CN117606589A - Wading depth calculation method, wading depth calculation device, wading depth calculation equipment and readable storage medium - Google Patents
Wading depth calculation method, wading depth calculation device, wading depth calculation equipment and readable storage medium Download PDFInfo
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Abstract
The application discloses a method, a device, equipment and a readable storage medium for calculating wading depth, which can be applied to the technical field of wading induction systems, and the method comprises the following steps: determining the ground clearance of an ultrasonic radar sensor equipped on the current vehicle based on the self-learning request; when the current vehicle wades, controlling the ultrasonic radar sensor to emit first ultrasonic waves in a direction perpendicular to a horizontal plane; acquiring a second ultrasonic wave returned after the first ultrasonic wave touches a horizontal plane, and analyzing the second ultrasonic wave to obtain echo information; and determining the wading depth of the current vehicle based on the echo information and the ground clearance. In this way, the ground clearance of the ultrasonic radar sensor equipped on the vehicle is determined in a self-learning manner, and then the wading depth of the current vehicle is determined based on the ground clearance, so that the calculation accuracy of the wading depth is improved.
Description
Technical Field
The present disclosure relates to the technical field of wading induction systems, and in particular, to a method, an apparatus, a device, and a readable storage medium for calculating wading depth.
Background
When the vehicle is wading, the vehicle water inflow may fail due to blind driving because the wading capability and wading depth of the driver for the vehicle are unknown, especially in severe weather such as heavy fog, heavy rain, etc.
The wading induction system detects wading information by using a sensor, calculates wading depth, and displays the current wading depth and the wading capacity of the vehicle to a driver in real time through an HMI (Human Machine Interface, human-computer interface). The existing method for calculating the wading depth generally utilizes an ultrasonic radar to calculate the wading depth, but the interference of various factors easily causes the change of the ground clearance of the ultrasonic radar, so that the problem that the calculation accuracy of the wading depth cannot be ensured occurs.
Therefore, how to improve the accuracy of calculation of wading depth is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
Based on the above problems, the application provides a wading depth calculation method, device, equipment and readable storage medium, which are used for determining the ground clearance of an ultrasonic radar sensor equipped on a vehicle in a self-learning mode, and then determining the wading depth of the current vehicle based on the ground clearance, thereby solving the problem of poor calculation precision of the wading depth in the prior art.
In a first aspect, the present application provides a method for calculating wading depth, including:
determining the ground clearance of an ultrasonic radar sensor equipped on the current vehicle based on the self-learning request;
when the current vehicle wades, controlling the ultrasonic radar sensor to emit first ultrasonic waves in a direction perpendicular to a horizontal plane;
acquiring a second ultrasonic wave returned after the first ultrasonic wave touches a horizontal plane, and analyzing the second ultrasonic wave to obtain echo information;
and determining the wading depth of the current vehicle based on the echo information and the ground clearance.
Optionally, the determining, based on the self-learning request, the ground clearance of the ultrasonic radar sensor equipped on the vehicle at present includes:
when a self-learning request is acquired, if the current vehicle meets all items in the self-learning conditions, controlling the current vehicle to enter a self-learning strategy, determining a current height value of an ultrasonic radar sensor equipped on the current vehicle, and confirming the current height value as the ground clearance of the ultrasonic radar sensor.
Optionally, the determining, based on the self-learning request, the ground clearance of the ultrasonic radar sensor equipped on the vehicle at present includes:
when a self-learning request is acquired, if the current vehicle does not meet any one of the self-learning conditions, rejecting the current vehicle to enter a self-learning strategy, and taking a default height value of the ultrasonic radar sensor, which is set when the current vehicle is equipped with the ultrasonic radar sensor, as the ground clearance height of the ultrasonic radar sensor and confirming the ground clearance.
Optionally, the determining, based on the self-learning request, the ground clearance of the ultrasonic radar sensor equipped on the vehicle at present includes:
when a self-learning request is not acquired, taking a default height value of the ultrasonic radar sensor, which is set when the ultrasonic radar sensor is equipped with the current vehicle, as the ground clearance of the ultrasonic radar sensor, and confirming.
Optionally, before determining the ground clearance of the ultrasonic radar sensor equipped on the current vehicle based on the self-learning request, the method further includes:
and acquiring a self-learning request sent by the diagnostic instrument or actively requested by a driver in real time.
Optionally, the self-learning condition includes:
the wading system has no faults, the vehicle is static, the rearview mirrors on the two sides are unfolded, the main driving door and the auxiliary driving door are closed, and the vehicle is in a flat ground working condition.
Optionally, the determining the current height value of the ultrasonic radar sensor equipped on the current vehicle includes:
acquiring a measured height value of an ultrasonic radar sensor equipped on the current vehicle in a continuous preset time;
and carrying out median average processing on the measured height value to obtain the current height value of the ultrasonic radar sensor.
In a second aspect, the present application provides a computing device for a depth of wading, including:
the first determining module is used for determining the ground clearance of an ultrasonic radar sensor arranged on the current vehicle based on the self-learning request;
the transmitting module is used for controlling the ultrasonic radar sensor to transmit first ultrasonic waves to a direction vertical to a horizontal plane when the current vehicle wades;
the analysis module is used for acquiring second ultrasonic waves returned after the first ultrasonic waves touch the horizontal plane and analyzing the second ultrasonic waves to obtain echo information;
and the second determining module is used for determining the wading depth of the current vehicle based on the echo information and the ground clearance.
In a third aspect, the present application provides a computing device for wading depths, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the wading depth calculation method according to any one of the preceding claims when executing the computer program.
In a fourth aspect, the present application provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a method of calculating wading depth as described in any of the preceding claims.
From the above technical solution, compared with the prior art, the present application has the following advantages:
the method comprises the steps of firstly determining the ground clearance of an ultrasonic radar sensor equipped on a current vehicle based on a self-learning request. When the current vehicle is wading, the ultrasonic radar sensor is controlled to emit a first ultrasonic wave in a direction perpendicular to the horizontal plane. And then acquiring a second ultrasonic wave returned after the first ultrasonic wave touches the horizontal plane, and analyzing the second ultrasonic wave to obtain echo information. And finally, determining the wading depth of the current vehicle based on the echo information and the ground clearance. In this way, the ground clearance of the ultrasonic radar sensor equipped on the vehicle is determined in a self-learning manner, and then the wading depth of the current vehicle is determined based on the ground clearance, so that the calculation accuracy of the wading depth is improved.
Drawings
FIG. 1 is a flow chart of a method for calculating wading depth provided by the present application;
FIG. 2 is a flow chart for determining whether a current vehicle satisfies a self-learning condition;
FIG. 3 is a flow chart of determining a current elevation value of an ultrasonic radar sensor based on a self-learning strategy provided herein;
fig. 4 is a schematic structural diagram of a computing device for the depth of wading provided in the present application.
Detailed Description
As described above, the existing calculation method of the wading depth cannot guarantee the calculation accuracy of the wading depth. Specifically, when the vehicle is wading, since the wading ability and the wading depth of the driver for the vehicle are unknown, particularly in severe weather such as heavy fog, heavy rain, etc., blind driving may cause a failure in water inflow of the vehicle. The wading sensing system detects wading information by using a sensor, calculates wading depth, and then displays the current wading depth and the wading capacity of the vehicle to a driver in real time through the HMI. In the existing calculation method of the wading depth, the wading depth is generally calculated based on an ultrasonic radar, and the wading depth is determined by subtracting the distance of an ultrasonic radar detected obstacle from the ground clearance of the ultrasonic radar, wherein the ground clearance of the ultrasonic radar is set to be a fixed value when a vehicle leaves a factory, but the actual ground clearance can be changed along with the influence of factors such as the load of the vehicle, the type of a tire, the type of a suspension, and the like, so that the calculation precision of the wading depth is influenced, and the problem that the calculation precision of the wading depth cannot be ensured occurs.
In order to solve the above problems, the present application provides a method for calculating wading depth, including: first, based on a self-learning request, the ground clearance of an ultrasonic radar sensor equipped on a current vehicle is determined. When the current vehicle is wading, the ultrasonic radar sensor is controlled to emit a first ultrasonic wave in a direction perpendicular to the horizontal plane. And then acquiring a second ultrasonic wave returned after the first ultrasonic wave touches the horizontal plane, and analyzing the second ultrasonic wave to obtain echo information. And finally, determining the wading depth of the current vehicle based on the echo information and the ground clearance.
In this way, the ground clearance of the ultrasonic radar sensor equipped on the vehicle is determined in a self-learning manner, and then the wading depth of the current vehicle is determined based on the ground clearance, so that the calculation accuracy of the wading depth is improved.
It should be noted that the method, the device, the equipment and the readable storage medium for calculating the wading depth provided by the application can be applied to the technical field of wading induction systems. The foregoing is merely an example, and is not intended to limit the application field of the method, apparatus, device, and readable storage medium for calculating wading depth provided in the present application.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Fig. 1 is a flowchart of a wading depth calculation method provided in the present application. Referring to fig. 1, a method for calculating wading depth provided in the present application may include:
s101: based on the self-learning request, a ground clearance of an ultrasonic radar sensor currently equipped on the vehicle is determined.
In practical application, the existing calculation method of the wading depth is generally based on the calculation of the wading depth by an ultrasonic radar, and the wading depth is determined by subtracting the distance of an ultrasonic radar to detect an obstacle from the ground clearance of the ultrasonic radar, wherein the ground clearance of the ultrasonic radar is set to be a fixed value when a vehicle leaves a factory, but the actual ground clearance can be changed along with the influence of factors such as the load of the vehicle, the type of a tire, the type of a suspension, and the like, so that the calculation precision of the wading depth is influenced, and the problem that the calculation precision of the wading depth cannot be ensured occurs. Therefore, the method for calculating the wading depth can be applied to a wading induction system, allows a vehicle to abandon the fixed set ground clearance, and re-determines the ground clearance of the ultrasonic radar sensor based on a self-learning request through the device for calculating the wading depth. It will be appreciated that the computing device of the wading depth may initiate a self-learning procedure based on the self-learning request, thereby determining the ground clearance of the ultrasonic radar sensor equipped on the vehicle. In addition, in the wading induction system, two ultrasonic radar sensors are arranged in the left and right outer rearview mirrors of the vehicle respectively, and radar probes of the ultrasonic radar sensors are perpendicular to the ground.
In addition, since the manner of determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle is not the same, the present application can be explained in terms of one possible manner of determination.
In one case, it is directed to how to determine the ground clearance of an ultrasonic radar sensor currently equipped on a vehicle. Accordingly, S101: based on the self-learning request, determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle may include:
when a self-learning request is acquired, if the current vehicle meets all items in the self-learning conditions, controlling the current vehicle to enter a self-learning strategy, determining a current height value of an ultrasonic radar sensor equipped on the current vehicle, and confirming the current height value as the ground clearance of the ultrasonic radar sensor.
In practical applications, whether the computing device of the wading depth obtains the self-learning request is a precondition for determining whether the vehicle enters the self-learning strategy. The self-learning strategy is one way to re-determine the current ground clearance of the ultrasonic radar sensor. It can be appreciated that when the computing device of the wading depth obtains the self-learning request, the sensor determines whether the vehicle meets the self-learning condition so as to judge whether the vehicle can enter the self-learning strategy. If the current vehicle meets all the self-learning conditions, confirming that the current vehicle has the conditions for entering the self-learning strategy, controlling the current vehicle to enter the self-learning strategy, and updating the current height value of the ultrasonic radar sensor, namely the ground clearance height through self-learning.
In addition, since the manner of determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle is not the same, the present application can be explained with respect to another possible manner of determination.
In another case, it is directed to how to determine the ground clearance of an ultrasonic radar sensor currently equipped on a vehicle. Accordingly, S101: based on the self-learning request, determining the ground clearance of the ultrasonic radar sensor equipped on the current vehicle may further include:
when a self-learning request is acquired, if the current vehicle does not meet any one of the self-learning conditions, rejecting the vehicle to enter a self-learning strategy, and taking a default height value of the ultrasonic radar sensor, which is set when the current vehicle is equipped with the ultrasonic radar sensor, as the ground clearance height of the ultrasonic radar sensor and confirming the ground clearance.
In practical applications, whether a self-learning request is obtained is a precondition for determining whether a vehicle enters a self-learning strategy. Whether the vehicle meets the self-learning condition is also the key for judging whether the vehicle can enter the self-learning strategy. Specifically, even if the computing device of the wading depth acquires the self-learning request, if the sensor of the current vehicle determines that the current vehicle has a self-learning condition which is not satisfied, the computing device of the wading depth refuses the current vehicle to enter the self-learning strategy. And then taking the default height value of the ultrasonic radar sensor, which is set when the current vehicle is equipped with the ultrasonic radar sensor, as the ground clearance height of the ultrasonic radar sensor, and confirming.
In addition, since the manner of determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle is not the same, the present application can be explained with respect to another possible manner of determination.
In another case, it is directed to how to determine the ground clearance of an ultrasonic radar sensor currently equipped on a vehicle. Accordingly, S101: based on the self-learning request, determining the ground clearance of the ultrasonic radar sensor equipped on the current vehicle may further include:
when a self-learning request is not acquired, taking a default height value of the ultrasonic radar sensor, which is set when the ultrasonic radar sensor is equipped with the current vehicle, as the ground clearance of the ultrasonic radar sensor, and confirming.
In practical application, if the calculation device of the wading depth does not acquire a self-learning request, the vehicle continues to keep on a fixed value set in factory, namely a default height value of the ultrasonic radar sensor or a height value updated by the last time through the self-learning strategy is used as the ground clearance height of the ultrasonic radar sensor when the vehicle is used for calculating the wading depth. It should be noted that, if the ground clearance of the ultrasonic radar sensor has been updated before, when the self-learning request is not acquired and the calculation of the wading depth is needed, the computing device of the wading depth preferentially uses the height value updated by the self-learning strategy last time as the ground clearance of the ultrasonic radar sensor required in the present calculation.
In addition, since the manner of acquiring the self-learning request is not the same, the present application may be described in terms of one possible acquisition manner.
In one case, it is directed to how to obtain the self-learning request. Correspondingly, before determining the ground clearance of the ultrasonic radar sensor equipped on the current vehicle based on the self-learning request, the method further comprises:
and acquiring a self-learning request sent by the diagnostic instrument or actively requested by a driver in real time.
In practical application, in order to ensure timeliness of wading depth calculation, a wading depth calculation device needs to keep a state obtained by sensing a self-learning request in real time. Therefore, once a person triggers the self-learning instruction, the computing device of the wading depth can synchronously acquire the self-learning request corresponding to the self-learning instruction. Specifically, in one case, when the vehicle is taken off line from a factory or after-sales maintenance is performed, an automatic learning instruction needs to be triggered by a diagnostic apparatus, so that a computing device of the wading depth obtains a self-learning request in real time. In another case, a soft switch corresponding to the self-learning process can be arranged in the entertainment system of the vehicle, when a driver clicks a starting key on a human-computer interface, a self-learning instruction is triggered, and the vehicle sends a self-learning request to the computing device of the depth of wading, so that the computing device of the depth of wading can acquire the self-learning request in real time.
In addition, the self-learning conditions are different due to different system settings. The present application may thus be described in terms of one possible arrangement.
In one case, a self-learning condition is set for how. Correspondingly, the self-learning condition includes:
the wading system has no faults, the vehicle is static, the rearview mirrors on the two sides are unfolded, the main driving door and the auxiliary driving door are closed, and the vehicle is in a flat ground working condition.
In practical application, fig. 2 is a flowchart for determining whether a current vehicle meets a self-learning condition. As shown in connection with fig. 2, the self-learning conditions include: the wading system has no faults, the vehicle is static, the rearview mirrors on the two sides are unfolded, the main driving door and the auxiliary driving door are closed, and the vehicle is in a flat ground working condition. When the vehicle starts the calculation flow of the wading depth, the calculation device of the wading depth determines whether the diagnostic instrument or the driver requests self-learning, and if the determination result is yes, namely, the self-learning request is carried out, the self-learning condition judgment is carried out. Specifically, whether the wading system has no fault, whether the vehicle is stationary, whether the rearview mirrors on two sides are unfolded, whether the main driving vehicle and the auxiliary driving vehicle are closed or not and whether the vehicle is in a flat ground working condition are sequentially judged, if the judgment results are yes, all items in the self-learning conditions of the current vehicle are determined, the vehicle is controlled by a calculation device of wading depth to enter a self-learning strategy, so that the left radar and the right radar ground leaving height are updated after the self-learning is finished, and the flow is ended. It can be understood that if the calculation device of the wading depth determines that neither the diagnostic apparatus nor the driver requests self-learning, the self-learning is not performed, and the default setting value when the vehicle leaves the factory is used as the ground clearance height for the calculation of the wading depth. In addition, for the judgment of the self-learning condition, if one of the judging results of whether the wading system is fault-free, whether the vehicle is stationary, whether the rearview mirrors on two sides are unfolded, whether the main and auxiliary drivers are closed and whether the vehicle is in the flat ground working condition is negative, the self-learning condition is not met, the self-learning is withdrawn, the unsatisfied reason is fed back to the diagnostic instrument or the entertainment system, and the ground clearance of the radar is maintained at a default design value.
In addition, since it is determined that the current height values of the ultrasonic radar sensors equipped on the current vehicle are not the same, the present application can be described in terms of one possible acquisition mode.
In one case, it is directed to how to acquire the current elevation value of the ultrasonic radar sensor. Accordingly, the determining the current height value of the ultrasonic radar sensor equipped on the current vehicle includes:
acquiring a measured height value of an ultrasonic radar sensor equipped on the current vehicle in a continuous preset time;
and carrying out median average processing on the measured height value to obtain the current height value of the ultrasonic radar sensor.
In practical application, fig. 3 is a flowchart for determining a current height value of an ultrasonic radar sensor based on a self-learning strategy provided by the present application. With reference to fig. 3, when the computing device of the wading depth obtains the self-learning request and confirms that the current vehicle meets all items in the self-learning conditions, the current vehicle is controlled to enter a self-learning strategy, and a complete self-learning process is started. Specifically, the calculation device of the wading depth acquires radar distance signals within a continuous predetermined time, thereby determining a measurement height value of the ultrasonic radar sensor. The predetermined time may be 1s, and the radar distance signal may determine the ground clearance of the ultrasonic radar sensor, i.e., a measured height value, by analysis. And (3) carrying out measurement for multiple times within 1s to obtain a plurality of measurement height values, averaging the measurement height values by a computing device of the wading depth to obtain an average distance in the period of time, and taking the average distance as the current height value of the ultrasonic radar sensor, namely, the ground clearance height calculated by the wading depth. In addition, the current height value obtained by the self-learning strategy is more reliable, calculation is more accurate, the current height value obtained by the self-learning strategy can be judged, namely whether the average distance is in an error range or not is judged, if so, self-learning is completed, the ground clearance height of the left radar and the right radar is updated, and the process is ended. If not, the self-learning is completed, the default design value is continuously used as the ground clearance height to be used for the current wading depth calculation, and the process is ended.
S102: and when the current vehicle wades, controlling the ultrasonic radar sensor to emit first ultrasonic waves in a direction perpendicular to a horizontal plane.
In practical application, the wading sensor can judge whether the current vehicle wades, when the current vehicle wades, the radar needs to send down ultrasonic waves, and the distance between the radar and the obstacle is calculated by utilizing echo information returned by the obstacle (water surface). Thus, when the current vehicle is wading, the computing device of the wading depth first needs to control the ultrasonic radar sensor to emit the first ultrasonic wave in a direction perpendicular to the horizontal plane. It should be noted that the two ultrasonic radar sensors are disposed inside the left and right outer rear view mirrors of the vehicle, respectively, when the vehicle leaves the factory, and the probes of the radar are perpendicular to the ground. The ultrasonic waves emitted by the ultrasonic radar sensor are always perpendicular to the ground.
S103: and acquiring a second ultrasonic wave returned after the first ultrasonic wave touches the horizontal plane, and analyzing the second ultrasonic wave to obtain echo information.
In practical applications, the ultrasonic waves are bounced when encountering the water surface. The calculation device of the wading depth is used for controlling the ultrasonic radar sensor to emit the first ultrasonic wave in the direction vertical to the horizontal plane, and then acquiring the rebound wave corresponding to the first ultrasonic wave, namely the second ultrasonic wave in real time. And then analyzing the second ultrasonic wave to determine echo information corresponding to the second ultrasonic wave.
S104: and determining the wading depth of the current vehicle based on the echo information and the ground clearance.
In practical applications, the calculation device of the depth of the wading may determine the distance of the obstacle (water surface) detected by the ultrasonic radar sensor based on the echo information, and may be denoted as H2. The distance from the ultrasonic radar sensor to the ground, i.e., the ground clearance, is denoted as H1. Thus, the wading depth of the current vehicle can be determined by H1-H2.
In summary, the present application first determines the ground clearance of an ultrasonic radar sensor currently equipped on a vehicle based on a self-learning request. When the current vehicle is wading, the ultrasonic radar sensor is controlled to emit a first ultrasonic wave in a direction perpendicular to the horizontal plane. And then acquiring a second ultrasonic wave returned after the first ultrasonic wave touches the horizontal plane, and analyzing the second ultrasonic wave to obtain echo information. And finally, determining the wading depth of the current vehicle based on the echo information and the ground clearance. In this way, the ground clearance of the ultrasonic radar sensor equipped on the vehicle is determined in a self-learning manner, and then the wading depth of the current vehicle is determined based on the ground clearance, so that the calculation accuracy of the wading depth is improved.
Based on the method for calculating the wading depth provided by the embodiment, the application also provides a device for calculating the wading depth. The wading depth calculation device is described below with reference to the embodiments and the drawings, respectively.
Fig. 4 is a schematic structural diagram of a computing device for the depth of wading provided in the present application. Referring to fig. 4, a computing device 200 for a wading depth according to an embodiment of the present application includes:
a first determining module 201, configured to determine a ground clearance of an ultrasonic radar sensor equipped on a current vehicle based on a self-learning request;
a transmitting module 202 for controlling the ultrasonic radar sensor to transmit a first ultrasonic wave in a direction perpendicular to a horizontal plane when the current vehicle is wading;
the analysis module 203 is configured to obtain a second ultrasonic wave returned after the first ultrasonic wave touches a horizontal plane, and analyze the second ultrasonic wave to obtain echo information;
a second determining module 204 is configured to determine a wading depth of the current vehicle based on the echo information and the ground clearance.
As an embodiment, the above-mentioned first determining module 201 may be specifically configured to determine how to determine the ground clearance of the ultrasonic radar sensor equipped on the current vehicle:
when a self-learning request is acquired, if the current vehicle meets all items in the self-learning conditions, controlling the current vehicle to enter a self-learning strategy, determining a current height value of an ultrasonic radar sensor equipped on the current vehicle, and confirming the current height value as the ground clearance of the ultrasonic radar sensor.
As another embodiment, the above-mentioned first determining module 201 may be specifically further configured to determine how to determine the ground clearance of an ultrasonic radar sensor equipped on the current vehicle:
when a self-learning request is acquired, if the current vehicle does not meet any one of the self-learning conditions, rejecting the current vehicle to enter a self-learning strategy, and taking a default height value of the ultrasonic radar sensor, which is set when the current vehicle is equipped with the ultrasonic radar sensor, as the ground clearance height of the ultrasonic radar sensor and confirming the ground clearance.
As another embodiment, the above-mentioned first determining module 201 may be specifically further configured to determine how to determine the ground clearance of an ultrasonic radar sensor equipped on the current vehicle:
when a self-learning request is not acquired, taking a default height value of the ultrasonic radar sensor, which is set when the ultrasonic radar sensor is equipped with the current vehicle, as the ground clearance of the ultrasonic radar sensor, and confirming.
As an embodiment, the computing device 200 for obtaining the self-learning request further includes:
and acquiring a self-learning request sent by the diagnostic instrument or actively requested by a driver in real time.
As one embodiment, the self-learning condition includes:
the wading system has no faults, the vehicle is static, the rearview mirrors on the two sides are unfolded, the main driving door and the auxiliary driving door are closed, and the vehicle is in a flat ground working condition.
As an embodiment, the above-mentioned first determining module 201 is specifically configured to determine how to determine a current height value of an ultrasonic radar sensor equipped on a current vehicle:
acquiring a measured height value of an ultrasonic radar sensor equipped on the current vehicle in a continuous preset time;
and carrying out median average processing on the measured height value to obtain the current height value of the ultrasonic radar sensor.
In summary, the present application first determines the ground clearance of an ultrasonic radar sensor currently equipped on a vehicle based on a self-learning request. When the current vehicle is wading, the ultrasonic radar sensor is controlled to emit a first ultrasonic wave in a direction perpendicular to the horizontal plane. And then acquiring a second ultrasonic wave returned after the first ultrasonic wave touches the horizontal plane, and analyzing the second ultrasonic wave to obtain echo information. And finally, determining the wading depth of the current vehicle based on the echo information and the ground clearance. In this way, the ground clearance of the ultrasonic radar sensor equipped on the vehicle is determined in a self-learning manner, and then the wading depth of the current vehicle is determined based on the ground clearance, so that the calculation accuracy of the wading depth is improved.
In addition, the application also provides a computing device of wading depth, comprising: a memory for storing a computer program; a processor for implementing the steps of the wading depth calculation method according to any one of the preceding claims when executing the computer program.
In addition, the application further provides a readable storage medium, wherein the readable storage medium stores a computer program, and the computer program realizes the steps of the wading depth calculation method according to any one of the above steps when being executed by a processor.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of calculating wading depth, the method comprising:
determining the ground clearance of an ultrasonic radar sensor equipped on the current vehicle based on the self-learning request;
when the current vehicle wades, controlling the ultrasonic radar sensor to emit first ultrasonic waves in a direction perpendicular to a horizontal plane;
acquiring a second ultrasonic wave returned after the first ultrasonic wave touches a horizontal plane, and analyzing the second ultrasonic wave to obtain echo information;
and determining the wading depth of the current vehicle based on the echo information and the ground clearance.
2. The method of claim 1, wherein determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on the self-learning request comprises:
when a self-learning request is acquired, if the current vehicle meets all items in the self-learning conditions, controlling the current vehicle to enter a self-learning strategy, determining a current height value of an ultrasonic radar sensor equipped on the current vehicle, and confirming the current height value as the ground clearance of the ultrasonic radar sensor.
3. The method of claim 1, wherein determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on the self-learning request comprises:
when a self-learning request is acquired, if the current vehicle does not meet any one of the self-learning conditions, rejecting the current vehicle to enter a self-learning strategy, and taking a default height value of the ultrasonic radar sensor, which is set when the current vehicle is equipped with the ultrasonic radar sensor, as the ground clearance height of the ultrasonic radar sensor and confirming the ground clearance.
4. The method of claim 1, wherein determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on the self-learning request comprises:
when a self-learning request is not acquired, taking a default height value of the ultrasonic radar sensor, which is set when the ultrasonic radar sensor is equipped with the current vehicle, as the ground clearance of the ultrasonic radar sensor, and confirming.
5. The method of claim 1, wherein prior to determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on the self-learning request, further comprising:
and acquiring a self-learning request sent by the diagnostic instrument or actively requested by a driver in real time.
6. A method according to any one of claims 2 or 3, wherein the self-learning condition comprises:
the wading system has no faults, the vehicle is static, the rearview mirrors on the two sides are unfolded, the main driving door and the auxiliary driving door are closed, and the vehicle is in a flat ground working condition.
7. The method of claim 2, wherein the determining a current elevation value of an ultrasonic radar sensor equipped on the current vehicle comprises:
acquiring a measured height value of an ultrasonic radar sensor equipped on the current vehicle in a continuous preset time;
and carrying out median average processing on the measured height value to obtain the current height value of the ultrasonic radar sensor.
8. A computing device for a depth of wading, comprising:
the first determining module is used for determining the ground clearance of an ultrasonic radar sensor arranged on the current vehicle based on the self-learning request;
the transmitting module is used for controlling the ultrasonic radar sensor to transmit first ultrasonic waves to a direction vertical to a horizontal plane when the current vehicle wades;
the analysis module is used for acquiring second ultrasonic waves returned after the first ultrasonic waves touch the horizontal plane and analyzing the second ultrasonic waves to obtain echo information;
and the second determining module is used for determining the wading depth of the current vehicle based on the echo information and the ground clearance.
9. A computing device of wading depth, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the wading depth calculation method according to any one of claims 1 to 7 when executing said computer program.
10. A readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the steps of the wading depth calculation method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311569088.4A CN117606589A (en) | 2023-11-22 | 2023-11-22 | Wading depth calculation method, wading depth calculation device, wading depth calculation equipment and readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311569088.4A CN117606589A (en) | 2023-11-22 | 2023-11-22 | Wading depth calculation method, wading depth calculation device, wading depth calculation equipment and readable storage medium |
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| CN117606589A true CN117606589A (en) | 2024-02-27 |
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| CN202311569088.4A Pending CN117606589A (en) | 2023-11-22 | 2023-11-22 | Wading depth calculation method, wading depth calculation device, wading depth calculation equipment and readable storage medium |
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| Country | Link |
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| CN (1) | CN117606589A (en) |
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- 2023-11-22 CN CN202311569088.4A patent/CN117606589A/en active Pending
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