is carried out to paddle detection, have the advantages that vehicle paddle detect it is accurate, reliable.
In one embodiment of the invention, the memory 430 prestores the second tables of data, and second tables of data is pre-
There are multiple measurement distances and correspond respectively to the early warning body gesture of the multiple measurement distance；The processor 440 also wraps
Include: the second comparing unit (is not shown) in Fig. 4, with the body gesture and the early warning body gesture；Second triggering
Unit (is not shown) in Fig. 4, and second trigger unit is connected with second comparing unit, according to the body gesture
It determines whether to trigger early warning of paddling with the comparison result of the early warning body gesture.
Vehicle according to an embodiment of the present invention is paddled detection system, it is only necessary to detect body gesture and vehicle body base position
The distance between water surface, can by inquire be stored in advance in the second tables of data correspond at this time measure distance it is pre-
Alert body gesture just can determine whether vehicle can be safe compared with carrying out body gesture simply with early warning body gesture
Reliably by road surfaces such as puddles, and then ensure traffic safety.In addition, the system is not by vehicle bottom when vehicle zero load and load
Political reform etc., which occurs, for disk height influences, it may be assumed that regardless of vehicle chassis height changes, can accurately carry out vehicle and paddle
Detection, have the advantages that vehicle paddle detect it is accurate, reliable.
It should be noted that the vehicle of the embodiment of the present invention is paddled, the specific implementation of detection system and the present invention are implemented
Example in vehicle paddle detection method specific implementation it is similar, refer to the description of method part, specifically in order to reduce honor
Reputation, is not repeated herein.
Further, embodiment of the invention discloses a kind of vehicles, comprising: the vehicle of any one above-mentioned embodiment relates to
Water detection system.The vehicle can be recognised that accurately can be safely and reliably by road surfaces such as puddles, and then ensure
Traffic safety, in addition, by vehicle chassis height when vehicle zero load and load political reform etc., which is not occurred, for the vehicle influences, it may be assumed that regardless of vehicle
How chassis height changes, and can accurately carry out vehicle and paddle detection, have vehicle paddle detect it is accurate, reliable
The advantages of.
In addition, other compositions of vehicle according to an embodiment of the present invention and effect are for those of ordinary skill in the art
For be all it is known, in order to reduce redundancy, be not repeated herein.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
- The detection method 1. a kind of vehicle is paddled, which comprises the following steps:Detect body gesture；The early warning distance for corresponding to the body gesture is searched from the first tables of data prestored, wherein first tables of data In prestore and multiple body gestures and correspond respectively to the early warning distance of the multiple body gesture；Detect the measurement distance between the vehicle body base position and the water surface；Compare the measurement distance and the early warning distance；Determined whether to trigger early warning of paddling according to the comparison result of the measurement distance and the early warning distance.
- The detection method 2. vehicle according to claim 1 is paddled, which is characterized in that first tables of data according to early warning away from It demarcates and obtains in advance from test experiments, specifically include:Obtain the positional relationship information between vehicle body target position and the vehicle body base position；It is obtained corresponding to the multiple vehicle according to each body gesture in the positional relationship information and the multiple body gesture The early warning distance of each body gesture in figure state；It is generated according to the multiple body gesture and the early warning distance corresponding to each body gesture in the multiple body gesture First tables of data.
- The detection method 3. vehicle according to claim 2 is paddled, which is characterized in that the vehicle body target position be corresponding to The position of engine intake.
- The detection method 4. vehicle according to claim 1-3 is paddled, which is characterized in that described according to measurement distance Determine whether to trigger the step of paddling early warning with the comparison result of the early warning distance, comprising:If early warning is paddled when the measurement distance is less than or equal to the early warning distance described in triggering；Alternatively,The measurement distance is greater than the difference between the early warning distance but the measurement distance and the early warning distance less than pre- It paddles early warning described in triggering when determining threshold value.
- The detection method 5. vehicle according to claim 1 is paddled, which is characterized in that further include:The early warning body gesture for corresponding to the measurement distance is searched from the second tables of data prestored, wherein second number According to the early warning body gesture for prestoring multiple measurement distances in table with corresponding respectively to the multiple measurement distance；Compare the body gesture and the early warning body gesture；Determined whether to trigger early warning of paddling according to the comparison result of the body gesture and the early warning body gesture.
- The detection system 6. a kind of vehicle is paddled characterized by comprisingBody gesture detection device, to detect body gesture；The water-level detecting device of vehicle body base position is set, to detect the measurement distance between vehicle body base position and the water surface；Memory, the memory prestore the first tables of data, and multiple body gestures are prestored in first tables of data and are divided Not Dui Yingyu the multiple body gesture early warning distance；Processor, the processor respectively with the body gesture detection device, the water-level detecting device and the memory It is connected, to search the early warning distance for corresponding to the body gesture from first tables of data, and according to the measurement distance Determine whether to trigger early warning of paddling with the comparison result of the early warning distance.
- The detection system 7. vehicle according to claim 6 is paddled, which is characterized in that first tables of data according to early warning away from It demarcates and obtains in advance from test experiments, specifically include:Obtain the positional relationship information between vehicle body target position and the vehicle body base position；It is obtained corresponding to the multiple vehicle according to each body gesture in the positional relationship information and the multiple body gesture The early warning distance of each body gesture in figure state；It is generated according to the multiple body gesture and the early warning distance corresponding to each body gesture in the multiple body gesture First tables of data；In the memory by first tables of data storage.
- The detection system 8. vehicle according to claim 6 or 7 is paddled, which is characterized in that the processor includes:First comparing unit, with the measurement distance and the early warning distance；First trigger unit, first trigger unit are connected with first comparing unit, to be less than in the measurement distance Or paddle early warning described in triggering when equal to the early warning distance, or the measurement distance greater than the early warning distance but It paddles early warning described in triggering when difference between the measurement distance and the early warning distance is less than predetermined threshold.
- The detection system 9. vehicle according to claim 6 is paddled, which is characterized in thatThe memory prestores the second tables of data, and second tables of data prestores multiple measurement distances and corresponds respectively to institute State the early warning body gesture of multiple measurement distances；The processor further include:Second comparing unit, with the body gesture and the early warning body gesture；Second trigger unit, second trigger unit are connected with second comparing unit, with according to the body gesture with The comparison result of the early warning body gesture determines whether to trigger early warning of paddling.
- 10. a kind of vehicle, which is characterized in that the vehicle for being provided with as claim in any one of claims 6-9 is paddled detection system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710400540.2A CN108973894A (en) | 2017-05-31 | 2017-05-31 | Vehicle is paddled detection method, system and vehicle |
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| CN201710400540.2A CN108973894A (en) | 2017-05-31 | 2017-05-31 | Vehicle is paddled detection method, system and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN114683794A (en) * | 2022-04-07 | 2022-07-01 | 华人运通(上海)新能源驱动技术有限公司 | Wading control method, device and equipment for vehicle and storage medium |
| CN114683794B (en) * | 2022-04-07 | 2023-12-26 | 华人运通(上海)新能源驱动技术有限公司 | Wading control method, device, equipment and storage medium for vehicle |
| CN114954232A (en) * | 2022-05-31 | 2022-08-30 | 岚图汽车科技有限公司 | Vehicle wading alarm method and device based on radar detection |
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