CN114954232B - Vehicle wading alarm method and device based on radar detection - Google Patents

Vehicle wading alarm method and device based on radar detection Download PDF

Info

Publication number
CN114954232B
CN114954232B CN202210614983.2A CN202210614983A CN114954232B CN 114954232 B CN114954232 B CN 114954232B CN 202210614983 A CN202210614983 A CN 202210614983A CN 114954232 B CN114954232 B CN 114954232B
Authority
CN
China
Prior art keywords
vehicle
wading
height
depth
threshold value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202210614983.2A
Other languages
Chinese (zh)
Other versions
CN114954232A (en
Inventor
宋升弘
涂宁宁
赵根根
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lantu Automobile Technology Co Ltd
Original Assignee
Lantu Automobile Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lantu Automobile Technology Co Ltd filed Critical Lantu Automobile Technology Co Ltd
Priority to CN202210614983.2A priority Critical patent/CN114954232B/en
Publication of CN114954232A publication Critical patent/CN114954232A/en
Application granted granted Critical
Publication of CN114954232B publication Critical patent/CN114954232B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The application discloses a vehicle wading alarm method and device based on radar detection, which are characterized in that the suspension height from the radar installation position acquired by radar to the ground or the water surface is acquired; determining whether the vehicle wades or not according to the obtained change rate of the suspension height; after determining wading, determining a maximum wading depth of the vehicle; judging whether the maximum wading depth exceeds a preset depth threshold value; judging whether the vehicle is in a water-involved misjudgment state or not; according to the two judging results, whether the wading alarm is sent out is determined, whether the vehicle wades or not can be judged when foreign matter interference occurs on the water surface, the wading false alarm is avoided by combining the wading depth misjudgment condition and the comprehensive analysis of the wading depth, the accuracy of the vehicle wading alarm is improved, the detection and the intelligent degree of the alarm when the vehicle wades are improved, the dangerous condition caused by deep wading of a user during driving is avoided, and more guarantees are provided for safe traveling.

Description

Vehicle wading alarm method and device based on radar detection
Technical Field
The application relates to the technical field of vehicle wading detection, in particular to a vehicle wading alarm method and device based on radar detection.
Background
With the widespread use of automobiles, the application scenes of vehicles are also becoming diverse, and in the application scenes of vehicles, the vehicle wading scenes are also beginning to become normalized. The vehicle wading scene mainly comprises water accumulation road sections formed by the fact that vehicles drive into low-lying places of roads, such as tunnels, undersea roads of overpasses and puddles formed on non-hardened roads. When the vehicle wades, the wading depth of the vehicle cannot be identified by naked eyes, and if the wading water level is too high, water is fed into the vehicle, so that electronic systems and parts in the vehicle are damaged.
In the related art, a laser range finder is additionally arranged on the roof, the distance from the roof to the water surface is measured through the laser range finder to determine the wading depth of the vehicle, but the data sampling frequency of the laser range finder is higher, the sampled data size is larger, the energy consumption is overhigh during ranging, and the data processing load is overhigh. When a vehicle runs on an uneven road surface, the measurement error of the laser range finder can be obviously increased, and when foreign matters exist on the water surface, the situation of refraction or reflection of the water surface occurs, the measurement error of the laser range finder can be increased.
Therefore, how to accurately determine the wading situation of the vehicle and send the wading prompt to the driver is a technical problem to be solved.
Disclosure of Invention
The application mainly aims to provide a vehicle wading alarm method, device and equipment based on radar detection, and aims to solve the technical problems of accurately determining wading conditions of a vehicle when the vehicle wades and sending wading reminding to a driver.
In a first aspect, the present application provides a vehicle wading warning method based on radar detection, the method comprising the steps of:
Acquiring the suspension height from the radar mounting position acquired by the radar to the ground or the water surface;
determining whether the vehicle wades or not according to the obtained change rate of the suspension height;
After determining wading, determining a maximum wading depth of the vehicle;
Judging whether the maximum wading depth exceeds a preset depth threshold value;
judging whether the vehicle is in a water-involved misjudgment state or not;
And determining whether to send out a wading alarm according to the two judging results.
In some embodiments, the step of obtaining the suspension height from the radar installation position acquired by the vehicle radar to the ground or the water surface further comprises the following steps:
Filtering is greater than a preset highest height threshold value and a suspension height between a preset lowest height threshold value and a calibration height, wherein the highest height threshold value is the height of the radar from the ground when a vehicle tire just leaves the ground, the lowest height threshold value is the height of the radar from the ground when the vehicle is fully loaded, the calibration height is the height of the radar from the ground when the vehicle is unloaded, and the calibration height is smaller than the highest height threshold value and larger than the lowest height threshold value;
PID adjustment is carried out on the filtered suspension height to obtain a real suspension height;
Determining the confidence of the real flying height according to the mapping relation between the vehicle vertical acceleration corresponding to the filtered flying height and the corresponding confidence of the real flying height, wherein the acceleration is inversely related to the confidence of the real flying height;
Filtering the real flying height with the confidence coefficient lower than a preset confidence coefficient threshold value to obtain the credible flying height.
In some embodiments, the determining whether the vehicle wades according to the obtained change rate of the flying height specifically includes the following steps:
Determining the change rate of the suspension height acquired in a plurality of different time intervals;
judging whether the absolute value of the change rate of the previous time interval in any two adjacent time intervals is larger than or equal to the absolute value of the change rate of the next time interval;
If the probability of the occurrence of the vehicle being greater than or equal to the set probability threshold value is above the set probability threshold value, determining that the vehicle wades, otherwise, not wading.
In some embodiments, if the vehicle is in the misjudgment state of being involved in water includes that the vehicle is in a state of passing through a pit, judging whether the vehicle is in the misjudgment state of being involved in water specifically includes the following steps:
And determining whether the product of the change rates of the suspension heights in three continuous time intervals is smaller than a preset value, if so, enabling the vehicle to be in a pit passing state, otherwise, enabling the vehicle not to be in the pit passing state.
In some embodiments, if the vehicle is in the misjudgment state of wading includes that the vehicle is in a state of leaving the wading road, judging whether the vehicle is in the misjudgment state of wading specifically includes the following steps:
If the vehicle stops the wading alarm after sending out the wading alarm, determining whether the duration of stopping the wading alarm is greater than or equal to the preset time;
If so, the vehicle is in a state of leaving the wading road, and if not, the vehicle is not in a state of leaving the wading road.
In some embodiments, determining whether to issue the wading alarm according to the two determination results specifically includes the following steps;
if the maximum wading depth does not exceed the preset depth threshold value, a wading alarm is not sent out;
If the maximum wading depth exceeds a preset depth threshold value and the vehicle is in a wading misjudgment state, a wading alarm is not sent out;
and if the maximum wading depth exceeds a preset depth threshold value and the vehicle is not in a wading misjudgment state, a wading alarm is sent out.
In some embodiments, the depth threshold includes a first depth threshold and a second depth threshold, and if the maximum wading depth exceeds a preset depth threshold and the vehicle is not in a wading misjudgment state, issuing a wading alarm specifically includes the following steps:
When the maximum wading depth exceeds the first depth threshold value and does not exceed the second depth threshold value and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to flash;
when the maximum wading depth exceeds the second depth threshold value and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to be normally on, and controlling the vehicle to send out a voice alarm prompt;
The first depth threshold value is the height of the thickness of the vehicle tire, and the second depth threshold value is the height of the center of the axis of the vehicle tire.
In some embodiments of the present invention,
When the vehicle is leaning forward or backward, the determining the maximum wading depth of the vehicle comprises the following specific steps:
Determining a first detection wading depth according to the calibration height and the acquired suspension height;
Establishing a first right-angle triangular model according to the first detection wading depth and the vehicle front inclination angle or the vehicle back inclination angle to obtain a first reference distance, wherein the first reference distance comprises the side length between the vehicle front inclination angle or the vehicle back inclination angle and the right angle in the first right-angle triangular model;
adding the first reference distance and the distance from the front end of the vehicle head to the radar to obtain a first added distance;
Establishing a second right-angle triangular model according to the first addition distance and the vehicle front inclination angle or the vehicle back inclination angle to obtain a determined second reference distance, wherein the second reference distance is an edge, opposite to the vehicle front inclination angle or the vehicle back inclination angle, of the second right-angle triangular model;
And calculating the maximum wading depth of the front and rear of the vehicle through a first trigonometric function according to the front inclination angle or the rear inclination angle of the vehicle, the first reference distance and the second reference distance.
In some embodiments of the present invention,
When the vehicle is left-leaning wading or right-leaning wading, the specific step of determining the maximum wading depth of the vehicle comprises the following steps:
determining a second detection wading depth according to the calibration height and the acquired suspension height;
Establishing a third right-angle triangular model according to the second detection wading depth and the left inclination angle or the right inclination angle of the vehicle to determine a second additional distance, wherein the second additional distance is the sum distance of a third reference distance and the distance between the radar and the vehicle body, and the second additional distance is the side length between the left inclination angle or the right inclination angle of the vehicle and the right angle in the third right-angle triangular model;
establishing a fourth right-angle triangular model according to the third reference distance and the left inclination angle or the right inclination angle of the vehicle to obtain a fourth reference distance, wherein the fourth reference distance is the side, opposite to the left inclination angle or the right inclination angle of the vehicle, of the fourth right-angle triangular model;
And determining the left and right maximum wading depth of the vehicle through a second trigonometric function according to the left inclination angle or the right inclination angle of the vehicle, the third reference distance and the fourth reference distance.
In a second aspect, the present application also provides a vehicle wading warning device based on radar detection, the device comprising:
the acquisition module is used for acquiring the suspension height from the radar installation position acquired by the radar to the ground or the water surface; the first determining module is used for determining whether the vehicle wades in water according to the obtained change rate of the suspended height;
A second determining module for determining a maximum wading depth of the vehicle after determining wading;
the first judging module is used for judging whether the maximum wading depth exceeds a preset depth threshold value or not;
the second judging module is used for judging whether the vehicle is in a water-involved misjudgment state or not;
and the third determining module is used for determining whether to send out a wading alarm according to the two judging results.
The application provides a vehicle wading alarm method and device based on radar detection, which are characterized in that the suspension height from the radar installation position acquired by radar to the ground or the water surface is acquired; determining whether the vehicle wades or not according to the obtained change rate of the suspension height; after determining wading, determining a maximum wading depth of the vehicle; judging whether the maximum wading depth exceeds a preset depth threshold value; judging whether the vehicle is in a water-involved misjudgment state or not; according to the two judging results, whether the wading alarm is sent out is determined, whether the vehicle wades or not can be judged when foreign matter interference occurs on the water surface, the wading depth misjudgment condition and the wading depth comprehensive analysis are combined, the wading false alarm condition is avoided, the vehicle wading alarm accuracy is improved, the detection and alarm intelligent degree during the wading of the vehicle are improved, the dangerous condition caused by deep wading of a user during driving is avoided, and more guarantees are provided for safe trip.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a vehicle wading alarm method based on radar detection according to an embodiment of the present application;
FIG. 2 is a schematic view of a radar installation location;
FIG. 3 is a schematic illustration of suspended height filtration;
FIG. 4 is a schematic illustration of the change in flying height of a vehicle while wading;
FIG. 5 is a schematic illustration of vehicle forward leaning wading;
FIG. 6 is a schematic diagram of a right angle triangular model of a vehicle when leaning forward;
FIG. 7 is a schematic illustration of a vehicle right leaning wading;
FIG. 8 is a schematic view of a right triangle model of a vehicle when right leaning into water;
FIG. 9 is a schematic illustration of the change in flying height of a vehicle in a pothole passing condition;
FIG. 10 is a schematic illustration of the change in flying height of a vehicle as it leaves a wading road;
FIG. 11 is a schematic block diagram of a radar detection based vehicle wading alarm system;
Fig. 12 is a schematic block diagram of a vehicle wading alarm device based on radar detection according to an embodiment of the present application;
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
The embodiment of the application provides a vehicle wading alarm method and device based on radar detection
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a flow chart of a vehicle wading alarm method based on radar detection according to an embodiment of the application.
As shown in fig. 1, the method includes steps S1 to S6.
S1, acquiring the suspension height from the radar installation position acquired by the radar to the ground or the water surface.
It should be noted that, as shown in fig. 2, the radar in the present application is two ultrasonic radars, which are respectively installed at two rearview mirrors of a vehicle, and the radar may be composed of a radar bracket and a radar harness, where a radar probe of the radar bracket is installed forward and downward, that is, the radar probe is perpendicular to the ground. The height between the radar installation position and the ground is the calibration height acquired by the radar; when the vehicle does not interfere with water, the distance acquired by the radar is the suspension height from the radar installation position to the ground; when the vehicle is involved, the distance acquired by the radar is the suspension height from the radar installation position to the water surface.
As a preferred embodiment, as shown in fig. 3, after the suspension height of the radar acquisition is obtained, filtering and PID adjustment are performed on the suspension height to obtain a real and reliable suspension height, which is closer to the real situation.
Specifically, a maximum height threshold HINT DISTANCE HIGH and a minimum height threshold HINT DISTANCE Low are preset. The highest height threshold value is the height of the radar from the ground when the vehicle tire just leaves the ground, and the lowest height threshold value is the height of the radar from the ground when the vehicle is fully loaded (the height is generally-0.1 m of the calibration height).
The suspended height which is larger than the preset highest height threshold value is filtered, because in theory, when the vehicle runs normally, the suspended height collected by the radar is not larger than the height of the radar from the ground when the vehicle tire just leaves the ground, when the collected suspended height is larger than the highest height threshold value, the radar is likely to be faulty, the collected data are wrong, and therefore the suspended height which is larger than the preset highest height threshold value is filtered, and the authenticity of the collected suspended height is guaranteed.
Optionally, the suspension height between the preset lowest height threshold and the calibration height can be filtered, and because the distance between the radar and the ground is reduced due to the reduction of the height of the vehicle when the vehicle is fully loaded, the suspension height value acquired by the natural radar can be reduced, so that the suspension height between the lowest height threshold and the calibration height is filtered, and the judgment is more accurate when the wading depth is judged according to the acquired suspension height.
Further, when PID adjustment is performed on the suspended height after filtration, the P coefficient in the PID is set to be 0, and the I coefficient and the D coefficient are set according to a certain proportion, so that the outputted suspended height is real, and the real situation can be attached.
In some embodiments, the suspended heights acquired by the radar are acquired, and meanwhile, the acceleration (the Z-axis acceleration) in the vertical direction of the vehicle is acquired, and can reflect the bumping degree of the vehicle, and each suspended height has the acceleration in the vertical direction of the vehicle corresponding to the suspended height. The filtered suspension height has a corresponding relation with the acceleration of the vehicle in the vertical direction, and the PID-regulated real suspension height has a corresponding relation with the filtered suspension height, so that the mapping relation between the acceleration of the vehicle in the vertical direction and the real suspension height confidence level can be set, and the speed is inversely related with the confidence level of the real suspension height. Because the acceleration of the vehicle in the vertical direction is large, the phenomenon that the vehicle runs on an uneven road surface is likely to cause the change of the suspension height collected by the radar, and the phenomenon is not caused by wading, so that data collected when the vehicle jolts are required to be filtered out. And determining the confidence coefficient of the real suspension height according to the mapping relation between the vehicle vertical acceleration corresponding to the filtered suspension height and the corresponding confidence coefficient of the real suspension height, wherein the filtered confidence coefficient is lower than the preset real suspension height with the preset confidence threshold value, and obtaining the real and reliable suspension height.
And S2, determining whether the vehicle wades or not according to the obtained change rate of the suspension height.
Specifically, the change rate of the suspension height acquired in a plurality of different time intervals is determined, and then whether the absolute value of the change rate of the previous time interval in any two adjacent time intervals is larger than or equal to the absolute value of the change rate of the next time interval is judged. Judging a plurality of groups of data, and if the probability of occurrence of more than or equal to the probability in the plurality of groups of judging results is above a set probability threshold value, determining that the vehicle wades; and if the probability of occurrence of the plurality of groups of judging results is larger than or equal to the set probability threshold value or lower, determining that the vehicle is not waded.
As a preferred embodiment, the change of the suspension height acquired by the radar along with time can be regarded as a curve as shown in fig. 4, and the vehicle speed v 1 ensures that the non-stationary state of the vehicle only takes a value for a plurality of positions once. The vehicle itself may shake when actually wading, or wave is caused on the water surface, and the suspended height detected by the radar is shown in fig. 4. The rate of change k of the flying height is determined for a plurality of time intervals Δt 1、Δt2……Δti, respectively. Comparing whether the absolute change rate values of Δt 1, i.e., k 1, and Δt 2, i.e., k 2, are k 1|≥|k2, the same method makes several sets of comparisons, e.g., k 2, and k 3|、|k3, and k 4|……|ki -1, and k i. If the comparison result of more than 80% in the plurality of groups of adjacent two time intervals is that the absolute value of the change rate of the previous time interval is larger than the absolute value of the change rate of the next time interval, namely, the result is expected to be that ζ is larger than or equal to 0.8, the vehicle is considered to wade, otherwise, the vehicle is determined to not wade.
And step S3, after wading is determined, determining the maximum wading depth of the vehicle.
When the vehicle is inclined like water, the obtained suspension height is subtracted from the calibration height to obtain the detection wading depth. Since the detected wading depth is the wading depth of the vehicle at the radar installation location, the maximum wading depth may far exceed the detected wading depth when the vehicle is tilted, and calculation of the maximum wading depth is also required.
As shown in fig. 5 and 6, when the vehicle leans forward, the head of the vehicle is deepest while the tail of the vehicle is deepest, and when the vehicle leans backward, the method for determining the maximum wading depth when the vehicle leans forward will be described in this embodiment, and the method for determining the maximum wading depth when the vehicle leans backward is the same as that of leaning forward. When the vehicle is inclined forward to wade, the method for determining the maximum wading depth of the vehicle specifically comprises the following steps:
subtracting the acquired suspension height from the calibration height to obtain a first detection wading depth: hs-ha=dd1, where Hs is the calibration height, ha is the suspension height, and Dd1 is the first detection wading depth.
And establishing a first right-angle triangular model according to the first detection wading depth Dd1 and the vehicle forward inclination angle alpha. The first right-angle triangular model uses a first detection wading depth Dd1 and a first reference distance X1 as two right-angle sides, and the first reference distance X1 is the side length between the vehicle front inclination angle and the right angle in the first right-angle triangular model. The first reference distance x1=dd1/tan a can be deduced from the trigonometric function tan a=dd1/X1.
And adding the first reference distance X1 and the distance Lv1 from the front end of the vehicle head to the radar to obtain a first added distance.
And establishing a second right-angle triangular model according to the first addition distance and the vehicle forward inclination angle alpha. The first addition distance and the second reference distance Y1 are taken as right angle sides in the second right angle triangular model, wherein the second reference distance Y1 is the side opposite to the vehicle forward inclination angle alpha in the second right angle triangular model.
According to the trigonometric function tanα=y1/(lv1+x1), a second reference distance is obtained:
Y1＝(Lv+Dd1/tanα)*tanα。
and then calculating the maximum wading depth Dw1 according to a maximum wading depth formula Dw1= ((Lv1+Dd1/tan alpha) ×tan alpha) ×cos alpha.
Further, as shown in fig. 7 and 8, the left-most wading of the vehicle is deepest when the vehicle leans left, the right-most wading of the vehicle is deepest when the vehicle leans right, and the methods for determining the maximum wading depth when the vehicle leans left and right are the same.
Subtracting the acquired suspension height from the calibration height to obtain a second detection wading depth when the vehicle leans right: hs-ha=dd2, where Dd2 is the second height.
And establishing a third right-angle triangular model according to the second detection wading depth Dd2 and the vehicle right inclination angle beta.
The third right-angle triangle model takes the second detection wading depth Dd2 and the second added distance as right-angle edges, wherein the second added distance is the added distance between the third reference distance X2 and the distance between the radar and the vehicle body (namely the extending distance of the radar probe) Lv2, and the second added distance is the edge length between the right inclination angle beta of the vehicle and the right angle in the second right-angle triangle model. The third reference distance x2=dd2/tan β -Lv2 is calculated from the trigonometric function formula tan β=dd2/(x+lv2) X.
And a fourth right-angle triangular model is established according to the third reference distance X2 and the right inclination angle beta of the vehicle. The third reference distance X2 and the fourth reference distance Y2 are taken as right angle sides in the fourth right angle triangle model, wherein the fourth reference distance Y2 is the side opposite to the right inclination angle of the vehicle in the fourth right angle triangle model. The fourth reference distance y2= (Dd 2/tan β -Lv 2) tan β is calculated from trigonometric function company.
And then calculating the maximum wading depth when the vehicle leans right according to a second trigonometric function formula: dw2= ((Dd 2/tan β -Lv 2) ×tan β) ×cos α, where dw2 is the maximum wading depth of the vehicle tilting right.
And S4, judging whether the maximum wading depth exceeds a preset depth threshold.
In some embodiments, two wading depth thresholds are preset, the first wading depth threshold being the height of the vehicle tire thickness, which represents the slight wading of the vehicle; the second wading depth threshold is the height of the vehicle tire axis center, which indicates that the vehicle wades deeper. The wading depth threshold value can be preset according to the structural model of the vehicle, and the like, and can also be preset by a driver, and the wading depth threshold value is not particularly limited.
And S5, judging whether the vehicle is in a misjudgment state of wading.
The wading misjudgment state mainly comprises two states, namely a state that the vehicle passes through a pit and a state that the vehicle leaves a wading road.
The flying height of the radar collection is shown in figure 9 when the vehicle is in a state of passing through the pit. The specific steps for determining whether the vehicle is in a state of passing through a pit include: and multiplying the rate of the suspended height in any three continuous time intervals, judging whether the result of the multiplication is smaller than a preset value, if so, determining that the vehicle is in a pit passing state, otherwise, determining that the vehicle is not in the pit passing state.
In one embodiment, the rate of change of flying height in three consecutive intervals Δt i1、Δti2 and Δt i3 is K 1、K2 and K 3, respectively, if K 1*K2*K3 is less than 0, it is determined that the vehicle is passing through the hole, and if K 1*K2*K3 is greater than or equal to 0, it is determined that the vehicle is not passing through the hole.
The vehicle can deepen suddenly and transiently through the pit, and when the vehicle goes out of water, the front wheel ascends, and the rear of the vehicle can be inclined backwards, and the sudden and transiently deepen of the maximum wading depth of the rear of the vehicle can cause the wading of the vehicle to exceed a threshold value, but the situation cannot represent the actual wading state of the vehicle. Therefore, these states are regarded as erroneous judgment states, and are excluded when the wading alarm is given.
When the vehicle leaves the wading road, the suspension height acquired by the radar is shown in fig. 10, and the vehicle speed v 1 ensures that the non-stationary state of the vehicle only takes values for a plurality of positions once. The specific steps for determining whether the vehicle is in a state of leaving the wading road include:
If the vehicle stops the wading alarm after sending out the wading alarm, determining whether the duration of stopping the wading alarm is greater than or equal to the preset time; if the duration of stopping wading alarm is longer than the preset time, the vehicle is considered to be in a wading road leaving state, and if not, the vehicle is not in the wading road leaving state.
It should be noted that, when the vehicle leaves the wading road section, the front wheel is ascending, and the vehicle is inclined backward by an increased angle, which may cause the wading depth at the tail of the vehicle to exceed the preset wading depth threshold, so that after entering the non-alarm section, the effective non-alarm duration reaches the preset time Δt valid, and then is regarded as leaving the wading road. These states are used as erroneous judgment states, and are eliminated when wading alarm is performed.
And S6, determining whether to send out a wading alarm according to the two judging results.
Specifically, whether to send out a wading alarm is determined according to a judging result of whether the maximum wading depth of the vehicle exceeds a preset threshold value and a judging result of whether the vehicle is in a wading erroneous judging state. If the maximum wading depth does not exceed the preset depth threshold value, a wading alarm is not sent out; if the maximum wading depth exceeds a preset depth threshold value and the vehicle is in a wading misjudgment state, indicating that the maximum wading depth of the vehicle is not the actual wading depth of the vehicle at the moment, and if the maximum wading depth caused by a pit and a vehicle leaving a wading road section exceeds the threshold value, a wading alarm is not sent out; and if the maximum wading depth exceeds a preset depth threshold value and the vehicle is not in a wading misjudgment state, indicating that the real maximum wading depth of the vehicle exceeds the threshold value at the moment, sending out a wading alarm.
As a preferred embodiment, the depth threshold includes a first depth threshold and a second depth threshold, and if the maximum wading depth exceeds a preset depth threshold and the vehicle is not in a wading erroneous judgment state, the step of issuing a wading alarm specifically includes the following steps:
When the maximum wading depth exceeds the first depth threshold and does not exceed the second depth threshold, and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to flash; when the maximum wading depth exceeds the second depth threshold value and the vehicle is not in the wading misjudgment state, controlling the vehicle instrument indicator lamp to be normally on, and controlling the vehicle to send out a voice alarm to remind a driver of too deep wading. The first depth threshold value is the height of the thickness of the vehicle tire, and the second depth threshold value is the height of the center of the axis of the vehicle tire.
The application provides a vehicle wading alarm method based on radar detection, which is characterized in that a central processor receives ground detection information from a radar and inclination angle information of vehicle inertial navigation, calculates the forefront or last wading depth relative to a vehicle body based on detection points, alarms according to the wading intrusion vehicle depth, and alarms step by step according to the different wading depths; the intelligent degree of low-speed wading is improved, and the situation that a user is in danger due to deep wading during driving is avoided. In the application, a filtering algorithm is used for eliminating false alarm scenes based on the height detection change of the radar and the change of the inertial navigation acceleration of the vertical axis (Z direction); the water surface is shielded, and the complex working condition that foreign matters interfere with the water surface state exists, so that the maximum wading depth of the current edge-most part of the vehicle can be accurately detected. In conclusion, the scheme effectively improves the effective judgment of the wading scene, and provides more guarantees for safe traveling.
Referring to fig. 12, fig. 12 is a schematic block diagram of a vehicle wading alarm device based on radar detection according to an embodiment of the present application. The device can be applied to a central controller.
As shown in fig. 12, the apparatus includes: the device comprises an acquisition module, a first determination module, a second determination module, a first judgment module, a second judgment module and a third judgment module.
The acquisition module is used for acquiring the suspension height from the radar installation position acquired by the radar to the ground or the water surface;
the first determining module is used for determining whether the vehicle wades or not according to the obtained change rate of the suspension height;
the second determining module is used for determining the maximum wading depth of the vehicle after wading is determined;
the first judging module is used for judging whether the maximum wading depth exceeds a preset depth threshold value;
The second judging module is used for judging whether the vehicle is in a wading misjudgment state or not;
And the third determining module is used for determining whether to send out a wading alarm according to the two judging results.
The acquisition module is further configured to: filtering is greater than a preset highest height threshold value and a suspension height between a preset lowest height threshold value and a calibration height, wherein the highest height threshold value is the height of the radar from the ground when a vehicle tire just leaves the ground, the lowest height threshold value is the height of the radar from the ground when the vehicle is fully loaded, the calibration height is the height of the radar from the ground when the vehicle is unloaded, and the calibration height is smaller than the highest height threshold value and larger than the lowest height threshold value;
PID adjustment is carried out on the filtered suspension height to obtain a real suspension height;
Determining the confidence of the real flying height according to the mapping relation between the vehicle vertical acceleration corresponding to the filtered flying height and the corresponding confidence of the real flying height, wherein the acceleration is inversely related to the confidence of the real flying height;
the filtering confidence is lower than the real suspension height of the preset confidence threshold value, and the reliable suspension height is obtained.
The first determining module is further configured to: determining the change rate of the suspension height acquired in a plurality of different time intervals;
judging whether the absolute value of the change rate of the previous time interval in any two adjacent time intervals is larger than or equal to the absolute value of the change rate of the next time interval;
If the probability of the occurrence of the vehicle being greater than or equal to the set probability threshold value is above the set probability threshold value, determining that the vehicle wades, otherwise, not wading.
The second judging module is further configured to: and determining whether the product of the change rates of the suspension heights in three continuous time intervals is smaller than a preset value, if so, enabling the vehicle to be in a pit passing state, otherwise, enabling the vehicle not to be in the pit passing state.
The second judging module is further configured to: if the vehicle stops the wading alarm after sending out the wading alarm, determining whether the duration of stopping the wading alarm is greater than or equal to the preset time;
If so, the vehicle is in a state of leaving the wading road, and if not, the vehicle is not in a state of leaving the wading road.
The third determining module is further configured to: if the maximum wading depth does not exceed the preset depth threshold value, a wading alarm is not sent out;
If the maximum wading depth exceeds a preset depth threshold value and the vehicle is in a wading misjudgment state, a wading alarm is not sent out;
and if the maximum wading depth exceeds a preset depth threshold value and the vehicle is not in a wading misjudgment state, a wading alarm is sent out.
The third determining module is further configured to: when the maximum wading depth exceeds the first depth threshold value and does not exceed the second depth threshold value and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to flash;
when the maximum wading depth exceeds the second depth threshold value and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to be normally on, and controlling the vehicle to send out a voice alarm prompt;
The first depth threshold value is the height of the thickness of the vehicle tire, and the second depth threshold value is the height of the center of the axis of the vehicle tire.
The second determining module is further configured to: determining a first detection wading depth according to the calibration height and the acquired suspension height;
Establishing a first right-angle triangular model according to the first detection wading depth and the vehicle front inclination angle or the vehicle back inclination angle to obtain a first reference distance, wherein the first reference distance comprises the side length between the vehicle front inclination angle or the vehicle back inclination angle and the right angle in the first right-angle triangular model;
adding the first reference distance and the distance from the front end of the vehicle head to the radar to obtain a first added distance;
Establishing a second right-angle triangular model according to the first addition distance and the vehicle front inclination angle or the vehicle back inclination angle to obtain a determined second reference distance, wherein the second reference distance is an edge, opposite to the vehicle front inclination angle or the vehicle back inclination angle, of the second right-angle triangular model;
And calculating the maximum wading depth of the front and rear of the vehicle through a first trigonometric function according to the front inclination angle or the rear inclination angle of the vehicle, the first reference distance and the second reference distance.
The second determining module is further configured to: determining a second detection wading depth according to the calibration height and the acquired suspension height;
Establishing a third right-angle triangular model according to the second detection wading depth and the left inclination angle or the right inclination angle of the vehicle to determine a second additional distance, wherein the second additional distance is the sum distance of a third reference distance and the distance between the radar and the vehicle body, and the second additional distance is the side length between the left inclination angle or the right inclination angle of the vehicle and the right angle in the third right-angle triangular model;
establishing a fourth right-angle triangular model according to the third reference distance and the left inclination angle or the right inclination angle of the vehicle to obtain a fourth reference distance, wherein the fourth reference distance is the side, opposite to the left inclination angle or the right inclination angle of the vehicle, of the fourth right-angle triangular model;
And determining the left and right maximum wading depth of the vehicle through a second trigonometric function according to the left inclination angle or the right inclination angle of the vehicle, the third reference distance and the fourth reference distance.
It should be noted that, for convenience and brevity of description, specific working procedures of the above-described apparatus and each module and unit may refer to corresponding procedures in the foregoing embodiments, and are not repeated herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments. While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (8)

1. A vehicle wading alarm method based on radar detection, characterized by comprising the following steps:
Acquiring the suspension height from the radar mounting position acquired by the radar to the ground or the water surface;
determining whether the vehicle wades or not according to the obtained change rate of the suspension height;
After determining wading, determining a maximum wading depth of the vehicle;
Judging whether the maximum wading depth exceeds a preset depth threshold value;
judging whether the vehicle is in a water-involved misjudgment state or not;
determining whether to send out wading alarm according to the two judging results;
the method for acquiring the suspension height from the radar installation position acquired by the vehicle-mounted radar to the ground or the water surface further comprises the following steps of:
Filtering is greater than a preset highest height threshold value and a suspension height between a preset lowest height threshold value and a calibration height, wherein the highest height threshold value is the height of the radar from the ground when a vehicle tire just leaves the ground, the lowest height threshold value is the height of the radar from the ground when the vehicle is fully loaded, the calibration height is the height of the radar from the ground when the vehicle is unloaded, and the calibration height is smaller than the highest height threshold value and larger than the lowest height threshold value;
PID adjustment is carried out on the filtered suspension height to obtain a real suspension height;
Determining the confidence of the real flying height according to the mapping relation between the vehicle vertical acceleration corresponding to the filtered flying height and the corresponding confidence of the real flying height, wherein the acceleration is inversely related to the confidence of the real flying height;
filtering the real suspension height with the confidence coefficient lower than a preset confidence coefficient threshold value to obtain a reliable suspension height;
Wherein, whether the vehicle wades into water is determined according to the obtained change rate of the suspension height specifically comprises the following steps:
Determining the change rate of the suspension height acquired in a plurality of different time intervals;
judging whether the absolute value of the change rate of the previous time interval in any two adjacent time intervals is larger than or equal to the absolute value of the change rate of the next time interval;
If the probability of the occurrence of the vehicle being greater than or equal to the set probability threshold value is above the set probability threshold value, determining that the vehicle wades, otherwise, not wading.
2. The radar detection-based vehicle wading alarm method according to claim 1, wherein if the vehicle is in the wading erroneous judgment state including the vehicle being in a tunnel-passing state, judging whether the vehicle is in the wading erroneous judgment state specifically includes the steps of:
And determining whether the product of the change rates of the suspension heights in three continuous time intervals is smaller than a preset value, if so, enabling the vehicle to be in a pit passing state, otherwise, enabling the vehicle not to be in the pit passing state.
3. The radar detection-based vehicle wading alarm method according to claim 1, wherein if the vehicle is in the wading erroneous judgment state including the vehicle being in a state away from a wading road, judging whether the vehicle is in the wading erroneous judgment state specifically includes the steps of:
If the vehicle stops the wading alarm after sending out the wading alarm, determining whether the duration of stopping the wading alarm is greater than or equal to the preset time;
If so, the vehicle is in a state of leaving the wading road, and if not, the vehicle is not in a state of leaving the wading road.
4. The radar detection-based vehicle wading alarm method according to claim 1, wherein the determining whether to issue the wading alarm according to two determination results specifically comprises the steps of;
if the maximum wading depth does not exceed the preset depth threshold value, a wading alarm is not sent out;
If the maximum wading depth exceeds a preset depth threshold value and the vehicle is in a wading misjudgment state, a wading alarm is not sent out;
and if the maximum wading depth exceeds a preset depth threshold value and the vehicle is not in a wading misjudgment state, a wading alarm is sent out.
5. The radar detection-based vehicle wading alarm method according to claim 4, wherein the depth threshold includes a first depth threshold and a second depth threshold, and if the maximum wading depth exceeds a preset depth threshold and the vehicle is not in a wading misjudgment state, the step of issuing a wading alarm specifically includes the following steps:
When the maximum wading depth exceeds the first depth threshold value and does not exceed the second depth threshold value and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to flash;
when the maximum wading depth exceeds the second depth threshold value and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to be normally on, and controlling the vehicle to send out a voice alarm prompt;
The first depth threshold value is the height of the thickness of the vehicle tire, and the second depth threshold value is the height of the center of the axis of the vehicle tire.
6. The radar detection-based vehicle wading alert method according to claim 1, wherein the determining the maximum wading depth of the vehicle when the vehicle is leaning forward or backward wading comprises:
Determining a first detection wading depth according to the calibration height and the acquired suspension height;
Establishing a first right-angle triangular model according to the first detection wading depth and the vehicle front inclination angle or the vehicle back inclination angle to obtain a first reference distance, wherein the first reference distance comprises the side length between the vehicle front inclination angle or the vehicle back inclination angle and the right angle in the first right-angle triangular model;
adding the first reference distance and the distance from the front end of the vehicle head to the radar to obtain a first added distance;
Establishing a second right-angle triangular model according to the first addition distance and the vehicle front inclination angle or the vehicle back inclination angle to obtain a determined second reference distance, wherein the second reference distance is an edge, opposite to the vehicle front inclination angle or the vehicle back inclination angle, of the second right-angle triangular model;
And calculating the maximum wading depth of the front and rear of the vehicle through a first trigonometric function according to the front inclination angle or the rear inclination angle of the vehicle, the first reference distance and the second reference distance.
7. The radar detection-based vehicle wading alert method according to claim 1, wherein the determining the maximum wading depth of the vehicle when the vehicle is left-leaning wading or right-leaning wading comprises:
determining a second detection wading depth according to the calibration height and the acquired suspension height;
Establishing a third right-angle triangular model according to the second detection wading depth and the left inclination angle or the right inclination angle of the vehicle to determine a second additional distance, wherein the second additional distance is the sum distance of a third reference distance and the distance between the radar and the vehicle body, and the second additional distance is the side length between the left inclination angle or the right inclination angle of the vehicle and the right angle in the third right-angle triangular model;
establishing a fourth right-angle triangular model according to the third reference distance and the left inclination angle or the right inclination angle of the vehicle to obtain a fourth reference distance, wherein the fourth reference distance is the side, opposite to the left inclination angle or the right inclination angle of the vehicle, of the fourth right-angle triangular model;
And determining the left and right maximum wading depth of the vehicle through a second trigonometric function according to the left inclination angle or the right inclination angle of the vehicle, the third reference distance and the fourth reference distance.
8. A vehicle wading warning device based on radar detection, characterized by comprising:
the acquisition module is used for acquiring the suspension height from the radar installation position acquired by the radar to the ground or the water surface;
the first determining module is used for determining whether the vehicle wades in water according to the obtained change rate of the suspended height;
A second determining module for determining a maximum wading depth of the vehicle after determining wading;
the first judging module is used for judging whether the maximum wading depth exceeds a preset depth threshold value or not;
the second judging module is used for judging whether the vehicle is in a water-involved misjudgment state or not;
the third determining module is used for determining whether to send out wading alarm according to the two judging results;
Wherein, the acquisition module is further used for: filtering is greater than a preset highest height threshold value and a suspension height between a preset lowest height threshold value and a calibration height, wherein the highest height threshold value is the height of the radar from the ground when a vehicle tire just leaves the ground, the lowest height threshold value is the height of the radar from the ground when the vehicle is fully loaded, the calibration height is the height of the radar from the ground when the vehicle is unloaded, and the calibration height is smaller than the highest height threshold value and larger than the lowest height threshold value;
PID adjustment is carried out on the filtered suspension height to obtain a real suspension height;
Determining the confidence of the real flying height according to the mapping relation between the vehicle vertical acceleration corresponding to the filtered flying height and the corresponding confidence of the real flying height, wherein the acceleration is inversely related to the confidence of the real flying height;
filtering the real suspension height with the confidence coefficient lower than a preset confidence coefficient threshold value to obtain a reliable suspension height;
wherein the first determining module is further configured to: determining the change rate of the suspension height acquired in a plurality of different time intervals;
judging whether the absolute value of the change rate of the previous time interval in any two adjacent time intervals is larger than or equal to the absolute value of the change rate of the next time interval;
If the probability of the occurrence of the vehicle being greater than or equal to the set probability threshold value is above the set probability threshold value, determining that the vehicle wades, otherwise, not wading.
CN202210614983.2A 2022-05-31 2022-05-31 Vehicle wading alarm method and device based on radar detection Active CN114954232B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210614983.2A CN114954232B (en) 2022-05-31 2022-05-31 Vehicle wading alarm method and device based on radar detection

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210614983.2A CN114954232B (en) 2022-05-31 2022-05-31 Vehicle wading alarm method and device based on radar detection

Publications (2)

Publication Number Publication Date
CN114954232A CN114954232A (en) 2022-08-30
CN114954232B true CN114954232B (en) 2024-06-28

Family

ID=82960475

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210614983.2A Active CN114954232B (en) 2022-05-31 2022-05-31 Vehicle wading alarm method and device based on radar detection

Country Status (1)

Country Link
CN (1) CN114954232B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116052442A (en) * 2022-12-15 2023-05-02 嬴彻星创智能科技(上海)有限公司 Risk identification method and system for road pit, electronic equipment and storage medium
CN115973034B (en) * 2023-03-20 2023-07-04 江铃汽车股份有限公司 Wading early warning method and system integrating visual perception

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN104380060A (en) * 2012-03-30 2015-02-25 捷豹路虎有限公司 Wade sensing display control system

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2520298B (en) * 2013-11-15 2016-05-18 Jaguar Land Rover Ltd Vehicle having wade sensing display and system therefor
CN205719178U (en) * 2016-03-02 2016-11-23 广东工业大学 A kind of vehicle is paddled early warning system
CN108973894A (en) * 2017-05-31 2018-12-11 长城汽车股份有限公司 Vehicle is paddled detection method, system and vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN104380060A (en) * 2012-03-30 2015-02-25 捷豹路虎有限公司 Wade sensing display control system

Also Published As

Publication number Publication date
CN114954232A (en) 2022-08-30

Similar Documents

Publication Publication Date Title
CN114954232B (en) Vehicle wading alarm method and device based on radar detection
EP3401198B1 (en) Motorcycle with device for detecting a vehicle approaching from the rear
EP2673596B1 (en) Wading depth estimation for a vehicle
CN111516677B (en) Vehicle driving blind area monitoring method and device, computer equipment and storage medium
CN110176127B (en) Alarm system
US7769506B2 (en) Driver assistance system controller and driver assistance control method for vehicles
US7978096B2 (en) Parking angle determination and cross traffic alert
US20070296564A1 (en) Rear collision warning system
CN111278694A (en) Method and device for recognizing lane state
CN111708016A (en) Vehicle front collision early warning method with integration of millimeter wave radar and laser radar
CN110843786A (en) Method and system for determining and displaying a water-engaging condition and vehicle having such a system
CN111497832A (en) Vehicle inner wheel difference risk monitoring method and device, computer equipment and storage medium
KR20190085718A (en) Lane departure warning system
JP3975985B2 (en) Vehicle periphery monitoring device
JP2000298800A (en) Device measuring distance between vehicles and collision warning device
JP2007008415A (en) Vehicular drive assisting device
CN115862383B (en) Uncertainty-based vehicle blind area potential risk quantification method
CN116215526A (en) Vehicle running control method, system and storage medium
JP2006168628A (en) Collision prevention supporting method and device
CN214028434U (en) Vehicle wading early warning system and vehicle
CN115503602A (en) Vehicle chassis obstacle early warning method and device, vehicle and storage medium
CN114801989A (en) Vehicle wading early warning method and system and readable storage medium
CN112977370B (en) Automatic emergency braking system and method
CN105584410B (en) Blind area alert control and method
CN114684134A (en) Safety system for preventing vehicle from falling and vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant