CN114801989A - Vehicle wading early warning method and system and readable storage medium - Google Patents
Vehicle wading early warning method and system and readable storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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Abstract
The invention provides a vehicle wading early warning method, a vehicle wading early warning system and a readable storage medium, wherein the method comprises the following steps: acquiring the speed information of the current vehicle, and judging whether the speed information is less than a preset speed; if the vehicle speed information is less than the preset vehicle speed, automatically starting a wading mode, and detecting the vehicle body posture of the current vehicle in real time; determining a measured distance between a current vehicle reference position and a water surface based on the body attitude; and when the measured distance reaches a set threshold value, sending out a corresponding alarm prompt. The technical problem of among the prior art, the driver can't judge the surface of water depth, leads to the vehicle to easily take place unexpected in wading driving is solved.
Description
Technical Field
The invention relates to the technical field of automobile driving wading early warning, in particular to a vehicle wading early warning method, a vehicle wading early warning system and a readable storage medium.
Background
The automobile often meets the road condition of accumulated water in the driving process, under specific conditions, the automobile can reach the destination only by penetrating through deeper water flow, and sometimes needs to drive in heavy rain, all the conditions need to be driven by wading, and along with the continuous development of automobile technology, people also put forward higher requirements on the safety of wading driving of the automobile.
The automobile wading driving is greatly different from the driving under the normal traffic environment, for example, the resistance of the automobile in advancing can be increased due to the action of water flow impact force on the automobile, and the water flow can generate thrust in various directions on the running automobile, so that the automobile is easy to sideslip, the steering wheel of the automobile is easy to lose control, and the like; in addition, the pressure between the tires and the underwater road surface is reduced, the driving force is limited, and when the vehicle is blocked, dangerous situations such as traffic accidents, car rollover and the like can be caused, so that wading driving of the automobile is a very dangerous driving condition.
However, in the prior art, a driver cannot judge the depth of the water surface, and basically controls the vehicle by manually operating and adjusting the water surface, the effect of the control depends on the personal driving technology of the driver to a great extent.
Disclosure of Invention
Based on the above, the invention aims to provide a vehicle wading early warning method, a vehicle wading early warning system and a readable storage medium, which are used for solving the technical problem that in the prior art, a driver cannot judge the depth of a water surface, so that accidents are easy to happen to the vehicle in wading driving.
The invention provides a vehicle wading early warning method on the one hand, which comprises the following steps:
acquiring the speed information of the current vehicle, and judging whether the speed information is less than a preset speed;
if the vehicle speed information is less than the preset vehicle speed, automatically starting a wading mode, and detecting the vehicle body posture of the current vehicle in real time;
determining a measured distance between a current vehicle reference position and a water surface based on the body attitude;
and when the measured distance reaches a set threshold value, sending out a corresponding alarm prompt.
Preferably, the step of detecting the body posture of the current vehicle in real time specifically includes:
acquiring the horizontal height information of front wheels and rear wheels of a current vehicle in the driving process, and comparing the horizontal height information of the front wheels with the horizontal height information of the rear wheels to determine the body posture of the current vehicle;
if the horizontal height of the front wheels is lower than that of the rear wheels, judging that the current vehicle is in a first vehicle body posture;
if the horizontal height of the front wheels is equal to the horizontal height of the rear wheels, determining that the current vehicle is in a second vehicle body posture;
and if the horizontal height of the front wheels is higher than that of the rear wheels, judging that the current vehicle is in a third body posture.
Preferably, the step of determining the measured distance between the current vehicle reference position and the water surface based on the vehicle body attitude specifically includes:
if the current vehicle is in the first vehicle body posture, selecting the front section of the vehicle body as a current reference position, and measuring the measurement distance between the reference position and the water surface;
if the current vehicle is in the second vehicle body posture, selecting the middle section of the vehicle body as a current reference position, and measuring the measurement distance between the reference position and the water surface;
and if the current vehicle is in the third vehicle body posture, selecting the rear section of the vehicle body as a current reference position, and measuring the measurement distance between the reference position and the water surface.
Preferably, if the current vehicle is in the first body posture, the calculation formula of the measured distance between the current reference position and the water surface is:
H'=（H1/H0）*H；
h' is the measured distance between the current reference position and the water surface in the first vehicle body state, H1 is the distance between the sensor on the front and rear doors and the water surface, H0 is a standard value, and H is the distance between the sensor on the rearview mirror and the water surface;
if the current vehicle is in the third body posture, the calculation formula of the measurement distance between the current reference position and the water surface is as follows:
H''=（H2/H0）*H；
where H ″ is the measured distance between the current reference position and the water surface in the third body attitude, H2 is the distance from the water surface measured by the sensor on the back door, H0 is the standard value, and H is the distance from the water surface measured by the sensor on the rear view mirror.
Preferably, when the measured distance reaches a set threshold, the step of sending out a corresponding alarm prompt specifically includes:
comparing the measured distance with a first preset early warning distance, a second preset early warning distance and a third preset early warning distance, wherein the first preset early warning distance is smaller than the second preset early warning distance, and the second preset early warning distance is smaller than the third preset early warning distance;
if the measured distance is less than or equal to the first preset early warning distance, no alarm prompt is sent out;
if the measured distance is greater than the first early warning distance and less than or equal to the second early warning distance, a first-level alarm prompt is sent;
if the measured distance is greater than the second early warning distance and less than or equal to the third early warning distance, a second-level alarm prompt is sent;
and if the measured distance is greater than the third early warning distance, sending out a third-level alarm prompt.
Preferably, after the step of sending an alarm prompt when the measured distance reaches a set threshold, the method further includes:
monitoring the measurement distance between the current vehicle and the water surface and the vehicle speed information under the current driving state;
and if the measured distance is less than or equal to the first preset early warning distance and the vehicle speed information is greater than the preset vehicle speed, closing the wading mode and stopping detecting the vehicle body posture of the current vehicle in real time.
In another aspect of the present invention, a vehicle wading early warning system is further provided, including:
the speed measuring module is used for acquiring the speed information of the current vehicle and judging whether the speed information is less than a preset speed;
the vehicle body posture detection module is used for automatically starting a wading mode and detecting the vehicle body posture of the current vehicle in real time if the vehicle speed information is less than the preset vehicle speed;
the distance measurement module is used for determining the measurement distance between the current vehicle reference position and the water surface based on the vehicle body posture;
and the alarm module is used for sending out a corresponding alarm prompt when the measured distance reaches a set threshold value.
Preferably, the vehicle body posture detecting module includes:
the vehicle body posture detection unit is used for acquiring the horizontal height information of front wheels and rear wheels of the current vehicle in the driving process, and comparing the horizontal height information of the front wheels and the horizontal height information of the rear wheels to determine the vehicle body posture of the current vehicle;
the first vehicle body posture judging unit is used for judging that the current vehicle is in a first vehicle body posture if the horizontal height of the front wheels is lower than that of the rear wheels;
a second body posture determination unit configured to determine that the current vehicle is in a second body posture if the horizontal height of the front wheels is equal to the horizontal height of the rear wheels;
and a third body posture determination unit configured to determine that the current vehicle is in a third body posture if the level of the front wheels is higher than the level of the rear wheels.
Preferably, the ranging module includes:
the first distance measurement unit is used for selecting the front section of the vehicle body as a current reference position and measuring the measurement distance between the reference position and the water surface if the current vehicle is in the first vehicle body posture;
the second distance measurement unit is used for selecting the middle section of the vehicle body as a current reference position and measuring the measurement distance between the reference position and the water surface if the current vehicle is in the second vehicle body posture;
and the third distance measuring unit is used for selecting the rear section of the vehicle body as the current reference position and measuring the measuring distance between the reference position and the water surface if the current vehicle is in the third vehicle body posture.
Preferably, the alarm module comprises:
a comparison unit, configured to compare the measured distance with a first preset early warning distance, a second preset early warning distance, and a third preset early warning distance, where the first preset early warning distance is smaller than the second preset early warning distance, and the second preset early warning distance is smaller than the third preset early warning distance;
the first alarm unit is used for not sending out an alarm prompt if the measured distance is less than or equal to the first preset early warning distance;
the second warning unit is used for sending a first-grade warning prompt if the measured distance is greater than the first warning distance and is less than or equal to the second warning distance;
the third warning unit is used for sending a second-level warning prompt if the measured distance is greater than the second warning distance and is less than or equal to the third warning distance;
and the fourth alarm unit is used for sending out a third-level alarm prompt if the measured distance is greater than the third early warning distance.
Further, the system further comprises:
the monitoring module is used for monitoring the measurement distance between the current vehicle and the water surface and the vehicle speed information in the current driving state;
and the pause module is used for closing the wading mode and stopping detecting the body posture of the current vehicle in real time if the measured distance is less than or equal to the first preset early warning distance and the vehicle speed information is greater than the preset vehicle speed.
In another aspect, the present invention further provides a readable storage medium, on which a computer program is stored, which when executed by a processor implements the vehicle wading warning method as described above.
Compared with the prior art, the invention has the beneficial effects that: the driver is at the driving in-process, whether the vehicle can be less than the automatic wading mode of opening of predetermined speed of a motor vehicle according to speed of a motor vehicle information, under the wading mode, the vehicle can be measured the distance between automobile body and the surface of water according to current automobile body gesture, make adaptability adjustment to the measuring distance between automobile body and the surface of water under different road conditions promptly, with promote to wading degree of depth measuring accuracy nature, when measuring distance reaches predetermined threshold value, send corresponding warning suggestion, in order to reach and remind driver vehicle water level depth when wading, avoid the water level to lead to the vehicle to flame out excessively deeply, the problem of the technique of prior art is solved, the driver can't judge the surface of water depth, lead to the vehicle easy emergence accident in wading driving.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a vehicle wading warning method according to a first embodiment of the present invention;
FIG. 2 is a block diagram of a vehicle wading warning system according to a third embodiment of the present invention;
the following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example one
Referring to fig. 1, a vehicle wading warning method according to a first embodiment of the present invention is shown, where the method includes:
s101, acquiring the speed information of the current vehicle, and judging whether the speed information is less than a preset speed;
specifically, the vehicle continuously detects the vehicle speed information of the vehicle during driving, and when the vehicle speed is lower than 10km/h, the wading mode is automatically started, wherein the preset vehicle speed can be adaptively adjusted according to the habit of the driver, and is not limited to 10 km/h.
S102, if the vehicle speed information is smaller than the preset vehicle speed, automatically starting a wading mode, and detecting the vehicle body posture of the current vehicle in real time;
specifically, the body attitude may be measured by using a combination of a gyroscope, an acceleration sensor and an angle sensor, and the body attitude of the vehicle under different road conditions, such as the degree of inclination of the body when driving on an uphill slope, a downhill slope or a flat road, is detected, and it should be noted that the measurement of the body attitude is generally the angle of the body with respect to a horizontal axis or a flat plane.
S103, determining a measurement distance between the current vehicle reference position and the water surface based on the vehicle body posture;
specifically, water level sensors, which may be ultrasonic sensors, are respectively provided on a rear view mirror, a front tail door, and a rear tail door of the vehicle, wherein a water level depth measured by the water level sensors on the rear view mirror is used as a main judgment parameter.
And S104, when the measured distance reaches a set threshold value, sending out a corresponding alarm prompt.
Specifically, when the wading depth measured at the rearview mirror is larger than 10cm, an alarm is given out to remind a driver to prevent accidents caused by too deep wading depth, and if the wading depth is smaller than 10cm, the alarm is not given out and the water level depth is continuously monitored on the premise that the vehicle speed is not higher than the preset vehicle speed.
In summary, in the vehicle wading early warning method in the above embodiments of the present invention, during driving, a driver may automatically turn on a wading mode according to whether vehicle speed information is lower than a preset vehicle speed, and in the wading mode, the vehicle may measure a distance between the vehicle body and the water surface according to a current vehicle body posture, that is, adaptively adjust a measured distance between the vehicle body and the water surface under different road conditions, so as to improve accuracy of measuring a wading depth, and when the measured distance reaches a preset threshold, send a corresponding alarm prompt to remind the driver of a vehicle water level depth when wading, so as to avoid that the vehicle stalls due to an excessively deep water level, thereby solving a technical problem in the prior art that the driver cannot judge a shallow water level and is prone to an accident during wading driving.
Example two
The vehicle wading early warning method in the second embodiment of the invention comprises the following steps:
step S11, acquiring the speed information of the current vehicle, and judging whether the speed information is less than the preset speed;
step S12, if the vehicle speed information is less than the preset vehicle speed, automatically starting a wading mode, and detecting the vehicle body posture of the current vehicle in real time;
step S13, determining the measurement distance between the current vehicle reference position and the water surface based on the vehicle body posture;
and step S14, when the measured distance reaches the set threshold value, sending out a corresponding alarm prompt.
It should be noted that, in the present embodiment, reference may be made to the first embodiment for parts that are not described in step S11, step S12, step S13, and step S14.
Further, the step of detecting the body posture of the current vehicle in real time specifically includes:
acquiring the horizontal height information of front wheels and rear wheels of a current vehicle in the driving process, and comparing the horizontal height information of the front wheels with the horizontal height information of the rear wheels to determine the body posture of the current vehicle;
if the horizontal height of the front wheels is lower than that of the rear wheels, judging that the current vehicle is in a first vehicle body posture;
if the horizontal height of the front wheels is equal to the horizontal height of the rear wheels, determining that the current vehicle is in a second vehicle body posture;
and if the horizontal height of the front wheels is higher than that of the rear wheels, judging that the current vehicle is in a third body posture.
When the automobile runs under different road conditions, the height difference between the front wheels and the rear wheels can be detected through the gyroscope, and the posture of the current vehicle is determined according to the height difference between the front wheels and the rear wheels, wherein the first posture is that the vehicle is in a forward tilting posture, the second posture is that the vehicle is in a horizontal posture, and the third posture is that the vehicle is in a backward tilting posture.
Further, the step of determining the measured distance between the current vehicle reference position and the water surface based on the body attitude specifically includes:
if the current vehicle is in the first vehicle body posture, selecting the front section of the vehicle body as a current reference position, and measuring the measurement distance between the reference position and the water surface;
if the current vehicle is in the second vehicle body posture, selecting the middle section of the vehicle body as a current reference position, and measuring the measurement distance between the reference position and the water surface;
and if the current vehicle is in the third vehicle body posture, selecting the rear section of the vehicle body as a current reference position, and measuring the measurement distance between the reference position and the water surface.
Specifically, if the current vehicle is in the first body posture, the calculation formula of the measurement distance between the current reference position and the water surface is as follows:
equation 1: h' = (H1/H0) × H;
wherein, H' is the measured distance between the current reference position and the water surface in the first vehicle body state, H1 is the distance between the sensor on the front and rear doors and the water surface, H0 is the standard value, and H is the distance between the sensor on the rear-view mirror and the water surface.
If the current vehicle is in the second body posture, the calculation formula of the measurement distance between the current reference position and the water surface is
Equation 2: H-H = H;
h-is the distance between the current reference position and the water surface in the second body posture, and H is the distance between the sensor on the rearview mirror and the water surface;
if the current vehicle is in the third vehicle body posture, a calculation formula of the measurement distance between the current reference position and the water surface is as follows:
equation 3: h "= (H2/H0) × H;
where H ″ is the measured distance between the current reference position and the water surface in the third body attitude, H2 is the distance from the water surface measured by the sensor on the back door, H0 is the standard value, and H is the distance from the water surface measured by the sensor on the rear view mirror.
In this embodiment, when the vehicle is in the first body posture, the distance between the sensor on the rear-view mirror and the water surface can be corrected through formula 1, and when the vehicle is in the third body posture, the distance between the sensor on the rear-view mirror and the water surface can be corrected through formula 3, so that the accuracy of actually measuring the wading depth is improved, and the reliability of data is improved.
Further, when the measured distance reaches a set threshold, the step of sending out a corresponding alarm prompt specifically includes:
comparing the measured distance with a first preset early warning distance, a second preset early warning distance and a third preset early warning distance, wherein the first preset early warning distance is smaller than the second preset early warning distance, and the second preset early warning distance is smaller than the third preset early warning distance;
if the measured distance is less than or equal to the first preset early warning distance, no alarm prompt is sent out;
if the measured distance is greater than the first early warning distance and less than or equal to the second early warning distance, a first-level alarm prompt is sent;
if the measured distance is greater than the second early warning distance and less than or equal to the third early warning distance, a second-level alarm prompt is sent;
and if the measured distance is greater than the third early warning distance, sending out a third-level alarm prompt.
In the embodiment, the first preset early warning distance, the second preset early warning distance and the third preset early warning distance can be set according to different vehicle types, and are not limited herein.
Further, after the step of sending an alarm prompt when the measured distance reaches a set threshold, the method further includes:
monitoring the measurement distance between the current vehicle and the water surface and the vehicle speed information under the current driving state;
and if the measured distance is less than or equal to the first preset early warning distance and the vehicle speed information is greater than the preset vehicle speed, closing the wading mode and stopping detecting the vehicle body posture of the current vehicle in real time.
In summary, in the vehicle wading early warning method in the above embodiments of the present invention, during driving, a driver may automatically turn on a wading mode according to whether vehicle speed information is lower than a preset vehicle speed, and in the wading mode, the vehicle may measure a distance between the vehicle body and the water surface according to a current vehicle body posture, that is, adaptively adjust a measured distance between the vehicle body and the water surface under different road conditions, so as to improve accuracy of measuring a wading depth, and when the measured distance reaches a preset threshold, send a corresponding alarm prompt to remind the driver of a vehicle water level depth when wading, so as to avoid that the vehicle stalls due to an excessively deep water level, thereby solving a technical problem in the prior art that the driver cannot judge a shallow water level and is prone to an accident during wading driving.
EXAMPLE III
The present invention also provides a vehicle wading early warning system, as shown in fig. 2, the system includes:
the speed measuring module 10 is used for acquiring the speed information of the current vehicle and judging whether the speed information is less than a preset speed;
the vehicle body posture detection module 20 is used for automatically starting a wading mode and detecting the vehicle body posture of the current vehicle in real time if the vehicle speed information is less than the preset vehicle speed;
the distance measurement module 30 is used for determining the measurement distance between the current vehicle reference position and the water surface based on the vehicle body posture;
and the alarm module 40 is used for sending out a corresponding alarm prompt when the measured distance reaches a set threshold value.
Further, the vehicle body posture detecting module 20 includes:
the vehicle body posture detection unit 21 is used for acquiring the horizontal height information of front wheels and rear wheels of the current vehicle in the driving process, and comparing the horizontal height information of the front wheels and the horizontal height information of the rear wheels to determine the vehicle body posture of the current vehicle;
a first body posture determining unit 22, configured to determine that the current vehicle is in a first body posture if the horizontal height of the front wheels is lower than the horizontal height of the rear wheels;
a second body posture determination unit 23 configured to determine that the current vehicle is in a second body posture if the horizontal height of the front wheels is equal to the horizontal height of the rear wheels;
and a third body posture determination unit 24 for determining that the current vehicle is in the third body posture if the level of the front wheels is higher than the level of the rear wheels.
Further, the ranging module 30 includes:
the first distance measuring unit 31 is configured to select a front section of the vehicle body as a current reference position if the current vehicle is in the first vehicle body posture, and measure a measurement distance between the reference position and the water surface;
the second distance measuring unit 32 is configured to select a middle section of the vehicle body as a current reference position if the current vehicle is in the second vehicle body posture, and measure a measurement distance between the reference position and the water surface;
and a third distance measuring unit 33, configured to select a rear section of the vehicle body as a current reference position if the current vehicle is in the third vehicle body posture, and measure a measurement distance between the reference position and the water surface.
Further, the alarm module 40 includes:
a comparison unit 41, configured to compare the measured distance with a first preset early warning distance, a second preset early warning distance, and a third preset early warning distance, where the first preset early warning distance is smaller than the second preset early warning distance, and the second preset early warning distance is smaller than the third preset early warning distance;
the first alarm unit 42 is configured to not send an alarm prompt if the measured distance is less than or equal to the first preset early warning distance;
a second warning unit 43, configured to send a first-level warning prompt if the measured distance is greater than the first warning distance and is less than or equal to the second warning distance;
a third warning unit 44, configured to send a second-level warning prompt if the measured distance is greater than the second warning distance and is less than or equal to the third warning distance;
and a fourth warning unit 45, configured to send a third-level warning prompt if the measured distance is greater than the third warning distance.
Further, the system further comprises:
the monitoring module 50 is used for monitoring the measurement distance between the current vehicle and the water surface and the vehicle speed information in the current driving state;
and the pause module 60 is used for closing the wading mode and stopping detecting the body posture of the current vehicle in real time if the measured distance is less than or equal to the first preset early warning distance and the vehicle speed information is greater than the preset vehicle speed.
In summary, in the vehicle wading early warning system in the above embodiment of the present invention, during driving, the speed measurement module detects whether the vehicle speed information is lower than a preset vehicle speed, and automatically starts the wading mode, in the wading mode, the vehicle can measure the distance between the vehicle body and the water surface according to the current vehicle posture, that is, the measured distance between the vehicle body and the water surface is adaptively adjusted under different road conditions, so as to improve the accuracy of wading depth measurement, and when the distance measured by the distance measurement module reaches a preset threshold, the alarm module sends a corresponding alarm prompt to remind the driver of the vehicle water level depth when wading, so as to avoid vehicle flameout due to too deep water level, thereby solving the technical problem in the prior art that the driver cannot judge the depth of the water surface, which causes accidents of the vehicle during wading driving.
Example four
The invention also provides a readable storage medium, on which a computer program is stored, which when executed by a processor implements the vehicle wading warning method as described above.
The invention also provides a server, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the vehicle wading early warning method.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle wading early warning method is characterized by comprising the following steps:
acquiring the speed information of the current vehicle, and judging whether the speed information is less than a preset speed;
if the vehicle speed information is less than the preset vehicle speed, automatically starting a wading mode, and detecting the vehicle body posture of the current vehicle in real time;
determining a measured distance between a current vehicle reference position and the water surface based on the vehicle body attitude;
and when the measured distance reaches a set threshold value, sending out a corresponding alarm prompt.
2. The vehicle wading early warning method according to claim 1, wherein the step of detecting the body posture of the current vehicle in real time specifically comprises:
acquiring the horizontal height information of front wheels and rear wheels of a current vehicle in the driving process, and comparing the horizontal height information of the front wheels with the horizontal height information of the rear wheels to determine the body posture of the current vehicle;
if the horizontal height of the front wheels is lower than that of the rear wheels, judging that the current vehicle is in a first vehicle body posture;
if the horizontal height of the front wheels is equal to the horizontal height of the rear wheels, determining that the current vehicle is in a second vehicle body posture;
and if the horizontal height of the front wheels is higher than that of the rear wheels, judging that the current vehicle is in a third vehicle body posture.
3. The vehicle wading early warning method according to claim 2, wherein the step of determining the measured distance between the current vehicle reference position and the water surface based on the vehicle body attitude specifically comprises:
if the current vehicle is in the first vehicle body posture, selecting the front section of the vehicle body as a current reference position, and measuring the measurement distance between the current reference position and the water surface;
if the current vehicle is in the second vehicle body posture, selecting the middle section of the vehicle body as a current reference position, and measuring the measurement distance between the current reference position and the water surface;
and if the current vehicle is in the third vehicle body posture, selecting the rear section of the vehicle body as the current reference position, and measuring the measurement distance between the current reference position and the water surface.
4. The vehicle wading early warning method according to claim 3, wherein if the current vehicle is in the first body posture, a calculation formula of the measurement distance between the current reference position and the water surface is as follows:
H'=（H1/H0）*H；
h' is the measured distance between the current reference position and the water surface in the first vehicle body state, H1 is the distance between the sensor on the front and rear doors and the water surface, H0 is a standard value, and H is the distance between the sensor on the rearview mirror and the water surface;
if the current vehicle is in the third body posture, the calculation formula of the measurement distance between the current reference position and the water surface is as follows:
H''=（H2/H0）*H；
where H ″ is the measured distance between the current reference position and the water surface in the third body attitude, H2 is the distance from the water surface measured by the sensor on the back door, H0 is the standard value, and H is the distance from the water surface measured by the sensor on the rear view mirror.
5. The vehicle wading early warning method according to claim 3, wherein the step of sending out a corresponding warning prompt when the measured distance reaches a set threshold specifically comprises:
comparing the measured distance with a first preset early warning distance, a second preset early warning distance and a third preset early warning distance, wherein the first preset early warning distance is smaller than the second preset early warning distance, and the second preset early warning distance is smaller than the third preset early warning distance;
if the measured distance is less than or equal to the first preset early warning distance, no alarm prompt is sent out;
if the measured distance is greater than the first early warning distance and less than or equal to the second early warning distance, a first-level alarm prompt is sent;
if the measured distance is greater than the second early warning distance and less than or equal to the third early warning distance, a second-level alarm prompt is sent;
and if the measured distance is greater than the third early warning distance, sending out a third-level alarm prompt.
6. The vehicle wading early warning method according to claim 5, wherein after the step of sending an alarm prompt when the measured distance reaches a set threshold, the method further comprises:
monitoring the measurement distance between the current vehicle and the water surface and the vehicle speed information in the current driving state;
and if the measured distance is smaller than or equal to the first preset early warning distance and the vehicle speed information is larger than the preset vehicle speed, closing the wading mode and stopping detecting the vehicle body posture of the current vehicle in real time.
7. A vehicle early warning system that paddles, comprising:
the speed measuring module is used for acquiring the speed information of the current vehicle and judging whether the speed information is less than a preset speed;
the vehicle body posture detection module is used for automatically starting a wading mode and detecting the vehicle body posture of the current vehicle in real time if the vehicle speed information is less than the preset vehicle speed;
the distance measurement module is used for determining the measurement distance between the current vehicle reference position and the water surface based on the vehicle body posture;
and the alarm module is used for sending out a corresponding alarm prompt when the measured distance reaches a set threshold value.
8. The vehicle wading warning system of claim 7, wherein the body attitude detection module comprises:
the vehicle body posture detection unit is used for acquiring the horizontal height information of front wheels and rear wheels of the current vehicle in the driving process, and comparing the horizontal height information of the front wheels and the horizontal height information of the rear wheels to determine the vehicle body posture of the current vehicle;
the first vehicle body posture judging unit is used for judging that the current vehicle is in a first vehicle body posture if the horizontal height of the front wheels is lower than that of the rear wheels;
a second body posture determination unit configured to determine that the current vehicle is in a second body posture if the horizontal height of the front wheels is equal to the horizontal height of the rear wheels;
and a third body posture determination unit configured to determine that the current vehicle is in a third body posture if the level of the front wheels is higher than the level of the rear wheels.
9. The vehicle wading warning system of claim 7, wherein the ranging module comprises:
the first distance measurement unit is used for selecting the front section of the vehicle body as a current reference position and measuring the measurement distance between the reference position and the water surface if the current vehicle is in the first vehicle body posture;
the second distance measurement unit is used for selecting the middle section of the vehicle body as a current reference position and measuring the measurement distance between the reference position and the water surface if the current vehicle is in the second vehicle body posture;
and the third distance measuring unit is used for selecting the rear section of the vehicle body as the current reference position and measuring the measuring distance between the reference position and the water surface if the current vehicle is in the third vehicle body posture.
10. A readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing a vehicle wading warning method according to any one of claims 1 to 6.
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