WO2023115497A1 - Anti-submerging detection method and apparatus, and vehicle - Google Patents

Anti-submerging detection method and apparatus, and vehicle Download PDF

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Publication number
WO2023115497A1
WO2023115497A1 PCT/CN2021/141011 CN2021141011W WO2023115497A1 WO 2023115497 A1 WO2023115497 A1 WO 2023115497A1 CN 2021141011 W CN2021141011 W CN 2021141011W WO 2023115497 A1 WO2023115497 A1 WO 2023115497A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
data
risk
wading
sensor
Prior art date
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PCT/CN2021/141011
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French (fr)
Chinese (zh)
Inventor
曹旗
陈清龙
罗会斌
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华为技术有限公司
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.)
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Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to PCT/CN2021/141011 priority Critical patent/WO2023115497A1/en
Priority to CN202180029652.6A priority patent/CN116670002A/en
Publication of WO2023115497A1 publication Critical patent/WO2023115497A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions

Definitions

  • the embodiments of the present application relate to the field of vehicle safety, and more specifically, to a detection method, device and vehicle for preventing flooding.
  • the embodiments of the present application provide a method, device, and vehicle for detecting flooding prevention, so that the flooding risk of the vehicle can be learned flexibly, and the cost of detecting the flooding prevention risk of the vehicle can be reduced.
  • vehicles may include one or more different types of vehicles that operate or move on land (for example, roads, roads, railways, etc.), water surfaces (for example: waterways, rivers, oceans, etc.) or space or movable objects.
  • vehicles may include automobiles, bicycles, motorcycles, trains, subways, airplanes, boats, aircraft, robots or other types of vehicles or movable objects, and the like.
  • a method for detecting flood prevention including: acquiring first data collected by the first sensor and second data collected by the second sensor, wherein the first data is used to determine the wading of the vehicle Depth, the second data is used to determine whether the vehicle is wading, the first sensor includes one or more sensors in the perception system, the second sensor includes a camera device; according to the first data and the second data , to determine whether the vehicle is at risk of being flooded.
  • the perception system may include several sensors for sensing information about the surrounding environment of the vehicle, and the perception system may belong to the vehicle to be detected whether there is a risk of flooding, or may belong to other vehicles other than the vehicle.
  • the second sensor includes a camera device.
  • the second sensor may be various types of cameras such as a telephoto camera, a wide-angle camera, a binocular camera, and a fisheye camera, which are not limited in this embodiment of the present application.
  • the data collected by multiple sensors can be accurately obtained without adding traditional physical liquid level sensors.
  • the risk of the vehicle being submerged can be accurately detected, and the cost of the sensor of the vehicle can be reduced while the sensors are flexibly configured.
  • determining whether the vehicle is at risk of being flooded according to the first data and the second data includes: if the traffic determined according to the first data The wading depth of the vehicle is greater than or equal to a preset threshold, and according to the second data, it is determined that the vehicle is wading, and it is determined that the vehicle is at risk of being submerged.
  • the preset threshold may be a safe water wading threshold.
  • the wading depth of the vehicle can be determined according to the first data, and the wading depth of the vehicle can be determined according to the second data, when the wading of the vehicle is determined according to multiple sensor data and the wading depth of the vehicle is greater than or is equal to the preset threshold, it can be determined that the vehicle is flooded, resulting in a safety risk, so that after it is determined that there is a risk of flooding, corresponding operations can be performed to eliminate the risk of flooding.
  • the method further includes: when it is determined that the vehicle is at risk of being flooded, sending a first instruction to the first prompting device, the first instruction is used to indicate The first prompting device prompts the user that the vehicle is at risk of being flooded.
  • the first prompting device may be a terminal device such as a computer, a smart phone, a tablet computer, a personal digital assistant, or a wearable device, and for the sake of brevity, no examples are given here.
  • the terminal device may be associated with the vehicle, for example, the account registered on the terminal device may be associated with the account registered on the vehicle.
  • the account registered on the mobile phone is associated with the account registered on the vehicle, and the account registered on the mobile phone and the account registered on the vehicle may be the same account; or , it can also be that the account registered on the mobile phone is an account in the family group where the account registered on the vehicle belongs; or, the account registered on the mobile phone is an account authorized by the account registered on the vehicle.
  • the user can be reminded of the risk of the vehicle through the terminal device.
  • the user when it is determined that the vehicle is at risk of being flooded, the user can be prompted by the prompting device, so that the user can know in time that the vehicle is at risk of being flooded, so that the user can perform corresponding operations in time to relieve the risk.
  • the first instruction includes a warning level
  • the method further includes: before sending the first instruction to the first prompting device, according to the wading depth of the vehicle, , to determine the warning level.
  • the wading depth of the vehicle may be the wading depth of the vehicle determined according to the first data.
  • the warning level can be determined according to the wading depth of the vehicle.
  • the prompting device can adopt corresponding prompting methods according to different warning levels, so that the user can make appropriate countermeasures according to the prompting. It is possible to prevent the user from making a wrong response due to a single prompting method or inappropriate prompting, thereby improving the user experience and improving the efficiency of eliminating the risk of the vehicle being flooded.
  • the method further includes: receiving a response message, where the response message includes an instruction from the user to remove the risk of the vehicle being flooded.
  • the user can respond to the prompt, for example, a new area can be indicated by the mobile phone, and the mobile phone can The new area indicated by the user is sent to the vehicle through the response message.
  • the vehicle can drive to the area according to the new area indicated in the response message. It should be understood that this is not limited in the embodiment of the present application.
  • the vehicle by receiving the response message sent by the user through the terminal device, the vehicle can execute the operation instructed by the user to relieve the risk of the vehicle being flooded, so that the user can remotely control the vehicle, so that the user can timely
  • the flooding risk is dealt with to improve the timeliness of handling the flooding risk of vehicles.
  • the method further includes: when it is determined that the vehicle is at risk of being flooded, controlling the vehicle to leave the current area.
  • the risk of the vehicle being flooded can be eliminated.
  • the risk of the vehicle being flooded may be removed by driving away from the current area.
  • the first sensor includes one or more of lidar, millimeter wave radar, and ultrasonic radar.
  • vehicles can determine the traffic level based on the data collected by radars and cameras without installing traditional physical liquid level sensors.
  • the wading state of the tool can detect whether the vehicle is at risk of being flooded, which can reduce the cost of the sensor, and can also reduce the difficulty of sensor layout due to the use requirements of traditional physical liquid level sensors, thereby improving the flexibility of sensor configuration. flexibility.
  • the vehicle is located indoors.
  • the vehicle when the vehicle is located in an indoor environment where rainfall cannot be detected, it can still determine whether the vehicle is flooded through the first data collected by the first sensor and the second data collected by the second sensor. risk without relying on the detection of rainfall, so that the method can have a wider range of applicable scenarios and scope.
  • an anti-flooding detection device includes: an acquisition unit, configured to acquire first data collected by the first sensor and second data collected by the second sensor, wherein the first data is used For determining the wading depth of the vehicle, the second data is used to determine whether the vehicle is wading, the first sensor includes one or more sensors of a perception system, the second sensor includes a camera device; a processing unit, It is used to determine whether the vehicle is at risk of being flooded according to the first data and the second data.
  • the processing unit is specifically configured to: if the wading depth of the vehicle determined according to the first data is greater than or equal to a preset threshold, and according to the second data It is determined that the vehicle is wading through water, and it is determined that the vehicle is at risk of being submerged.
  • the device may further include a transceiver unit, and the transceiver unit may be used to: when it is determined that the vehicle is at risk of being flooded, send the first notification device to the first prompting device.
  • An instruction the first instruction is used to instruct the first prompting device to prompt the user that the vehicle is at risk of being flooded.
  • the first instruction may include a warning level
  • the processing unit may be further configured to: before sending the first instruction to the first prompting device, according to the vehicle's The wading depth determines the warning level.
  • the transceiving unit may be further configured to: receive a response message, where the response message includes an instruction from the user to eliminate the risk of the vehicle being flooded.
  • the processing unit may be further configured to: when it is determined that the vehicle is at risk of being flooded, control the vehicle to leave the current area.
  • the first sensor includes one or more of lidar, millimeter wave radar, and ultrasonic radar.
  • the vehicle is located indoors.
  • a device which includes a processor and a memory, wherein the memory is used to store program instructions, and the processor is used to invoke the program instructions, so that the device performs any of the above-mentioned first aspect or the first aspect.
  • the memory is used to store program instructions
  • the processor is used to invoke the program instructions, so that the device performs any of the above-mentioned first aspect or the first aspect.
  • a vehicle in a fourth aspect, includes the device described in the second aspect or the third aspect.
  • the vehicle may be a vehicle.
  • a computer program product including instructions is provided, and when the computer program product is run on a computer, the computer is made to execute the method in the first aspect or any implementation manner of the first aspect.
  • a computer-readable storage medium where program instructions are stored in the computer-readable storage medium, and when the program instructions are executed by a processor, the computer executes the above-mentioned first aspect or the first aspect. any possible method.
  • a chip in a seventh aspect, includes a processor and a data interface, and the processor reads instructions stored in the memory through the data interface, and executes the first aspect or any possible implementation of the first aspect methods in methods.
  • Fig. 1 is a schematic functional block diagram of a vehicle provided by an embodiment of the present application.
  • Fig. 2 is a schematic diagram of sensing ranges of various sensors.
  • Fig. 3 is a schematic block diagram of a system architecture provided by an embodiment of the present application.
  • Fig. 4 is a schematic block diagram of another system architecture provided by an embodiment of the present application.
  • Fig. 5 is a schematic flowchart of a method for detecting flood prevention provided by an embodiment of the present application.
  • Fig. 6 is a schematic flowchart of a method for preventing flooding provided by an embodiment of the present application.
  • Fig. 7 is a schematic block diagram of an anti-flooding detection device provided by an embodiment of the present application.
  • Fig. 8 is a diagram showing a structural example of a device provided by an embodiment of the present application.
  • vehicles may include one or more different types of vehicles that operate or move on land (for example, roads, roads, railways, etc.), water surfaces (for example: waterways, rivers, oceans, etc.) or space or movable objects.
  • vehicles may include automobiles, bicycles, motorcycles, trains, subways, airplanes, boats, aircraft, robots or other types of vehicles or movable objects, and the like. The following takes the vehicle as an example to briefly introduce the functions that the vehicle can have.
  • FIG. 1 is a schematic functional block diagram of a vehicle 100 provided in an embodiment of the present application.
  • the vehicle 100 may include a perception system 120 , a display device 130 , and a computing platform 150 , wherein the perception system 120 may include several types of sensors that sense information about the environment around the vehicle 100 .
  • the perception system 120 may include a positioning system, and the positioning system may be a global positioning system (global positioning system, GPS), and may also be a Beidou system or other positioning systems, an inertial measurement unit (inertial measurement unit, IMU), a laser radar, a mm One or more of wave radar, ultrasonic radar and camera device.
  • GPS global positioning system
  • IMU inertial measurement unit
  • laser radar a laser radar
  • a mm One or more of wave radar, ultrasonic radar and camera device.
  • the computing platform 150 may include processors 151 to 15n (n is a positive integer), the processor is a circuit with signal processing capabilities, in one implementation, the processor may be a circuit with instruction reading and execution capabilities, For example, a central processing unit (central processing unit, CPU), a microprocessor, a graphics processing unit (graphics processing unit, GPU) (which can be understood as a kind of microprocessor), or a digital signal processor (digital signal processor, DSP), etc.
  • CPU central processing unit
  • microprocessor graphics processing unit
  • GPU graphics processing unit
  • DSP digital signal processor
  • the processor can realize a certain function through the logical relationship of the hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, for example, the processor is an application-specific integrated circuit, ASIC) or a hardware circuit implemented by a programmable logic device (PLD), such as a field programmable gate array (FPGA).
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • FPGA field programmable gate array
  • the process of the processor loading the configuration file to realize the configuration of the hardware circuit can be understood as the process of the processor loading instructions to realize the functions of some or all of the above units.
  • the computing platform 150 can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (neural network processing unit, NPU), tensor processing unit (tensor processing unit, TPU), deep learning processing Unit (deep learning processing unit, DPU), etc.
  • the computing platform 150 may also include a memory, which may be used to store instructions, and some or all of the processors 151 to 15n may call the instructions in the memory and execute the instructions to implement corresponding functions.
  • the memory may also be used to store data such as road maps, route information, the vehicle's position, direction, speed, and other such vehicle data, among other information. Such information may be used by vehicle 100 and computing platform 150 during operation of vehicle 100 in autonomous, semi-autonomous, and/or manual modes.
  • the vehicle 100 may include an advanced driving assistant system (ADAS), which utilizes various sensors on the vehicle (including but not limited to: lidar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, inertial Measurement unit) acquires information from the surroundings of the vehicle, and analyzes and processes the acquired information to realize functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring/reminder, etc., thereby improving the safety of vehicle driving, Degree of automation and comfort.
  • ADAS advanced driving assistant system
  • other means of transportation may have functions similar to the vehicle, for example, also include a perception system, including a computing platform, etc., for the sake of brevity, details will not be described here. It should be understood that this is not limited in the embodiment of the present application.
  • FIG. 2 shows a schematic diagram of the sensing ranges of various sensors.
  • the sensors may belong to, for example, the sensing system 120 shown in FIG.
  • the included sensors are also called perception sensors, among which millimeter-wave radars can be divided into long-range radars and medium/short-range radars.
  • the farthest sensing distance of the lidar is about 150 meters
  • the farthest sensing distance of the long-distance millimeter-wave radar is about 250 meters
  • the furthest sensing distance of the medium/short-distance millimeter-wave radar is about 120 meters
  • the farthest sensing distance of the camera is about 200 meters
  • the farthest sensing distance of the ultrasonic radar is about 5 meters.
  • the above sensors and their sensing ranges are only examples for illustration, and are not limited in this embodiment of the present application.
  • Fig. 3 is a schematic block diagram of a system architecture provided by an embodiment of the present application.
  • the system includes sensors and processing modules.
  • the sensor can be one or more sensors in the perception system 120 shown in FIG.
  • the platform 150 may also be deployed on a cloud server to notify the computing platform 150 of the detection result.
  • the senor can be used to perceive the vehicle and its surrounding environment, and collect data.
  • the sensor may include one or more cameras and one or more lidars, and the data output by the sensors may be video stream data acquired by the cameras and point cloud data acquired by the lidars.
  • the processing module can be used to acquire data collected by multiple sensors, and can process the data collected by multiple sensors to determine whether the vehicle is at risk of being flooded. Due to the fusion of data collected by multiple sensors, its judgment on the risk of vehicle flooding is more accurate.
  • the processing module may be deployed inside the vehicle in the form of a hardware module and/or software module, for example, deployed on the computing platform 150, or the processing module may be a computing platform located in a cloud server.
  • FIG. 4 shows a schematic block diagram of another system architecture provided by an embodiment of the present application.
  • the system architecture includes sensors on the vehicle and a cloud server, and the vehicle can send the data collected by the sensor to the cloud server through the network.
  • the processing module in the cloud server can process the data collected by the sensor, so as to determine whether the vehicle is at risk of being flooded.
  • the cloud server may send the processing result on whether the vehicle is at risk of being flooded to the vehicle through the network, for example, to the corresponding processing module in the computing platform 150 of the vehicle.
  • system architecture may further include a prompting device, which prompts the user that the vehicle is at risk of being flooded when it is determined that the vehicle is at risk of being flooded.
  • a prompting device which prompts the user that the vehicle is at risk of being flooded when it is determined that the vehicle is at risk of being flooded.
  • the prompting device may be a terminal device such as a computer, a smart phone, a tablet computer, a personal digital assistant, a wearable device, etc.
  • the terminal device may be associated with the vehicle, for example, the account registered on the terminal device may be associated with the account registered on the vehicle.
  • the account registered on the mobile phone is associated with the account registered on the vehicle, and the account registered on the mobile phone and the account registered on the vehicle may be the same account; or, It may be that the account registered on the mobile phone is an account in the family group where the account registered on the vehicle belongs; or, the account registered on the mobile phone is an account authorized by the account registered on the vehicle. It should be understood that the above description about the prompting device is only an example for illustration, and is not limited in this embodiment of the present application.
  • the processing module can directly send instructions to the prompting device, so that the prompting device can prompt the user that the vehicle has a risk of being flooded; or, the processing module can also send instructions to other modules, and the other modules send the instructions to the prompt device, so that the prompting device can prompt the user that the vehicle is at risk of being flooded. It should be understood that this is not limited in the embodiment of the present application.
  • the vehicle may include the above-mentioned sensor and processing module, and when the vehicle is at risk of being flooded, a prompting device may be used to prompt the user that the vehicle is at risk of being flooded.
  • a prompting device may be used to prompt the user that the vehicle is at risk of being flooded.
  • the vehicle can communicate with a terminal device (such as a mobile phone) through a telematics box (T-BOX), and the terminal device can prompt the user that the vehicle is flooded.
  • the terminal device can display prompt information (for example, the mobile phone can display "your car is about to be flooded, please move the car as soon as possible" on the screen), and the prompt information is used to remind the user that the vehicle is at risk of being flooded.
  • the above prompt manner is only an example for convenience of description, and is not limited in this embodiment of the present application.
  • the system may also include a control module.
  • the processing module determines that the vehicle is at risk of being flooded, the processing module can send an instruction to the control module, which is used to indicate that the vehicle is at risk of being flooded, so that the control module can control the vehicle to leave the current area to avoid other vehicles. flooded.
  • the control module can control the vehicle to leave the current area.
  • the processing module can control the vehicle to drive to the current area by calling the ADAS system.
  • the location specified by the user to avoid the vehicle from being flooded; another example, the ADAS system can control the vehicle to drive to an area without the risk of flooding.
  • processing module may directly send instructions to the control module, or may send instructions to the control module through other modules, which is not limited in this embodiment of the present application.
  • FIG. 5 shows a schematic flowchart of a method for detecting flooding prevention provided by an embodiment of the present application.
  • the method 300 may include the following steps:
  • the sensors involved in the embodiments of the present application include but are not limited to various sensors carried on vehicles.
  • a camera sensor, or a camera can be a telephoto camera, a wide-angle camera, a binocular camera, a fisheye camera, etc.; another example, a radar sensor, or a radar, can be an ultrasonic radar, a millimeter wave radar , lidar and other types of radar.
  • the data output by the camera includes image data
  • the data output by the lidar includes point cloud data and the like.
  • the data output by the sensor can be one frame or multiple frames of data. It should be understood that the different types of camera sensors and radar sensors mentioned above are just examples for illustration, and are not limited in this embodiment of the present application.
  • the first data collected by the first sensor can be used to determine the wading depth of the vehicle; the second data collected by the second sensor can be used to determine whether the vehicle is wading, and the first sensor can include One or more sensors, the second sensor may include a camera.
  • the sensing system may belong to the vehicle to be detected whether there is a risk of flooding, or may belong to other vehicles other than the vehicle.
  • the vehicle to be detected for the risk of flooding can obtain the data collected by the sensors of its perception system sent by other nearby vehicles through vehicle-to-vehicle communication (V2V).
  • V2V vehicle-to-vehicle communication
  • the first sensor can be a radar sensor, and the data collected by it can be used to obtain the water level depth information of the vehicle fording, at least one first sensor can be a plurality of radars of the same type and different specifications or installation positions, or It is different types of radar, for example, one or more of lidar, millimeter-wave radar, and ultrasonic radar.
  • the second sensor can include a camera, such as a telephoto camera, a wide-angle camera and other types of cameras, and the data collected can be used to determine whether the vehicle is wading.
  • a camera such as a telephoto camera, a wide-angle camera and other types of cameras
  • the data collected can be used to determine whether the vehicle is wading.
  • At least one second sensor can be a plurality of the same type and specifications or installation positions. Different cameras can also be different types of cameras. It should be understood that the above descriptions about the first sensor and the second sensor are only examples for illustration, and are not limited in this embodiment of the present application.
  • the wading depth of the vehicle can be determined.
  • the height draw of the radar from the ground can be calculated according to the data collected by the radar sensor, such as point cloud data.
  • the radar sensor can From the collected data, calculate the height of the radar from the water surface, and by calculating the difference between the two heights, the wading depth of the vehicle can be determined; for another example, the height draw from the radar to the bottom of the vehicle can be set in the processing module,
  • the height of the radar from the water surface can be calculated according to the data collected by the radar, so that the wading depth of the vehicle can be determined according to the difference between the two heights.
  • examples are not given one by one, and it should be understood that this embodiment of the present application does not make a limitation thereto.
  • the vehicle it can be determined whether the vehicle is wading.
  • neural network architectures such as deep layer aggregation (DLA) and residual neural network (ResNet) can be used to extract image features.
  • DLA deep layer aggregation
  • ResNet residual neural network
  • image features it can be determined that Whether the vehicle is wading.
  • image recognition algorithm it can be determined whether the vehicle is wading.
  • the part of the image that is the water surface can be identified to determine whether the vehicle is wading;
  • the images collected by the multiple surround-view cameras can be input into the water surface segmentation algorithm, and the water surface part in each image can be output to determine whether the vehicle is wading.
  • the water surface parts in the multiple images can be spliced, and according to the spliced results and the hole convolution algorithm, it can be confirmed whether the vehicle is wading. For the sake of brevity, no more examples are given.
  • acquisition of data from multiple sensors may be independent of each other or may be associated with each other, which is not limited in this embodiment of the present application.
  • the data collected by the radar and the data collected by the camera device can be obtained at the same time, and it can be determined whether the vehicle is wading according to the obtained data;
  • the vehicle may be at risk of being flooded (for example, when the wading depth is greater than or equal to the safe wading threshold according to the radar)
  • obtain the data collected by the camera device to confirm whether the vehicle is wading
  • the data collected by the device when the vehicle wading is determined according to the data collected by the camera device, then the data collected by the radar is obtained, and the wading depth of the vehicle is determined according to the data collected by the radar, so as to determine whether the vehicle is at risk of being flooded.
  • the above method for acquiring data of multiple sensors is only an example, which is not limited in this embodiment of the present application.
  • the first sensor and/or the second sensor may be located in the vehicle to be detected for the risk of flooding, or in other vehicles, or in other infrastructure equipment, and the first sensor may belong to
  • the perception system of the vehicle to detect the risk of flooding may also be a perception system belonging to other vehicles, that is to say, the vehicle may include the first sensor and/or the second sensor, or may not include the first sensor and/or the second sensor.
  • a sensor and/or a second sensor For example, taking the vehicle as an example, the vehicle to be detected for the risk of flooding can obtain the data collected by its camera from other nearby vehicles through V2V, so that the data collected by the vehicle’s radar and the received The data collected by the cameras of other vehicles can determine the wading status of the vehicle.
  • other vehicles can send the data collected by their sensors to the vehicle after processing (such as the flood risk to be detected
  • the data obtained by the vehicle can be collected by the camera of other vehicles, and the compressed image, the data after feature extraction, etc.);
  • the vehicle can obtain the data collected by the radar of other vehicles through V2V , according to the data, the wading depth of the vehicle can be determined, so as to determine whether the vehicle is at risk of being flooded;
  • the vehicle can obtain the images collected by the camera in the underground garage where the vehicle is located, and correspondingly, by obtaining According to the image collected by the camera in the underground garage, the processing module can determine whether the vehicle is wading;
  • the cloud server can obtain the data collected by the radar of vehicle 1 and the data collected by the camera of vehicle 2 , so that it can be confirmed whether the vehicle 1 and/or vehicle 2 is at risk of being flooded.
  • examples are not given one by one, and it should be understood that this embodiment of the
  • S320 determine whether there is a risk of flooding in the vehicle.
  • the wading depth of the vehicle determined according to the first data is greater than or equal to the safe wading threshold, and the vehicle wading is determined according to the second data, it may be determined that the vehicle is at risk of being submerged.
  • it may be the wading depth determined only according to the first data it may be determined only according to the second data, or the vehicle wading and/or the vehicle wading may be determined in combination with the first data and the second data.
  • the water depth for example, the wading depth of the vehicle and whether the vehicle is wading is determined after fusing the first data and the second data. It should be understood that this is not limited in this embodiment of the present application.
  • the detection results of the vehicle wading state by the first sensor and the second sensor can be determined, so that it can be determined Whether there is a risk of flooding in the vehicle.
  • detection results of the wading state by the first sensor and the second sensor can be obtained respectively.
  • the detection result may be 0 or 1, wherein 0 may indicate that the vehicle has no risk of being flooded, and 1 may indicate that the vehicle has a risk of being flooded.
  • feature extraction may be performed according to the first data and the second data, so as to respectively obtain detection results of the wading state by the first sensor and the second sensor, so as to determine whether there is a risk of the vehicle being flooded. It should be understood that the above method for obtaining the detection results of the wading state by the first sensor and the second sensor is only an example for convenience of description, and is not limited in this embodiment of the present application.
  • the detection result of each first sensor for the wading state may be respectively determined according to the first data collected by each first sensor in the plurality of first sensors, or
  • the overall detection result of the wading state by the multiple first sensors may be determined according to the multiple first data collected by the multiple first sensors, which is not limited in this embodiment of the present application. It should be understood that the situation where there are multiple second sensors is similar, and for the sake of brevity, details are not repeated here.
  • the detection result of the wading state by the first sensor may be determined according to the safe wading threshold.
  • the safe wading threshold may represent the safe wading depth of the vehicle.
  • the safe wading threshold may be the maximum safe wading depth of the vehicle, and when the wading depth of the vehicle is greater than or equal to the maximum safe wading depth, there may be a safety risk due to wading, Or known as the risk of flooding.
  • the maximum safe wading depth can be the default value set by the development user in the system configuration.
  • the developer can set in the system configuration according to the results of the vehicle wading experiment
  • the maximum safe wading depth common to this model can also be set with multiple different safe wading thresholds according to the results of vehicle wading experiments; another example, a conservative strategy can be adopted to set the maximum safe wading depth applicable to various models in the system configuration.
  • Safe wading depth for another example, it may be the maximum safe wading depth set by the developer during the robot development process.
  • multiple safe wading thresholds can be set, and the multiple safe wading thresholds can be used to determine multiple warning levels.
  • multiple different warning levels can be set, and the current warning level can be determined according to the wading depth of the vehicle and the multiple safe wading thresholds, so that According to the current warning level, the operation corresponding to the warning level is performed, for example, the vehicle sends the prompt information corresponding to the warning level to the user's mobile phone, and the automatic driving system controls the vehicle to drive to a safe area, etc.
  • the corresponding safe wading thresholds can be 6cm, 9cm, 12cm, and 15cm respectively.
  • the first-level warning level When the current wading depth of the vehicle is greater than or equal to 6cm and less than 9cm , is the first-level warning level.
  • the first-level warning level is determined according to the wading depth of the vehicle, a text message can be sent to the user's mobile phone to remind the user that the vehicle is at risk of being flooded; when the current wading depth of the vehicle is greater than or equal to 12cm, and When it is less than 15cm, the warning level can be three-level warning level. It can send a reminder to the user and request to control the vehicle to move to a safe area by automatic driving.
  • the user's mobile phone and other terminal devices When sending a reminder to the user's mobile phone and other terminal devices, it can also carry information about the wading state , such as the wading depth of the vehicle and/or photos collected by the camera, etc., so that the user can know the specific wading status through the terminal device.
  • the wading state such as the wading depth of the vehicle and/or photos collected by the camera, etc.
  • examples are not given one by one, and it should be understood that this embodiment of the present application does not make a limitation thereto.
  • the user can set the safe water wading threshold through terminal devices such as mobile phones and personal computers. Multiple safe wading thresholds are determined, where the terminal device can communicate with the vehicle in a wired or wireless manner, which is not limited in this embodiment of the present application.
  • the developer in order to facilitate the remote control of the vehicle, the developer can develop an APP suitable for the mobile phone, through which the remote control of the vehicle can be realized.
  • a user interface (UI) related to detecting the risk of vehicle flooding can be set in the APP. For example, through the UI interface of the APP, you can select and Display the pictures collected by multiple cameras of the vehicle on the surrounding environment of the vehicle.
  • the UI interface of the APP may include a control for setting the safe wading threshold. Through this control, the user can realize the safe wading threshold of the vehicle.
  • various prompt methods corresponding to multiple warning levels can be set, such as the ringtone, vibration mode, and prompt text displayed on the mobile phone for the warning level, etc.
  • the mobile phone can send the user's set value for the safe wading threshold on the UI interface to the vehicle through the network, and the vehicle can complete the setting of one or more safe wading thresholds according to the user's set value,
  • the mobile phone can also save the user's setting of the prompt mode of the warning level, and can also send the user's setting of the prompt mode of the warning level to the vehicle.
  • the mobile phone can If specified, the user will be prompted in the prompt mode corresponding to the current warning level. For the sake of brevity, details will not be repeated here. It should be understood that the above method of setting the safe wading threshold of the vehicle by the user through a terminal device such as a mobile phone or a personal computer is merely an example for illustration, and is not limited in this embodiment of the present application.
  • the user can set the safe wading threshold through the on-board computer.
  • the user can set the safe wading threshold through the display device 130 included in the vehicle 100, for example, through the UI interface of the vehicle's central control panel.
  • the central control panel obtains the user's set value
  • the user's set value can be sent to the computing platform 150, so that one or more safe wading thresholds can be determined, and one or more warning levels can be determined accordingly, which will not be repeated here for brevity.
  • the detection result of the radar on the wading state of the vehicle can be determined.
  • the wading depth of a vehicle such as a vehicle
  • the safe wading threshold of 6cm corresponding to the first-level warning level it can be determined that the radar has a wading depth of 7cm.
  • the detection result of the wading state of the vehicle is that there is a risk of being submerged, that is to say, the detection result of the wading state of the vehicle by the radar may be 1.
  • the detection result of the camera on the wading state of the vehicle can be determined.
  • the data collected by the camera is input into the image recognition algorithm, if the part of the image identified as water surrounds the wading vehicle, it can be determined that the camera detects the wading state of the vehicle as a risk of being submerged, and That is to say, the detection result of the camera for the wading state of the vehicle may be 1.
  • a comprehensive judgment may be made on the detection results of the wading state by the first sensor and the second sensor to determine whether the vehicle is at risk of being flooded.
  • the vehicle is at risk of being submerged in the end, and it may be determined whether the vehicle is at risk of being submerged according to the wading state detected by each sensor.
  • weights may be set for the detection results of each first sensor and/or second sensor, so that the detection results of multiple sensors may be fused to determine whether the vehicle is at risk of being flooded.
  • the weights of the detection results of ultrasonic radar, millimeter-wave radar, camera 1, and camera 2 can be Configure them as 0.2, 0.3, 0.25, and 0.25 respectively.
  • the detection results of ultrasonic radar, millimeter wave radar, camera 1, and camera 2 are 0, 1, 1, and 1 respectively, the obtained fusion detection result can be 0.8 .
  • no examples are given one by one, and it should be understood that this embodiment of the present application does not make a limitation thereto.
  • the fused detection result when the fused detection result is greater than or equal to the first threshold, it may be considered that the vehicle has a risk of being flooded.
  • the first threshold is 0.6
  • the corresponding detection results are 0, 1, 1 for ultrasonic radar, millimeter-wave radar, and surround-view camera
  • the weights of the detection results are 0.2, 0.3, and 0.5
  • the detection result of 0.8 is greater than the first threshold, it can be considered that the vehicle is at risk of being flooded; when the detection results of each sensor are 1, 1, 0 respectively, since the detection result after fusion is 0.5 is less than the first threshold, it can be considered that the traffic
  • the tool has no risk of being flooded, and accordingly, it can be considered that there are errors in the detection results of the radar.
  • weights may be set for the detection results of each type of sensor, so that the detection results of multiple types of sensors are integrated to determine whether the vehicle is at risk of being flooded.
  • the weights of the detection results of ultrasonic radar, millimeter wave radar, and camera can be configured as 0.2, 0.3, and 0.5 respectively.
  • the obtained fused detection result may be 0.8.
  • the detection results of the multiple sensors can be fused first to obtain the comprehensive detection results of this type of sensors, so that the detection results of multiple types of sensors can be fused .
  • the vehicle includes multiple ultrasonic radars
  • weights can be set for the detection results of the multiple ultrasonic radars according to the installation position, installation angle and other parameters, so that the comprehensive detection results of the ultrasonic radars can be obtained, and then the comprehensive detection results can be obtained based on the comprehensive detection results.
  • the results and the detection results of other types of sensors are combined to obtain the detection results to determine whether the vehicle is at risk of being flooded.
  • examples are not given one by one, and it should be understood that this embodiment of the present application does not make a limitation thereto.
  • the vehicle may be determined whether the vehicle is at risk of being flooded.
  • the corresponding sensor feature data can be obtained after feature extraction and feature fusion can be performed.
  • the fusion method can be concatenate (concatenate, concat) superposition, and the fused feature data can be obtained, so that According to the fused data of the feature layer, reasoning can be performed through the neural network used for reasoning to determine whether the vehicle is at risk of being flooded.
  • the feature data corresponding to the radar and the camera can be obtained separately through feature extraction, and the fused feature data can be obtained by fusing the above feature data, where It can not only include the information of whether the vehicle is wading obtained from the data collected by the camera, but also include the information of the wading depth of the vehicle obtained from the data collected by the radar, so that the traffic can be determined according to the reasoning neural network. Whether the tool is at risk of being flooded. It should be understood that the above method of fusing the first data and the second data is only an example for illustration, and is not limited in this embodiment of the present application.
  • the vehicle may be located indoors, where the vehicle located indoors may mean that part or all of the vehicle is covered by infrastructure.
  • the vehicle may be located in an underground garage, under an awning in an open parking lot, at the bottom of an overpass, under a viaduct, or in a parking area covered by eaves.
  • the amount of precipitation may not be detected correctly because part or all of the vehicle may be covered, and the water accumulation in the environment of the vehicle is not only related to the precipitation, but also related to the drainage ( For example, the rainwater backflow of the underground garage), in the embodiment of the present application, according to the first data and the second data, it is possible to determine whether the vehicle is wading and the wading depth, so as to determine whether the vehicle is at risk of being flooded. The method could more accurately detect the risk of a vehicle being flooded, and could also have a wider range of applicability. It should be understood that the above scenarios are only examples for illustration, and are not limited in this embodiment of the present application.
  • a first instruction may be sent to the prompting device for instructing the prompting device to prompt the user that the vehicle has a risk of being submerged. For example, when the fused detection result is greater than or equal to the first threshold, it can be determined that the vehicle is at risk of being flooded. In this case, a first instruction can be sent to the user's mobile phone and other terminal equipment to instruct the terminal equipment to prompt the user There is a risk of flooding this vehicle.
  • the prompting mode of the prompting device may be determined according to the data collected by the radar.
  • the wading depth can be determined according to the data collected by the radar, and the warning level can be determined, so that the prompting mode of the prompting device corresponding to the warning level can be determined.
  • the corresponding prompt method of the prompt device can be displayed on its screen "Reminder: Your vehicle may be flooded, please move as soon as possible.” vehicle"; when the warning level is the second level warning, the corresponding prompt method of the prompt device can be displayed on its screen "Reminder: Your cabin is about to flood, please move the vehicle as soon as possible”; when the warning level is the third level warning , the corresponding prompting method may be through voice prompting.
  • the prompting device may also use different prompting methods such as music and vibration to prompt the user, and for the sake of brevity, no further examples are given here. It should be understood that the above prompting manner is only an example, which is not limited in this embodiment of the present application.
  • the vehicle when it is determined that the vehicle is at risk of being flooded, the vehicle may be controlled to leave the current area.
  • the processing module determines that the vehicle is at risk of being flooded according to the fused detection results, it can send an instruction to the ADAS system to instruct it to control the vehicle to leave the area where the vehicle is currently located. Record the path and the sensor’s perception of the garage environment, and control the vehicle to drive to a higher terrain area outside the garage; for another example, when the user receives the vehicle flood warning sent by the prompt device, he can indicate the new location of the vehicle through a response message. Parking location/area, the ADAS system can thus control the vehicle to leave the current area. It should be understood that the above method for controlling the vehicle to leave the current area is just an example, and this embodiment of the present application does not limit it.
  • the flooding risk of the vehicle can be accurately detected, the sensor cost of the vehicle can be reduced, and the traditional Difficulties and limitations in placement of physical level sensors allow for increased sensor configuration flexibility.
  • FIG. 6 shows a schematic flowchart of a method for preventing flooding provided by an embodiment of the present application.
  • the method may include some or all of the following steps.
  • the user can choose to turn on the anti-flooding mode on the user interface.
  • it can be determined whether the anti-flooding mode is turned on. If it is confirmed that the anti-flooding mode is turned on, S415 can be skipped. If it is not enabled, skip to S470.
  • the anti-flooding mode can be turned on. After the anti-flooding mode is turned on, the wading state of the vehicle can be detected to know whether the vehicle is at risk of being flooded. It should be understood that the above method for determining that the anti-flooding mode is turned on is just an example, which is not limited in this embodiment of the present application.
  • multiple safe wading thresholds may be determined according to the setting of the maximum safe wading depth in the system configuration and the setting of the safe wading threshold by the user, and then multiple warning levels may be determined accordingly.
  • multiple warning levels may be determined accordingly.
  • details are not described here, and it should be understood that this embodiment of the present application does not limit it.
  • data collected by ultrasonic radar and millimeter wave radar may be acquired.
  • the wading depth can be determined according to the data collected by the ultrasonic radar and the millimeter wave radar.
  • the wading depth 1 can be determined according to the data collected by the ultrasonic radar, such as represented by du
  • the wading depth 2 can be determined according to the data collected by the millimeter-wave radar, such as represented by d r .
  • the wading depth d can be Calculated from the wading depths d u and d r and the corresponding weights.
  • du is used below to represent the wading depth determined by the data collected by the ultrasonic radar
  • d r represents the wading depth determined by the data collected by the millimeter-wave radar
  • d represents the comprehensive determination by the ultrasonic radar and the millimeter-wave radar
  • the wading depth is the wading depth determined comprehensively by du and dr .
  • S420 may correspond to part of the content of step S310, and for the sake of brevity, details are not repeated here.
  • S430 determine whether the wading depth is greater than or equal to the safe wading threshold, if the wading depth is greater than or equal to the safe wading threshold, go to S435; if the wading depth is less than the safe wading threshold, go to S420.
  • the camera when the wading depth determined according to the data collected by the ultrasonic radar and/or the millimeter wave radar is greater than or equal to a safe wading threshold, the camera is turned on.
  • the camera when the wading depth du or d r respectively determined according to the data of ultrasonic radar or millimeter-wave radar is greater than or equal to the safe wading threshold corresponding to the first-level warning, the camera is turned on; another example, it can be wading
  • the depth d is greater than or equal to the safe wading threshold corresponding to the first-level warning
  • the camera is turned on; for another example, when the wading depth determined according to the data collected by the radar is greater than or equal to the maximum safe wading depth, the camera is turned on.
  • examples are not given here. It should be understood that this is not limited in the embodiment of the present application.
  • the camera when the wading depth calculated according to the data collected by the radar is greater than or equal to the safe wading threshold, the camera is turned on and the image collected by the camera is obtained. In this way, the power consumption of the system can be reduced and resources can be saved. .
  • the ground solution calculates the "wading depth" that does not exist in the current scene, but since it can be determined whether the vehicle is wading based on the data collected by the camera device, it can be determined whether there is an error in the detection result of the radar, which can improve the judgment of the vehicle.
  • the accuracy of whether the vehicle is at risk of being flooded that is to say, whether the vehicle is at risk of being flooded can be accurately determined through the first data and the second data without a physical liquid level sensor.
  • step S310 for acquiring the data collected by the sensor in steps S420 to S435, reference may be made to the description of step S310, and for the sake of brevity, details are not repeated here.
  • S440 Determine whether the vehicle is at risk of being flooded. If the vehicle is at risk of being flooded, go to S445. If the vehicle is not at risk of being flooded, go to S420.
  • the detection results of the vehicle wading by the radar and the camera can be obtained respectively, and the detection results of the vehicle wading by the radar and the camera can be fused and reasoned, and the vehicle wading can be obtained. Water status information.
  • step S320 for the description of determining whether the vehicle is at risk of being flooded according to the data collected by the sensor, reference may be made to step S320 , and for the sake of brevity, details are not repeated here.
  • the wading state of the vehicle can be determined by acquiring data collected by perception sensors such as radars and cameras that are usually equipped with the vehicle, so as to determine whether the vehicle is at risk of being flooded, so that it can be used without traditional equipment.
  • perception sensors such as radars and cameras that are usually equipped with the vehicle
  • detecting the risk of vehicle flooding can reduce the cost of the sensor, reduce the difficulty of sensor layout due to the use requirements of the physical liquid level sensor, and improve the flexibility of sensor layout.
  • the warning level may be determined according to the wading depth and the safe wading threshold.
  • the prompting mode of the prompting device can be determined according to the warning level.
  • the terminal device may remind the user that there is a risk of the vehicle being flooded according to the user's setting of the prompt mode.
  • terminal devices such as mobile phones display warning messages on their screens, such as "Reminder: Your vehicle may be flooded, please move the vehicle as soon as possible”; another example is “Reminder: Your robot is surrounded by water, please rescue it as soon as possible.” ".
  • the terminal devices such as mobile phones display warning messages on their screens, such as "Reminder: Your vehicle may be flooded, please move the vehicle as soon as possible”; another example is “Reminder: Your robot is surrounded by water, please rescue it as soon as possible.” ".
  • the sake of brevity details are not repeated here.
  • step S320 for the description about the warning level and the safe wading threshold, reference may be made to step S320, and for the sake of brevity, details are not repeated here.
  • the user when it is determined that the vehicle is at risk of being flooded, the user can be informed of the risk of being flooded in the vehicle in a timely manner through the prompting device to the user, so that the user can take countermeasures in time.
  • S450 Determine whether response information is received. If response information is received, go to S455. If no response information is received, go to S457.
  • the response message may be the user's response to the warning message.
  • the user may indicate a new area through the response information, and accordingly, after receiving the response information, the vehicle may be controlled to drive to the area indicated by the user.
  • the vehicle may be controlled to drive to the area indicated by the user.
  • the user may indicate in the response message "if the wading depth of the vehicle does not decrease within 10 minutes, then move to a new parking position", correspondingly, after receiving the response message, The operation indicated by the response message may be performed to deal with the flooding risk of the vehicle.
  • the user may indicate the driving route of the vehicle through a response message, and correspondingly, after receiving the response information, the vehicle may be controlled to drive according to the indicated driving route.
  • the ADAS can control the vehicle to drive according to the driving route indicated by the vehicle.
  • the operation can be performed according to the remote instruction of the user, thereby improving the timeliness of handling the flooding risk of the vehicle.
  • S455 determine whether to take the automatic driving away operation, if the automatic driving away operation is adopted, skip to S460, and if not to take the automatic driving away operation, can skip to S470.
  • the user may indicate in the response message whether the vehicle is controlled by the automatic driving to leave the current area.
  • S457 determine whether it is the highest warning level, if it is the highest warning level, you can skip to S460, if it is not the highest warning level, you can skip to S420.
  • the automatic driving may control the vehicle to drive away from the current area to avoid the vehicle being flooded.
  • the vehicle is taken as an example below to describe the manner of automatic driving away. That is to say, in the following embodiments, the vehicle can be replaced by a vehicle.
  • the vehicle may be controlled to leave the current area in an automatic driving manner.
  • the automatic driving may control the vehicle to drive away from the area it is currently in, and drive to the area or location indicated by the user.
  • the optimal path between the current position of the vehicle and the position indicated by the user can be searched, and the vehicle can be controlled to drive to the location indicated by the user according to the road and environmental information around the vehicle collected by the sensor. indicates the new location.
  • the vehicle may send the new area or location to the cloud server, and the cloud server may or location, plan the driving path of the vehicle, and send the driving path to the vehicle, and the vehicle can verify the driving path. If there is a problem with the driving path, it can instruct the cloud service to plan again. There is a problem, the vehicle can drive to a new area or location according to this travel route.
  • the vehicle can obtain information from the Internet on an area that does not have the risk of being flooded, and use the parking space as a new parking position, and then drive to the area by automatic driving.
  • the simultaneous localization and mapping (SLAM) technology can be used.
  • the map can be constructed according to the vehicle sensor data, the vehicle can be positioned in real time, and the driving path of the vehicle can be recorded.
  • the warning level is the highest level and no response message from the user is received, the vehicle can drive out of the garage according to the constructed map, the recorded driving path, and the sensor's perception of the environment to avoid the vehicle being flooded.
  • the risk of the vehicle being flooded can be reduced, or the current risk of the vehicle being flooded can be eliminated.
  • FIG. 7 is a schematic block diagram of an apparatus for detecting flooding prevention provided by an embodiment of the present application.
  • the apparatus 700 includes an acquisition unit 710 and a processing unit 720 .
  • the obtaining unit 710 may be used to obtain the first data collected by the first sensor and the second data collected by the second sensor, wherein the first data is used to determine the wading depth of the vehicle, and the second data is used to To determine whether the vehicle is wading, the first sensor may include one or more sensors in the perception system, and the second sensor may include one or more camera devices; the processing unit 720 may be used to The second data determines whether the vehicle is at risk of being flooded.
  • the perception system may include several sensors for sensing information about the environment around the vehicle, and the perception system may belong to the vehicle whose flooding risk is to be detected, or to other vehicles other than the vehicle.
  • the first sensor may be a radar sensor, such as ultrasonic radar, millimeter wave radar, lidar, etc.
  • the second sensor may be a camera sensor, such as a telephoto camera, a wide-angle camera, or a binocular camera. , fisheye camera and other types of cameras.
  • a radar sensor such as ultrasonic radar, millimeter wave radar, lidar, etc.
  • the second sensor may be a camera sensor, such as a telephoto camera, a wide-angle camera, or a binocular camera. , fisheye camera and other types of cameras.
  • step S310 for descriptions about the first sensor, the second sensor, the first data, and the second data, reference may be made to step S310, and for the sake of brevity, details are not repeated here.
  • the first sensor may include one or more of lidar, millimeter wave radar, and ultrasonic radar.
  • the vehicle is located indoors.
  • step S320 for the description that the vehicle is located indoors, reference may be made to step S320, which will not be repeated here for brevity.
  • the processing unit 720 is specifically configured to: if the wading depth of the vehicle determined according to the first data is greater than or equal to a preset threshold, and it is determined according to the second data that the vehicle is wading, determine that the vehicle is wading. There is a risk of flooding.
  • the device 700 may also include a transceiver unit 730 (not shown in FIG. 7 ), and the transceiver unit 730 may be used to: when it is determined that the vehicle is at risk of being flooded, send a first instruction to the first prompting device , the first instruction is used to instruct the first prompting device to prompt the user that the vehicle has a risk of being flooded.
  • the transceiver unit may directly send the first instruction to the first prompting device, or may send the first instruction to the first prompting device through other devices/modules, which is not limited in this embodiment of the present application.
  • the transceiving unit 730 may also be configured to: receive a response message, where the response message includes an instruction from the user to eliminate the risk of the vehicle being flooded.
  • the first prompting device may be a terminal device such as a computer, a smart phone, a tablet computer, a personal digital assistant, or a wearable device, and for the sake of brevity, no examples are given here.
  • the terminal device may be associated with the vehicle, for example, the account registered on the terminal device may be associated with the account registered on the vehicle.
  • the account registered on the mobile phone is associated with the account registered on the vehicle, and the account registered on the mobile phone and the account registered on the vehicle may be the same account; or , it may also be that the account registered on the mobile phone is an account in the family group where the account registered on the vehicle belongs; or, the account registered on the mobile phone is an account authorized by the account registered on the vehicle. It should be understood that the above description about the first prompting device is only an example for illustration purposes, and is not limited in this embodiment of the present application.
  • the first instruction may include a warning level
  • the processing unit may be further configured to: determine the warning level according to the wading depth of the vehicle before sending the first instruction to the first prompting device.
  • the processing unit may also be used for: when it is determined that the vehicle is at risk of being flooded, control the vehicle to leave the current area.
  • the processing unit controls the vehicle to leave the current area.
  • the processing unit confirms that the vehicle is at risk of being flooded, instructs the control device/system to control the vehicle to leave the current area.
  • the processing unit may send a message to the ADAS system/device, instructing the ADAS system to control the vehicle to leave the current area, that is, the processing unit may call the ADAS function to control the vehicle to leave the current area.
  • the processing unit controls the vehicle to leave the current area. It may be that the processing unit has the function of controlling the vehicle to run. For example, the processing unit may plan a driving route for the vehicle.
  • the device in the embodiment of the present application without adding traditional physical liquid level sensors, by acquiring data collected by multiple sensors, it is possible to accurately detect the flooding risk of vehicles while flexibly configuring each sensor , which can reduce the sensor cost and layout difficulty of the vehicle.
  • the device 700 shown in FIG. 7 can be used to implement the method 300 for detecting anti-flooding.
  • the device shown in FIG. 7 can also have the system architecture shown in FIG. 3 or FIG.
  • the specific steps may refer to the above description of FIG. 5 to FIG. 6 , and will not be repeated here for the sake of brevity.
  • FIG. 8 is a structural example diagram of an apparatus 1300 provided in an embodiment of the present application.
  • the apparatus 1300 includes a processor 1302 , a communication interface 1303 and a memory 1304 .
  • One example of device 1300 is a chip.
  • Another example of apparatus 1300 is a computing device.
  • the processor 1302, the memory 1304, and the communication interface 1303 may communicate through a bus.
  • Executable codes are stored in the memory 1304, and the processor 1302 reads the executable codes in the memory 1304 to execute a corresponding method.
  • the memory 1304 may also include an operating system and other software modules required for running processes.
  • the operating system can be LINUX TM , UNIX TM , WINDOWS TM and so on.
  • the executable code in the memory 1304 is used to implement the methods shown in FIGS. 5 to 6
  • the processor 1302 reads the executable code in the memory 1304 to execute the methods shown in FIGS. 5 to 6 .
  • the processor 1302 may be a CPU.
  • the memory 1304 may include a volatile memory (volatile memory, VM), such as a random access memory (random access memory, RAM).
  • VM volatile memory
  • RAM random access memory
  • Memory 1304 can also include non-volatile memory (non-volatile memory, NVM), such as read-only memory (read-only memory, ROM), flash memory, hard disk drive (hard disk drive, HDD) or solid-state starter ( solid state disk, SSD).
  • sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, and should not be used in the embodiments of the present application.
  • the implementation process constitutes any limitation.
  • a component may be, but is not limited to being, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and/or a computer.
  • an application running on a computing device and the computing device can be components.
  • One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between two or more computers.
  • these components can execute from various computer readable media having various data structures stored thereon.
  • a component may, for example, be based on a signal having one or more packets of data (e.g., data from two components interacting with another component between a local system, a distributed system, and/or a network, such as the Internet via a signal interacting with other systems). Communicate through local and/or remote processes.
  • packets of data e.g., data from two components interacting with another component between a local system, a distributed system, and/or a network, such as the Internet via a signal interacting with other systems.
  • the disclosed systems, devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: various media capable of storing program codes such as U disk, mobile hard disk, read-only memory, random access memory, magnetic disk or optical disk.

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Abstract

Provided in the embodiments of the present application are an anti-submerging detection method and apparatus, and a vehicle. The method comprises: acquiring first data collected by a first sensor and second data collected by a second sensor, wherein the first data is used for determining a wading depth of a vehicle, the second data is used for determining whether the vehicle wades, the first sensor comprises one or more types of sensors in a sensing system, and the second sensor comprises a camera apparatus; and determining, according to the first data and the second data, whether the vehicle has a risk of being submerged. According to the method of the embodiments of the present application, the wading state of a vehicle can be accurately learned according to data collected by a plurality of sensors, without adding a traditional physical liquid level sensor, and the risk of the vehicle being submerged can thus be accurately detected, such that the cost of sensors of the vehicle can be reduced while the sensors are flexibly configured.

Description

一种防被淹的检测的方法、装置和交通工具A method, device and vehicle for anti-flooding detection 技术领域technical field
本申请实施例涉及车辆安全领域，更具体地，涉及一种防被淹的检测的方法、装置和交通工具。The embodiments of the present application relate to the field of vehicle safety, and more specifically, to a detection method, device and vehicle for preventing flooding.
背景技术Background technique
在雨季环境下，由于降水量增多，在台风、暴雨天气中，停在地下车库中的车辆存在被淹的风险，被雨水浸泡过的车辆存在严重安全隐患。虽然有部分车辆采用物理液位传感器检测车辆周边的水位，但是由于该方式会受限于液位传感器的布置，而且额外增加造车成本，因此如何灵活地获知车辆的被淹风险，成为亟待解决的问题。In the rainy season environment, due to the increase in precipitation, vehicles parked in underground garages are at risk of being flooded in typhoon and rainstorm weather, and vehicles soaked in rainwater have serious safety hazards. Although some vehicles use physical liquid level sensors to detect the water level around the vehicle, this method is limited by the layout of the liquid level sensor and increases the cost of vehicle manufacturing. Therefore, how to flexibly know the risk of vehicle flooding has become an urgent problem. The problem.
发明内容Contents of the invention
本申请实施例提供一种防被淹的检测的方法、装置和交通工具，使得可以灵活地获知交通工具的被淹风险，可以降低检测交通工具防被淹的风险的成本。The embodiments of the present application provide a method, device, and vehicle for detecting flooding prevention, so that the flooding risk of the vehicle can be learned flexibly, and the cost of detecting the flooding prevention risk of the vehicle can be reduced.
在本申请中，交通工具可以包括一种或多种不同类型的在陆地(例如，公路，道路，铁路等)，水面(例如：水路，江河，海洋等)或者空间上操作或移动的运输工具或者可移动物体。例如，交通工具可以包括汽车，自行车，摩托车，火车，地铁，飞机，船，飞行器，机器人或其它类型的运输工具或可移动物体等。In this application, vehicles may include one or more different types of vehicles that operate or move on land (for example, roads, roads, railways, etc.), water surfaces (for example: waterways, rivers, oceans, etc.) or space or movable objects. For example, vehicles may include automobiles, bicycles, motorcycles, trains, subways, airplanes, boats, aircraft, robots or other types of vehicles or movable objects, and the like.
第一方面，提供了一种防被淹的检测的方法，包括：获取第一传感器采集的第一数据和第二传感器采集的第二数据，其中该第一数据用于确定交通工具的涉水深度，该第二数据用于确定该交通工具是否涉水，该第一传感器包括感知***中的一种或多种传感器，该第二传感器包括摄像装置；根据该第一数据和该第二数据，确定该交通工具是否存在被淹的风险。In a first aspect, a method for detecting flood prevention is provided, including: acquiring first data collected by the first sensor and second data collected by the second sensor, wherein the first data is used to determine the wading of the vehicle Depth, the second data is used to determine whether the vehicle is wading, the first sensor includes one or more sensors in the perception system, the second sensor includes a camera device; according to the first data and the second data , to determine whether the vehicle is at risk of being flooded.
具体地，感知***可以包括感测关于交通工具周边的环境的信息的若干种传感器，该感知***可以属于待检测是否存在被淹风险的交通工具，也可以属于该交通工具以外的其他交通工具。Specifically, the perception system may include several sensors for sensing information about the surrounding environment of the vehicle, and the perception system may belong to the vehicle to be detected whether there is a risk of flooding, or may belong to other vehicles other than the vehicle.
示例性地，第二传感器包括摄像装置，例如，该第二传感器可以是长焦摄像头、广角摄像头、双目摄像头、鱼眼摄像头等各种类型的摄像头，本申请实施例对此不做限定。Exemplarily, the second sensor includes a camera device. For example, the second sensor may be various types of cameras such as a telephoto camera, a wide-angle camera, a binocular camera, and a fisheye camera, which are not limited in this embodiment of the present application.
本申请实施例中，通过获取第一传感器采集的第一数据和第二传感器采集的第二数据，可以在不增加传统物理液位传感器的情况下，根据多个传感器采集的数据，可以准确地获知交通工具的涉水状态，从而可以准确地检测交通工具被淹的风险，使得可以在灵活配置传感器的同时降低交通工具的传感器的成本。In the embodiment of the present application, by acquiring the first data collected by the first sensor and the second data collected by the second sensor, the data collected by multiple sensors can be accurately obtained without adding traditional physical liquid level sensors. By knowing the wading state of the vehicle, the risk of the vehicle being submerged can be accurately detected, and the cost of the sensor of the vehicle can be reduced while the sensors are flexibly configured.
结合第一方面，在第一方面的某些实现方式中，根据该第一数据和该第二数据，确定该交通工具是否存在被淹的风险，包括：若根据该第一数据确定的该交通工具的涉水深度大于或等于预设阈值，且根据该第二数据确定该交通工具涉水，确定该交通工具存在被淹 的风险。With reference to the first aspect, in some implementations of the first aspect, determining whether the vehicle is at risk of being flooded according to the first data and the second data includes: if the traffic determined according to the first data The wading depth of the vehicle is greater than or equal to a preset threshold, and according to the second data, it is determined that the vehicle is wading, and it is determined that the vehicle is at risk of being submerged.
结合第一方面，在第一方面的某些实现方式中，该预设阈值可以是安全涉水阈值。With reference to the first aspect, in some implementation manners of the first aspect, the preset threshold may be a safe water wading threshold.
本申请实施例中，由于可以根据第一数据确定交通工具涉水深度，根据第二数据确定交通工具涉水，由此当根据多个传感器数据确定交通工具涉水且交通工具的涉水深度大于或等于预设阈值时，可以确定交通工具存在被淹而导致安全风险，从而可以在确定存在被淹风险后执行相应地操作以解除该被淹风险。In the embodiment of the present application, since the wading depth of the vehicle can be determined according to the first data, and the wading depth of the vehicle can be determined according to the second data, when the wading of the vehicle is determined according to multiple sensor data and the wading depth of the vehicle is greater than or is equal to the preset threshold, it can be determined that the vehicle is flooded, resulting in a safety risk, so that after it is determined that there is a risk of flooding, corresponding operations can be performed to eliminate the risk of flooding.
结合第一方面，在第一方面的某些实现方式中，该方法还包括：当确定该交通工具存在被淹的风险时，向第一提示装置发送第一指令，该第一指令用于指示该第一提示装置提示用户该交通工具存在被淹的风险。With reference to the first aspect, in some implementations of the first aspect, the method further includes: when it is determined that the vehicle is at risk of being flooded, sending a first instruction to the first prompting device, the first instruction is used to indicate The first prompting device prompts the user that the vehicle is at risk of being flooded.
示例性地，该第一提示装置可以是电脑、智能手机、平板电脑、个人数字助理、可穿戴设备等终端设备，为了简洁，此处不再一一举例。示例性地，该终端设备可以与该交通工具相关联，比如，可以是该终端设备上登录的账号与车辆上登录的账号相关联。例如，以该第一提示装置为手机、交通工具为车辆为例，手机上登录的账号与车辆上登录的账号相关联，可以是手机上登录的账号和车辆上登录的账号为同一账号；或者，也可以是手机上登录的账号为车辆上登录的账号所在的家庭群组中的账号；或者，手机上登录的账号为经过车辆上登录的账号授权后的账号，由此，当确认车辆存在被淹风险时，可以通过该终端设备提示用户该车辆所存在的风险。应理解，以上关于第一提示装置的描述只是示例以便于说明，本申请实施例对此不做限定。Exemplarily, the first prompting device may be a terminal device such as a computer, a smart phone, a tablet computer, a personal digital assistant, or a wearable device, and for the sake of brevity, no examples are given here. Exemplarily, the terminal device may be associated with the vehicle, for example, the account registered on the terminal device may be associated with the account registered on the vehicle. For example, taking the first prompting device as a mobile phone and the vehicle as an example, the account registered on the mobile phone is associated with the account registered on the vehicle, and the account registered on the mobile phone and the account registered on the vehicle may be the same account; or , it can also be that the account registered on the mobile phone is an account in the family group where the account registered on the vehicle belongs; or, the account registered on the mobile phone is an account authorized by the account registered on the vehicle. When there is a risk of flooding, the user can be reminded of the risk of the vehicle through the terminal device. It should be understood that the above description about the first prompting device is only an example for illustration, and this embodiment of the present application does not limit it.
本申请实施例中，当确定交通工具存在被淹风险时，可以通过提示装置提示用户，使得用户可以及时获知交通工具处于被淹风险中，以便于用户及时进行相应的操作解除该风险。In the embodiment of the present application, when it is determined that the vehicle is at risk of being flooded, the user can be prompted by the prompting device, so that the user can know in time that the vehicle is at risk of being flooded, so that the user can perform corresponding operations in time to relieve the risk.
结合第一方面，在第一方面的某些实现方式中，该第一指令包括警告等级，该方法还包括：在向该第一提示装置发送第一指令之前，根据该交通工具的涉水深度，确定该警告等级。With reference to the first aspect, in some implementations of the first aspect, the first instruction includes a warning level, and the method further includes: before sending the first instruction to the first prompting device, according to the wading depth of the vehicle, , to determine the warning level.
具体地，该交通工具的涉水深度，可以是根据该第一数据所确定的交通工具的涉水深度。Specifically, the wading depth of the vehicle may be the wading depth of the vehicle determined according to the first data.
本申请实施例中，可以根据交通工具的涉水深度，确定警告等级，相应地，提示装置可以根据不同的警告等级采用对应的提示方式，从而使得用户可以根据该提示做出合适的应对措施，可以避免由于提示方式单一或者不恰当的提示导致用户做出错误的应对，由此可以提高用户体验，也可以提高解除交通工具被淹风险的效率。In the embodiment of the present application, the warning level can be determined according to the wading depth of the vehicle. Correspondingly, the prompting device can adopt corresponding prompting methods according to different warning levels, so that the user can make appropriate countermeasures according to the prompting. It is possible to prevent the user from making a wrong response due to a single prompting method or inappropriate prompting, thereby improving the user experience and improving the efficiency of eliminating the risk of the vehicle being flooded.
结合第一方面，在第一方面的某些实现方式中，该方法还包括：接收响应消息，该响应消息包括用户对解除交通工具被淹的风险的指示。With reference to the first aspect, in some implementations of the first aspect, the method further includes: receiving a response message, where the response message includes an instruction from the user to remove the risk of the vehicle being flooded.
示例性地，当通过第一提示装置(比如用户的手机)提示用户该交通工具所存在的被淹风险之后，用户可以对该提示进行响应，例如，可以通过手机指示新的区域，该手机可以通过响应消息将用户所指示的新的区域发送至该交通工具，相应地，该交通工具在接收该响应消息后，可以根据该响应消息中所指示的新的区域，行驶至该区域。应理解，本申请实施例对此不做限定。Exemplarily, after the user is prompted by the first prompting device (such as the user's mobile phone) of the risk of being flooded in the vehicle, the user can respond to the prompt, for example, a new area can be indicated by the mobile phone, and the mobile phone can The new area indicated by the user is sent to the vehicle through the response message. Correspondingly, after receiving the response message, the vehicle can drive to the area according to the new area indicated in the response message. It should be understood that this is not limited in the embodiment of the present application.
本申请实施例中，通过接收用户通过终端设备发送的响应消息，交通工具可以执行用户所指示的对于解除交通工具被淹风险的操作，从而可以实现用户对交通工具的远程控制， 使得用户可以及时对该被淹风险进行处理，提高对交通工具被淹风险处理的及时性。In the embodiment of this application, by receiving the response message sent by the user through the terminal device, the vehicle can execute the operation instructed by the user to relieve the risk of the vehicle being flooded, so that the user can remotely control the vehicle, so that the user can timely The flooding risk is dealt with to improve the timeliness of handling the flooding risk of vehicles.
结合第一方面，在第一方面的某些实现方式中，该方法还包括：当确定该交通工具存在被淹的风险时，控制该交通工具驶离当前的区域。With reference to the first aspect, in some implementations of the first aspect, the method further includes: when it is determined that the vehicle is at risk of being flooded, controlling the vehicle to leave the current area.
具体地，交通工具驶离其当前所在区域之后，可以解除该交通工具被淹的风险。Specifically, after the vehicle leaves its current area, the risk of the vehicle being flooded can be eliminated.
本申请实施例中，当确定交通工具存在被淹风险时，可以通过驶离当前区域的方式，解除该交通工具被淹的风险。In the embodiment of the present application, when it is determined that the vehicle has a risk of being flooded, the risk of the vehicle being flooded may be removed by driving away from the current area.
结合第一方面，在第一方面的某些实现方式中，该第一传感器包括激光雷达、毫米波雷达、超声波雷达中的一种或多种。With reference to the first aspect, in some implementation manners of the first aspect, the first sensor includes one or more of lidar, millimeter wave radar, and ultrasonic radar.
在本申请实施例中，通过采用交通工具通常会装备的雷达和摄像头等感知类传感器，使得交通工具在无需安装传统物理液位传感器的情况下，可以根据雷达、摄像头所采集的数据，确定交通工具的涉水状态，从而检测交通工具是否存在被淹风险，以此可以降低传感器的成本，也可以降低由于传统物理液位传感器的使用要求而导致的传感器布置的难度，从而可以提高传感器配置的灵活性。In this embodiment of the application, by using perception sensors such as radars and cameras that vehicles are usually equipped with, vehicles can determine the traffic level based on the data collected by radars and cameras without installing traditional physical liquid level sensors. The wading state of the tool can detect whether the vehicle is at risk of being flooded, which can reduce the cost of the sensor, and can also reduce the difficulty of sensor layout due to the use requirements of traditional physical liquid level sensors, thereby improving the flexibility of sensor configuration. flexibility.
结合第一方面，在第一方面的某些实现方式中，该交通工具位于室内。With reference to the first aspect, in some implementation manners of the first aspect, the vehicle is located indoors.
在本申请实施例中，交通工具在位于无法检测降雨量的室内环境时，也依然可以通过第一传感器采集的第一数据和第二传感器采集的第二数据，确定该交通工具是否具有被淹的风险，而不必依赖于对于降雨量的检测，使得该方法可以具有更广泛的适用场景和范围。In the embodiment of the present application, when the vehicle is located in an indoor environment where rainfall cannot be detected, it can still determine whether the vehicle is flooded through the first data collected by the first sensor and the second data collected by the second sensor. risk without relying on the detection of rainfall, so that the method can have a wider range of applicable scenarios and scope.
第二方面，提供了一种防被淹的检测的装置，该装置包括：获取单元，用于获取第一传感器采集的第一数据和第二传感器采集的第二数据，其中该第一数据用于确定该交通工具的涉水深度，该第二数据用于确定该交通工具是否涉水，该第一传感器包括感知***的一种或多种传感器，该第二传感器包括摄像装置；处理单元，用于根据该第一数据和该第二数据，确定该交通工具是否存在被淹的风险。In a second aspect, an anti-flooding detection device is provided, the device includes: an acquisition unit, configured to acquire first data collected by the first sensor and second data collected by the second sensor, wherein the first data is used For determining the wading depth of the vehicle, the second data is used to determine whether the vehicle is wading, the first sensor includes one or more sensors of a perception system, the second sensor includes a camera device; a processing unit, It is used to determine whether the vehicle is at risk of being flooded according to the first data and the second data.
结合第二方面，在第二方面的某些实现方式中，该处理单元具体用于：若根据该第一数据确定的交通工具的涉水深度大于或等于预设阈值，且根据该第二数据确定该交通工具涉水，确定该交通工具存在被淹的风险。With reference to the second aspect, in some implementations of the second aspect, the processing unit is specifically configured to: if the wading depth of the vehicle determined according to the first data is greater than or equal to a preset threshold, and according to the second data It is determined that the vehicle is wading through water, and it is determined that the vehicle is at risk of being submerged.
结合第二方面，在第二方面的某些实现方式中，该装置还可以包括收发单元，该收发单元可以用于：当确定该交通工具存在被淹的风险时，向第一提示装置发送第一指令，该第一指令用于指示该第一提示装置提示用户该交通工具存在被淹的风险。With reference to the second aspect, in some implementations of the second aspect, the device may further include a transceiver unit, and the transceiver unit may be used to: when it is determined that the vehicle is at risk of being flooded, send the first notification device to the first prompting device. An instruction, the first instruction is used to instruct the first prompting device to prompt the user that the vehicle is at risk of being flooded.
结合第二方面，在第二方面的某些实现方式中，第一指令可以包括警告等级，该处理单元还可以用于：在向该第一提示装置发送第一指令之前，根据该交通工具的涉水深度，确定警告等级。With reference to the second aspect, in some implementations of the second aspect, the first instruction may include a warning level, and the processing unit may be further configured to: before sending the first instruction to the first prompting device, according to the vehicle's The wading depth determines the warning level.
结合第二方面，在第二方面的某些实现方式中，该收发单元还可以用于：接收响应消息，该响应消息包括用户对解除交通工具被淹的风险的指示。With reference to the second aspect, in some implementation manners of the second aspect, the transceiving unit may be further configured to: receive a response message, where the response message includes an instruction from the user to eliminate the risk of the vehicle being flooded.
结合第二方面，在第二方面的某些实现方式中，该处理单元还可以用于：当确定该交通工具存在被淹的风险时，控制交通工具驶离当前的区域。With reference to the second aspect, in some implementation manners of the second aspect, the processing unit may be further configured to: when it is determined that the vehicle is at risk of being flooded, control the vehicle to leave the current area.
结合第二方面，在第二方面的某些实现方式中，该第一传感器包括激光雷达、毫米波雷达、超声波雷达中的一种或多种。With reference to the second aspect, in some implementation manners of the second aspect, the first sensor includes one or more of lidar, millimeter wave radar, and ultrasonic radar.
结合第二方面，在第二方面的某些实现方式中，该交通工具位于室内。With reference to the second aspect, in some implementation manners of the second aspect, the vehicle is located indoors.
第三方面，提供了一种装置，该装置包括处理器和存储器，其中，存储器用于存储程 序指令，处理器用于调用该程序指令，以使该装置执行上述第一方面或者第一方面中任一种可能的方法。In a third aspect, there is provided a device, which includes a processor and a memory, wherein the memory is used to store program instructions, and the processor is used to invoke the program instructions, so that the device performs any of the above-mentioned first aspect or the first aspect. One possible way.
第四方面，提供了一种交通工具，该车辆包括第二方面或第三方面所述的装置。In a fourth aspect, a vehicle is provided, and the vehicle includes the device described in the second aspect or the third aspect.
结合第四方面，在第四方面的某些实现方式中，该交通工具可以是车辆。With reference to the fourth aspect, in some implementation manners of the fourth aspect, the vehicle may be a vehicle.
第五方面，提供一种包含指令的计算机程序产品，当该计算机程序产品在计算机上运行时，使得计算机执行上述第一方面或者第一方面的任一实现方式中的方法。In a fifth aspect, a computer program product including instructions is provided, and when the computer program product is run on a computer, the computer is made to execute the method in the first aspect or any implementation manner of the first aspect.
第六方面，提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有程序指令，当所述程序指令由处理器运行时，使得计算机执行上述第一方面或者第一方面中任一种可能的方法。In a sixth aspect, a computer-readable storage medium is provided, where program instructions are stored in the computer-readable storage medium, and when the program instructions are executed by a processor, the computer executes the above-mentioned first aspect or the first aspect. any possible method.
第七方面，提供一种芯片，所述芯片包括处理器与数据接口，所述处理器通过所述数据接口读取存储器上存储的指令，执行第一方面或者第一方面的任一可能的实现方式中的方法。In a seventh aspect, there is provided a chip, the chip includes a processor and a data interface, and the processor reads instructions stored in the memory through the data interface, and executes the first aspect or any possible implementation of the first aspect methods in methods.
附图说明Description of drawings
图1是本申请实施例提供的车辆的一个功能框图示意。Fig. 1 is a schematic functional block diagram of a vehicle provided by an embodiment of the present application.
图2是各种传感器感测范围示意图。Fig. 2 is a schematic diagram of sensing ranges of various sensors.
图3是本申请实施例提供的***架构的示意性框图。Fig. 3 is a schematic block diagram of a system architecture provided by an embodiment of the present application.
图4是本申请实施例提供的另一种***架构的示意性框图。Fig. 4 is a schematic block diagram of another system architecture provided by an embodiment of the present application.
图5是本申请实施例提供的一种防被淹的检测的方法的示意流程图。Fig. 5 is a schematic flowchart of a method for detecting flood prevention provided by an embodiment of the present application.
图6是本申请实施例提供的一种防被淹的方法的流程示意图。Fig. 6 is a schematic flowchart of a method for preventing flooding provided by an embodiment of the present application.
图7是本申请实施例提供的一种防被淹的检测的装置的示意性框图。Fig. 7 is a schematic block diagram of an anti-flooding detection device provided by an embodiment of the present application.
图8是本申请实施例提供的一种装置的结构示例图。Fig. 8 is a diagram showing a structural example of a device provided by an embodiment of the present application.
具体实施方式Detailed ways
下面将结合附图，对本申请实施例中的技术方案进行描述。The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.
在本申请中，交通工具可以包括一种或多种不同类型的在陆地(例如，公路，道路，铁路等)，水面(例如：水路，江河，海洋等)或者空间上操作或移动的运输工具或者可移动物体。例如，交通工具可以包括汽车，自行车，摩托车，火车，地铁，飞机，船，飞行器，机器人或其它类型的运输工具或可移动物体等。以下以交通工具是车辆为例，简要介绍交通工具可以具有的功能。In this application, vehicles may include one or more different types of vehicles that operate or move on land (for example, roads, roads, railways, etc.), water surfaces (for example: waterways, rivers, oceans, etc.) or space or movable objects. For example, vehicles may include automobiles, bicycles, motorcycles, trains, subways, airplanes, boats, aircraft, robots or other types of vehicles or movable objects, and the like. The following takes the vehicle as an example to briefly introduce the functions that the vehicle can have.
示例性地，图1是本申请实施例提供的车辆100的一个功能框图示意。车辆100可以包括感知***120、显示装置130和计算平台150，其中，感知***120可以包括感测关于车辆100周边的环境的信息的若干种传感器。例如，感知***120可以包括定位***，定位***可以是全球定位***(global positioning system，GPS)，也可以是北斗***或者其他定位***、惯性测量单元(inertial measurement unit，IMU)、激光雷达、毫米波雷达、超声雷达以及摄像装置中的一种或者多种。Exemplarily, FIG. 1 is a schematic functional block diagram of a vehicle 100 provided in an embodiment of the present application. The vehicle 100 may include a perception system 120 , a display device 130 , and a computing platform 150 , wherein the perception system 120 may include several types of sensors that sense information about the environment around the vehicle 100 . For example, the perception system 120 may include a positioning system, and the positioning system may be a global positioning system (global positioning system, GPS), and may also be a Beidou system or other positioning systems, an inertial measurement unit (inertial measurement unit, IMU), a laser radar, a mm One or more of wave radar, ultrasonic radar and camera device.
车辆100的部分或所有功能可以由计算平台150控制。计算平台150可包括处理器151至15n(n为正整数)，处理器是一种具有信号的处理能力的电路，在一种实现中，处理器可以是具有指令读取与运行能力的电路，例如中央处理单元(central processing unit， CPU)、微处理器、图形处理器(graphics processing unit，GPU)(可以理解为一种微处理器)、或数字信号处理器(digital signal processor，DSP)等；在另一种实现中，处理器可以通过硬件电路的逻辑关系实现一定功能，该硬件电路的逻辑关系是固定的或可以重构的，例如处理器为专用集成电路(application-specific integrated circuit，ASIC)或可编程逻辑器件(programmable logic device，PLD)实现的硬件电路，例如现场可编程门阵列(field programmable gate array，FPGA)。在可重构的硬件电路中，处理器加载配置文档，实现硬件电路配置的过程，可以理解为处理器加载指令，以实现以上部分或全部单元的功能的过程。此外，还可以是针对人工智能设计的硬件电路，其可以理解为一种ASIC，例如神经网络处理单元(neural network processing unit，NPU)、张量处理单元(tensor processing unit，TPU)、深度学***台150还可以包括存储器，存储器可以用于存储指令，处理器151至15n中的部分或全部处理器可以调用存储器中的指令，执行指令，以实现相应的功能。存储器还可用于存储数据，例如道路地图、路线信息，车辆的位置、方向、速度以及其它这样的车辆数据，以及其他信息。这种信息可在车辆100在自主、半自主和/或手动模式中操作期间被车辆100和计算平台150使用。Some or all functions of vehicle 100 may be controlled by computing platform 150 . The computing platform 150 may include processors 151 to 15n (n is a positive integer), the processor is a circuit with signal processing capabilities, in one implementation, the processor may be a circuit with instruction reading and execution capabilities, For example, a central processing unit (central processing unit, CPU), a microprocessor, a graphics processing unit (graphics processing unit, GPU) (which can be understood as a kind of microprocessor), or a digital signal processor (digital signal processor, DSP), etc. ; In another implementation, the processor can realize a certain function through the logical relationship of the hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, for example, the processor is an application-specific integrated circuit, ASIC) or a hardware circuit implemented by a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading the configuration file to realize the configuration of the hardware circuit can be understood as the process of the processor loading instructions to realize the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (neural network processing unit, NPU), tensor processing unit (tensor processing unit, TPU), deep learning processing Unit (deep learning processing unit, DPU), etc. In addition, the computing platform 150 may also include a memory, which may be used to store instructions, and some or all of the processors 151 to 15n may call the instructions in the memory and execute the instructions to implement corresponding functions. The memory may also be used to store data such as road maps, route information, the vehicle's position, direction, speed, and other such vehicle data, among other information. Such information may be used by vehicle 100 and computing platform 150 during operation of vehicle 100 in autonomous, semi-autonomous, and/or manual modes.
车辆100可以包括高级驾驶辅助***(advanced driving assistant system，ADAS)，ADAS利用在车辆上的多种传感器(包括但不限于：激光雷达、毫米波雷达、摄像装置、超声波传感器、全球定位***、惯性测量单元)从车辆周围获取信息，并对获取的信息进行分析和处理，实现例如障碍物感知、目标识别、车辆定位、路径规划、驾驶员监控/提醒等功能，从而提升车辆驾驶的安全性、自动化程度和舒适度。The vehicle 100 may include an advanced driving assistant system (ADAS), which utilizes various sensors on the vehicle (including but not limited to: lidar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, inertial Measurement unit) acquires information from the surroundings of the vehicle, and analyzes and processes the acquired information to realize functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring/reminder, etc., thereby improving the safety of vehicle driving, Degree of automation and comfort.
应理解，图1中车辆的结构和功能，不应理解为对本申请实施例的限制。It should be understood that the structure and functions of the vehicle in Fig. 1 should not be construed as limiting the embodiment of the present application.
可选地，其他交通工具可以具有与该车辆相似的功能，例如也包括感知***，包括计算平台等，为了简洁，此处不再赘述。应理解，本申请实施例对此不做限定。Optionally, other means of transportation may have functions similar to the vehicle, for example, also include a perception system, including a computing platform, etc., for the sake of brevity, details will not be described here. It should be understood that this is not limited in the embodiment of the present application.
示例性地，图2示出各种传感器感测范围示意图，传感器可以属于例如图1所示意的感知***120，该感知***可以包括激光雷达、毫米波雷达、摄像装置、超声波传感器等，感知***所包括的传感器又称为感知传感器，其中毫米波雷达可以分为长距雷达和中/短距雷达。示例性地，激光雷达的最远感测距离约为150米，长距毫米波雷达的最远感测距离约为250米，中/短距毫米波雷达的最远感测距离约为120米，摄像头的最远感测距离约为200米，超声波雷达的最远感测距离约为5米。应理解，以上传感器及其感测范围只是示例以便于说明，本申请实施例对此不做限定。Exemplarily, FIG. 2 shows a schematic diagram of the sensing ranges of various sensors. The sensors may belong to, for example, the sensing system 120 shown in FIG. The included sensors are also called perception sensors, among which millimeter-wave radars can be divided into long-range radars and medium/short-range radars. For example, the farthest sensing distance of the lidar is about 150 meters, the farthest sensing distance of the long-distance millimeter-wave radar is about 250 meters, and the furthest sensing distance of the medium/short-distance millimeter-wave radar is about 120 meters , the farthest sensing distance of the camera is about 200 meters, and the farthest sensing distance of the ultrasonic radar is about 5 meters. It should be understood that the above sensors and their sensing ranges are only examples for illustration, and are not limited in this embodiment of the present application.
图3是本申请实施例提供的***架构的示意性框图。如图3所示，该***中包括传感器和处理模块。例如，传感器可以是图1所示的感知***120中的一个或者多个传感器(例如，包括激光雷达、毫米波雷达、超声雷达以及摄像装置等)，处理模块可以部署于图1所示的计算平台150上，也可以部署在云端服务器上，将检测结果通知到计算平台150上。Fig. 3 is a schematic block diagram of a system architecture provided by an embodiment of the present application. As shown in Figure 3, the system includes sensors and processing modules. For example, the sensor can be one or more sensors in the perception system 120 shown in FIG. The platform 150 may also be deployed on a cloud server to notify the computing platform 150 of the detection result.
其中，传感器可以用于对交通工具及其周围环境进行感知，并采集数据。例如，传感器可以包括一个或多个摄像头以及一个或多个激光雷达，传感器输出的数据可以为摄像头获取的视频流数据以及激光雷达获取的点云数据等。Among them, the sensor can be used to perceive the vehicle and its surrounding environment, and collect data. For example, the sensor may include one or more cameras and one or more lidars, and the data output by the sensors may be video stream data acquired by the cameras and point cloud data acquired by the lidars.
处理模块可以用于获取多个传感器采集的数据，可以对多个传感器采集到的数据进行处理，以确定交通工具是否存在被淹的风险。由于融合了多个传感器采集的数据，其对车 辆被淹风险的判断更加准确。The processing module can be used to acquire data collected by multiple sensors, and can process the data collected by multiple sensors to determine whether the vehicle is at risk of being flooded. Due to the fusion of data collected by multiple sensors, its judgment on the risk of vehicle flooding is more accurate.
具体地，处理模块可以以硬件模块和/或软件模块的形式部署于该交通工具内部，例如，部署在计算平台150上，或者，该处理模块可以是位于云端服务器中的计算平台。示例性地，图4示出了本申请实施例提供的另一种***架构的示意性框图。该***架构中包括交通工具上的传感器以及云端服务器，交通工具可以将传感器采集的数据通过网络发送给云端服务器。云端服务器中的处理模块可以对传感器采集的数据进行处理，从而可以确定交通工具是否存在被淹风险。云端服务器可以将针对交通工具是否存在被淹风险的处理结果通过网络发送给该交通工具，例如，发送给车辆的计算平台150中相应的处理模块。Specifically, the processing module may be deployed inside the vehicle in the form of a hardware module and/or software module, for example, deployed on the computing platform 150, or the processing module may be a computing platform located in a cloud server. Exemplarily, FIG. 4 shows a schematic block diagram of another system architecture provided by an embodiment of the present application. The system architecture includes sensors on the vehicle and a cloud server, and the vehicle can send the data collected by the sensor to the cloud server through the network. The processing module in the cloud server can process the data collected by the sensor, so as to determine whether the vehicle is at risk of being flooded. The cloud server may send the processing result on whether the vehicle is at risk of being flooded to the vehicle through the network, for example, to the corresponding processing module in the computing platform 150 of the vehicle.
可选地，***架构中还可以包括提示装置，当确定交通工具存在被淹风险时，该提示装置向用户提示交通工具存在被淹风险。Optionally, the system architecture may further include a prompting device, which prompts the user that the vehicle is at risk of being flooded when it is determined that the vehicle is at risk of being flooded.
示例性地，该提示装置可以是电脑、智能手机、平板电脑、个人数字助理、可穿戴设备等终端设备，为了简洁，此处不再一一举例。示例性地，该终端设备可以与该交通工具相关联，比如，可以是该终端设备上登录的账号与车辆上登录的账号相关联。例如，以该提示装置为手机、交通工具为车辆为例，手机上登录的账号与车辆上登录的账号相关联，可以是手机上登录的账号和车辆上登录的账号为同一账号；或者，也可以是手机上登录的账号为车辆上登录的账号所在的家庭群组中的账号；或者，手机上登录的账号为经过车辆上登录的账号授权后的账号。应理解，以上关于提示装置的描述只是示例以便于说明，本申请实施例对此不做限定。Exemplarily, the prompting device may be a terminal device such as a computer, a smart phone, a tablet computer, a personal digital assistant, a wearable device, etc. For the sake of brevity, no examples are given here. Exemplarily, the terminal device may be associated with the vehicle, for example, the account registered on the terminal device may be associated with the account registered on the vehicle. For example, taking the prompting device as a mobile phone and the vehicle as an example, the account registered on the mobile phone is associated with the account registered on the vehicle, and the account registered on the mobile phone and the account registered on the vehicle may be the same account; or, It may be that the account registered on the mobile phone is an account in the family group where the account registered on the vehicle belongs; or, the account registered on the mobile phone is an account authorized by the account registered on the vehicle. It should be understood that the above description about the prompting device is only an example for illustration, and is not limited in this embodiment of the present application.
具体地，处理模块可以直接向提示装置发送指令，使得提示装置可以向用户提示该交通工具存在被淹的风险；或者，处理模块也可以发送指令至其他模块，由其他模块将该指令发送至提示装置，使得该提示装置可以向用户提示交通工具存在被淹风险。应理解，本申请实施例对此不做限定。Specifically, the processing module can directly send instructions to the prompting device, so that the prompting device can prompt the user that the vehicle has a risk of being flooded; or, the processing module can also send instructions to other modules, and the other modules send the instructions to the prompt device, so that the prompting device can prompt the user that the vehicle is at risk of being flooded. It should be understood that this is not limited in the embodiment of the present application.
示例性地，以交通工具是车辆为例，该车辆可以包括上述传感器和处理模块，当车辆存在被淹风险时，可以通过提示装置向用户提示车辆存在被淹的风险。例如，当处理模块确定车辆存在被淹风险时，车辆可以通过远程信息处理箱(telematics box，T-BOX)与终端设备(比如手机)进行通信，终端设备可以通过声音提示用户该车辆存在被淹风险；或者，终端设备可以显示提示信息(比如手机可以在屏幕中显示“您的爱车即将被淹，请尽快挪车”)，该提示信息用于提示用户车辆存在被淹风险。应理解，以上提示方式只是举例以便于说明，本申请实施例对此不做限定。Exemplarily, taking the vehicle as an example, the vehicle may include the above-mentioned sensor and processing module, and when the vehicle is at risk of being flooded, a prompting device may be used to prompt the user that the vehicle is at risk of being flooded. For example, when the processing module determines that the vehicle is at risk of being flooded, the vehicle can communicate with a terminal device (such as a mobile phone) through a telematics box (T-BOX), and the terminal device can prompt the user that the vehicle is flooded. Alternatively, the terminal device can display prompt information (for example, the mobile phone can display "your car is about to be flooded, please move the car as soon as possible" on the screen), and the prompt information is used to remind the user that the vehicle is at risk of being flooded. It should be understood that the above prompt manner is only an example for convenience of description, and is not limited in this embodiment of the present application.
可选地，***中还可以包括控制模块。当处理模块确定车辆存在被淹风险时，处理模块可以向控制模块发送指令，该指令用于指示该交通工具存在被淹风险，使得控制模块可以控制该交通工具驶离当前所处区域以避免其被淹。示例性地，以交通工具为车辆为例，在接收到处理模块发送的指令后，控制模块可以控制车辆驶离当前区域，例如，该处理模块可以通过调用ADAS***，由ADAS***控制车辆行驶至用户指定的地点，以避免车辆被淹；又例如，可以由ADAS***控制车辆行驶至无被淹风险的区域。应理解，以上控制车辆行驶的方式只是举例以便于说明，本申请实施例对此不做限定。Optionally, the system may also include a control module. When the processing module determines that the vehicle is at risk of being flooded, the processing module can send an instruction to the control module, which is used to indicate that the vehicle is at risk of being flooded, so that the control module can control the vehicle to leave the current area to avoid other vehicles. flooded. Exemplarily, taking the vehicle as an example, after receiving the instruction sent by the processing module, the control module can control the vehicle to leave the current area. For example, the processing module can control the vehicle to drive to the current area by calling the ADAS system. The location specified by the user to avoid the vehicle from being flooded; another example, the ADAS system can control the vehicle to drive to an area without the risk of flooding. It should be understood that the above manner of controlling the driving of the vehicle is only an example for convenience of description, which is not limited in this embodiment of the present application.
应理解，处理模块可以直接向控制模块发送指令，也可以通过其他模块向控制模块发送指令，本申请实施例对此不做限定。It should be understood that the processing module may directly send instructions to the control module, or may send instructions to the control module through other modules, which is not limited in this embodiment of the present application.
示例性地，图5示出了本申请实施例提供的一种防被淹的检测的方法的示意流程图。 具体地，该方法300可以包括以下步骤：Exemplarily, FIG. 5 shows a schematic flowchart of a method for detecting flooding prevention provided by an embodiment of the present application. Specifically, the method 300 may include the following steps:
S310，获取第一传感器采集的第一数据和第二传感器采集的第二数据。S310. Acquire first data collected by the first sensor and second data collected by the second sensor.
本申请实施例中所涉及的传感器包括但不限于交通工具上所搭载的各种传感器。例如，摄像头传感器，或称为摄像头，可以是长焦摄像头、广角摄像头、双目摄像头、鱼眼摄像头等类型的摄像头；又例如，雷达传感器，或称为雷达，可以是超声波雷达、毫米波雷达、激光雷达等类型的雷达。示例性地，摄像头输出的数据包括图像数据，激光雷达输出的数据包括点云数据等。传感器输出的数据可以是一帧或者多帧数据。应理解，以上提及的不同类型的摄像头传感器、雷达传感器只是举例以便于说明，本申请实施例对此不做限定。The sensors involved in the embodiments of the present application include but are not limited to various sensors carried on vehicles. For example, a camera sensor, or a camera, can be a telephoto camera, a wide-angle camera, a binocular camera, a fisheye camera, etc.; another example, a radar sensor, or a radar, can be an ultrasonic radar, a millimeter wave radar , lidar and other types of radar. Exemplarily, the data output by the camera includes image data, and the data output by the lidar includes point cloud data and the like. The data output by the sensor can be one frame or multiple frames of data. It should be understood that the different types of camera sensors and radar sensors mentioned above are just examples for illustration, and are not limited in this embodiment of the present application.
具体地，第一传感器采集的第一数据，可以用于确定车辆的涉水深度；第二传感器采集的第二数据，可以用于确定车辆是否涉水，该第一传感器可以包括感知***中的一种或多种传感器，该第二传感器可以包括摄像装置。Specifically, the first data collected by the first sensor can be used to determine the wading depth of the vehicle; the second data collected by the second sensor can be used to determine whether the vehicle is wading, and the first sensor can include One or more sensors, the second sensor may include a camera.
可选地，该感知***可以属于该待检测是否存在被淹风险的交通工具，也可以属于该交通工具以外的其他交通工具。例如，以交通工具为车辆为例，该待检测被淹风险的车辆，可以通过车与车通信(vehicleto vehicle communication，V2V)获取附近其他车辆发送的其感知***的传感器所采集的数据。应理解，本申请实施例对此不做限定。Optionally, the sensing system may belong to the vehicle to be detected whether there is a risk of flooding, or may belong to other vehicles other than the vehicle. For example, taking the vehicle as an example, the vehicle to be detected for the risk of flooding can obtain the data collected by the sensors of its perception system sent by other nearby vehicles through vehicle-to-vehicle communication (V2V). It should be understood that this is not limited in the embodiment of the present application.
可选地，可以获取至少一个第一传感器和至少一个第二传感器所采集的数据，该至少一个第一传感器和至少一个第二传感器可以将采集的数据发送给处理模块，相应地，处理模块可以根据获得的数据确定车辆的涉水状态，从而确定交通工具是否存在被淹的风险。其中，该第一传感器可以是雷达传感器，其采集的数据可以用于获取交通工具涉水的水位深度信息，至少一个第一传感器可以是多个类型相同且规格或者安装位置不同的雷达，也可以是不同类型的雷达，比如，激光雷达、毫米波雷达、超声波雷达中的一种或多种。第二传感器可以包括摄像装置，比如，长焦摄像头、广角摄像头等类型的摄像头，其采集的数据可以用于确定车辆是否涉水，至少一个第二传感器可以是多个类型相同且规格或者安装位置不同的摄像头，也可以是不同类型的摄像头。应理解，以上关于第一传感器和第二传感器的描述只是举例以便于说明，本申请实施例对此不做限定。Optionally, data collected by at least one first sensor and at least one second sensor may be acquired, and the at least one first sensor and at least one second sensor may send the collected data to the processing module, and accordingly, the processing module may Determine the wading status of the vehicle based on the obtained data, thereby determining whether the vehicle is at risk of being flooded. Wherein, the first sensor can be a radar sensor, and the data collected by it can be used to obtain the water level depth information of the vehicle fording, at least one first sensor can be a plurality of radars of the same type and different specifications or installation positions, or It is different types of radar, for example, one or more of lidar, millimeter-wave radar, and ultrasonic radar. The second sensor can include a camera, such as a telephoto camera, a wide-angle camera and other types of cameras, and the data collected can be used to determine whether the vehicle is wading. At least one second sensor can be a plurality of the same type and specifications or installation positions. Different cameras can also be different types of cameras. It should be understood that the above descriptions about the first sensor and the second sensor are only examples for illustration, and are not limited in this embodiment of the present application.
示例性地，根据雷达采集的数据，可以确定交通工具的涉水深度。例如，以交通工具为车辆为例，可以根据雷达传感器的采集的数据，比如点云数据，解算雷达距离地面的高度d raw，比如地下车库进水而导致车辆涉水时，可以根据雷达传感器采集的数据，解算雷达距离水面的高度，通过计算两个高度之间的差值，可以确定车辆的涉水深度；又例如，可以在处理模块中设置雷达距离交通工具底部的高度d raw，当该交通工具处于涉水状态时，可以根据雷达采集的数据解算雷达距离水面的高度，从而可以根据两个高度间的差值，确定该交通工具的涉水深度。为了简洁不再一一举例，应理解，本申请实施例对此不做限定。 Exemplarily, according to the data collected by the radar, the wading depth of the vehicle can be determined. For example, taking the vehicle as an example, the height draw of the radar from the ground can be calculated according to the data collected by the radar sensor, such as point cloud data. For example, when the underground garage is flooded and the vehicle is wading, the radar sensor can From the collected data, calculate the height of the radar from the water surface, and by calculating the difference between the two heights, the wading depth of the vehicle can be determined; for another example, the height draw from the radar to the bottom of the vehicle can be set in the processing module, When the vehicle is in a wading state, the height of the radar from the water surface can be calculated according to the data collected by the radar, so that the wading depth of the vehicle can be determined according to the difference between the two heights. For the sake of brevity, examples are not given one by one, and it should be understood that this embodiment of the present application does not make a limitation thereto.
示例性地，根据摄像装置采集的数据，可以确定交通工具是否涉水。例如，对于摄像头采集的图像，可以使用深层特征融合(deep layer aggregation，DLA)、残差神经网络(residual neural network，ResNet)等神经网络架构来提取图像特征，可以通过对图像特征的提取，确定该交通工具是否涉水。示例性地，通过将摄像头采集的图像输入至图像识别算法，可以确定该交通工具是否涉水。例如，通过将摄像头输出的图像输入至由编解码网络构成的水面分割识别算法中，可以识别出该图像中为水面的部分，以此确定交通工具是否涉水；又例如，当可以由多个环视摄像头采集交通工具周边环境的图像时，可以将该 多个环视摄像头分别采集的图像输入至水面分割算法中，输出各图像中的水面部分，以此确定该交通工具是否涉水，为进一步地提高识别准确度，可以将该多个图像中的水面部分进行拼接，根据拼接后的结果以及空洞卷积算法，从而确认交通工具是否涉水。为了简洁，不再一一举例。Exemplarily, according to the data collected by the camera device, it can be determined whether the vehicle is wading. For example, for images collected by a camera, neural network architectures such as deep layer aggregation (DLA) and residual neural network (ResNet) can be used to extract image features. Through the extraction of image features, it can be determined that Whether the vehicle is wading. Exemplarily, by inputting the image collected by the camera into the image recognition algorithm, it can be determined whether the vehicle is wading. For example, by inputting the image output by the camera into the water surface segmentation recognition algorithm composed of a codec network, the part of the image that is the water surface can be identified to determine whether the vehicle is wading; another example, when multiple When the surround-view camera collects images of the surrounding environment of the vehicle, the images collected by the multiple surround-view cameras can be input into the water surface segmentation algorithm, and the water surface part in each image can be output to determine whether the vehicle is wading. To improve the recognition accuracy, the water surface parts in the multiple images can be spliced, and according to the spliced results and the hole convolution algorithm, it can be confirmed whether the vehicle is wading. For the sake of brevity, no more examples are given.
具体地，对于多个传感器的数据的获取，可以互不相关，也可以相互关联，本申请实施例对此不做限定。例如，可以同时获取雷达采集的数据，以及摄像装置采集的数据，可以根据获取的数据确定该交通工具是否涉水；又例如，可以先获取至少一个雷达采集的数据，当根据雷达采集的数据确定交通工具可能存在被淹风险时(比如，根据雷达确认涉水深度大于或等于安全涉水阈值时)，再获取摄像装置采集的数据，以确认交通工具是否涉水；再例如，可以先获取摄像装置采集的数据，当根据摄像装置采集的数据确定交通工具涉水时，再获取雷达采集的数据，根据雷达采集的数据确定交通工具的涉水深度，从而确定交通工具是否存在被淹风险。应理解，以上对于获取多个传感器的数据的方法只是举例，本申请实施例对此不做限定。Specifically, acquisition of data from multiple sensors may be independent of each other or may be associated with each other, which is not limited in this embodiment of the present application. For example, the data collected by the radar and the data collected by the camera device can be obtained at the same time, and it can be determined whether the vehicle is wading according to the obtained data; When the vehicle may be at risk of being flooded (for example, when the wading depth is greater than or equal to the safe wading threshold according to the radar), then obtain the data collected by the camera device to confirm whether the vehicle is wading; The data collected by the device, when the vehicle wading is determined according to the data collected by the camera device, then the data collected by the radar is obtained, and the wading depth of the vehicle is determined according to the data collected by the radar, so as to determine whether the vehicle is at risk of being flooded. It should be understood that the above method for acquiring data of multiple sensors is only an example, which is not limited in this embodiment of the present application.
示例性地，该第一传感器和/或第二传感器可以位于该待检测被淹风险的交通工具中，也可以位于其他交通工具中，还可以位于其他基础设备中，该第一传感器可以是属于该待检测被淹风险的交通工具的感知***，也可以是属于其他交通工具的感知***，也就是说，该交通工具可以包括该第一传感器和/或第二传感器，也可以不包括该第一传感器和/或第二传感器。例如，以交通工具为车辆为例，待检测被淹风险的车辆可以通过V2V获取附近其他车辆发送的其摄像头所采集的数据，由此可以根据该车辆的雷达所采集的数据，以及所接收的其他车辆的摄像头采集的数据，确定该车辆的涉水状态，其中，为了便于V2V通信，其他车辆可以将其传感器所采集的数据，经处理后发送至该车辆(比如该待检测被淹风险的车辆所获取到的数据，可以是其他车辆的摄像头所采集的，并经过压缩处理后的图像、经过特征提取后的数据等)；又例如，车辆可以通过V2V获取其他车辆的雷达所采集的数据，根据该数据可以确定车辆的涉水深度，从而可以以此确定车辆是否存在被淹的风险；再例如，车辆可以获取该车辆所处地下车库中的摄像头所采集的图像，相应地，通过获取的该地下车库中的摄像头所采集的图像，处理模块可以根据该图像确定该车辆是否涉水；再例如，云端服务器可以获取车辆1的雷达所采集的数据，以及车辆2的摄像头所采集的数据，从而可以确认该车辆1和/或车辆2是否存在被淹的风险。为了简洁不再一一举例，应理解，本申请实施例对此不做限定。Exemplarily, the first sensor and/or the second sensor may be located in the vehicle to be detected for the risk of flooding, or in other vehicles, or in other infrastructure equipment, and the first sensor may belong to The perception system of the vehicle to detect the risk of flooding may also be a perception system belonging to other vehicles, that is to say, the vehicle may include the first sensor and/or the second sensor, or may not include the first sensor and/or the second sensor. A sensor and/or a second sensor. For example, taking the vehicle as an example, the vehicle to be detected for the risk of flooding can obtain the data collected by its camera from other nearby vehicles through V2V, so that the data collected by the vehicle’s radar and the received The data collected by the cameras of other vehicles can determine the wading status of the vehicle. In order to facilitate V2V communication, other vehicles can send the data collected by their sensors to the vehicle after processing (such as the flood risk to be detected The data obtained by the vehicle can be collected by the camera of other vehicles, and the compressed image, the data after feature extraction, etc.); another example, the vehicle can obtain the data collected by the radar of other vehicles through V2V , according to the data, the wading depth of the vehicle can be determined, so as to determine whether the vehicle is at risk of being flooded; for another example, the vehicle can obtain the images collected by the camera in the underground garage where the vehicle is located, and correspondingly, by obtaining According to the image collected by the camera in the underground garage, the processing module can determine whether the vehicle is wading; for another example, the cloud server can obtain the data collected by the radar of vehicle 1 and the data collected by the camera of vehicle 2 , so that it can be confirmed whether the vehicle 1 and/or vehicle 2 is at risk of being flooded. For the sake of brevity, examples are not given one by one, and it should be understood that this embodiment of the present application does not make a limitation thereto.
S320，根据第一数据和第二数据，确定交通工具是否存在被淹风险。S320, according to the first data and the second data, determine whether there is a risk of flooding in the vehicle.
具体地，若根据第一数据确定的交通工具涉水深度大于或等于安全涉水阈值，且根据第二数据确定交通工具涉水时，可以确定交通工具存在被淹的风险。其中，可以是仅根据第一数据确定的涉水深度，可以是仅根据第二数据确定交通工具涉水，也可以是结合第一数据和第二数据确定交通工具涉水和/或交通工具涉水的深度，例如，将第一数据和第二数据融合后确定交通工具涉水深度和交通工具是否涉水，应理解，本申请实施例对此不做限定。Specifically, if the wading depth of the vehicle determined according to the first data is greater than or equal to the safe wading threshold, and the vehicle wading is determined according to the second data, it may be determined that the vehicle is at risk of being submerged. Wherein, it may be the wading depth determined only according to the first data, it may be determined only according to the second data, or the vehicle wading and/or the vehicle wading may be determined in combination with the first data and the second data. For the water depth, for example, the wading depth of the vehicle and whether the vehicle is wading is determined after fusing the first data and the second data. It should be understood that this is not limited in this embodiment of the present application.
示例性地，可以根据获取的第一传感器和第二传感器采集的数据，即第一数据和第二数据，可以确定第一传感器和第二传感器对交通工具涉水状态的检测结果，从而可以确定交通工具是否存在被淹风险。Exemplarily, according to the acquired data collected by the first sensor and the second sensor, that is, the first data and the second data, the detection results of the vehicle wading state by the first sensor and the second sensor can be determined, so that it can be determined Whether there is a risk of flooding in the vehicle.
可选地，根据该第一数据和第二数据，可以分别获得第一传感器和第二传感器对涉水状态的检测结果。示例性地，检测结果可以为0或1，其中，0可以表示交通工具无被淹风险，1可以表示交通工具存在被淹风险。例如，可以根据第一数据和第二数据进行特征提取，以此分别获得第一传感器和第二传感器对涉水状态的检测结果，从而可以以此确定交通工具是否存在被淹风险。应理解，以上关于获取第一传感器和第二传感器对涉水状态的检测结果的方法只是举例以便于说明，本申请实施例对此不做限定。Optionally, according to the first data and the second data, detection results of the wading state by the first sensor and the second sensor can be obtained respectively. Exemplarily, the detection result may be 0 or 1, wherein 0 may indicate that the vehicle has no risk of being flooded, and 1 may indicate that the vehicle has a risk of being flooded. For example, feature extraction may be performed according to the first data and the second data, so as to respectively obtain detection results of the wading state by the first sensor and the second sensor, so as to determine whether there is a risk of the vehicle being flooded. It should be understood that the above method for obtaining the detection results of the wading state by the first sensor and the second sensor is only an example for convenience of description, and is not limited in this embodiment of the present application.
示例性地，当存在多个第一传感器时，可以根据该多个第一传感器中的每个第一传感器所采集的第一数据分别确定每个第一传感器对涉水状态的检测结果，也可以根据多个第一传感器所采集的多个第一数据，确定该多个第一传感器对涉水状态的总的检测结果，本申请实施例对此不做限定。应理解，存在多个第二传感器的情形与此类似，为了简洁，此处不再赘述。Exemplarily, when there are a plurality of first sensors, the detection result of each first sensor for the wading state may be respectively determined according to the first data collected by each first sensor in the plurality of first sensors, or The overall detection result of the wading state by the multiple first sensors may be determined according to the multiple first data collected by the multiple first sensors, which is not limited in this embodiment of the present application. It should be understood that the situation where there are multiple second sensors is similar, and for the sake of brevity, details are not repeated here.
示例性地，可以根据安全涉水阈值，确定第一传感器对涉水状态的检测结果。具体地，该安全涉水阈值可以表示该交通工具的安全涉水深度。Exemplarily, the detection result of the wading state by the first sensor may be determined according to the safe wading threshold. Specifically, the safe wading threshold may represent the safe wading depth of the vehicle.
示例性地，该安全涉水阈值，可以是交通工具的最大安全涉水深度，当交通工具的涉水深度大于或等于该最大安全涉水深度时，可能存在由于涉水而导致的安全风险，或称为存在被淹的风险。示例性地，该最大安全涉水深度，可以是开发用户在***配置中设定的默认值，例如，在车辆开发过程中，开发者可以根据车辆涉水实验的结果，在***配置中设定该车型通用的最大安全涉水深度，也可以根据车辆涉水实验结果设定多个不同的安全涉水阈值；又例如，可以采取保守策略，在***配置中设定适用于多种车型的最大安全涉水深度；再例如，可以是在机器人的开发过程中，开发人员设定的最大安全涉水深度。Exemplarily, the safe wading threshold may be the maximum safe wading depth of the vehicle, and when the wading depth of the vehicle is greater than or equal to the maximum safe wading depth, there may be a safety risk due to wading, Or known as the risk of flooding. Exemplarily, the maximum safe wading depth can be the default value set by the development user in the system configuration. For example, during the vehicle development process, the developer can set in the system configuration according to the results of the vehicle wading experiment The maximum safe wading depth common to this model can also be set with multiple different safe wading thresholds according to the results of vehicle wading experiments; another example, a conservative strategy can be adopted to set the maximum safe wading depth applicable to various models in the system configuration. Safe wading depth; for another example, it may be the maximum safe wading depth set by the developer during the robot development process.
可选地，可以设定多个安全涉水阈值，该多个安全涉水阈值可以用于确定多个警告等级。Optionally, multiple safe wading thresholds can be set, and the multiple safe wading thresholds can be used to determine multiple warning levels.
示例性地，根据交通工具不同区域的防水能力的不同，可以设定多个不同的警告等级，可以根据交通工具的涉水深度以及该多个安全涉水阈值，确定当前的警告等级，从而可以根据当前的警告等级，执行该警告等级对应的操作，比如，车辆向用户的手机发送该警告等级所对应的提示信息、由自动驾驶行驶***控制车辆行驶至安全区域等。例如，以交通工具为车辆为例，可以设定三个警告等级，其对应的安全涉水阈值可以分别为6cm、9cm、12cm、15cm，当车辆当前涉水深度大于等于6cm，且小于9cm时，为一级警告等级，当根据车辆的涉水深度确定为一级警告等级时，可以向用户的手机发送短信，提醒用户车辆存在被淹风险；当车辆当前涉水深度大于或等于12cm，且小于15cm时，警告等级可以为三级警告等级，可以向用户发送提醒并请求以自动驾驶方式控制车辆移动至安全区域，向用户的手机等终端设备发送提示时，还可以携带涉水状态的信息，比如车辆的涉水深度和/或摄像头采集的照片等，使得用户可以通过该终端设备获知具体的涉水状态。为了简洁不再一一举例，应理解，本申请实施例对此不做限定。Exemplarily, according to the different waterproof capabilities of different regions of the vehicle, multiple different warning levels can be set, and the current warning level can be determined according to the wading depth of the vehicle and the multiple safe wading thresholds, so that According to the current warning level, the operation corresponding to the warning level is performed, for example, the vehicle sends the prompt information corresponding to the warning level to the user's mobile phone, and the automatic driving system controls the vehicle to drive to a safe area, etc. For example, taking a vehicle as an example, three warning levels can be set, and the corresponding safe wading thresholds can be 6cm, 9cm, 12cm, and 15cm respectively. When the current wading depth of the vehicle is greater than or equal to 6cm and less than 9cm , is the first-level warning level. When the first-level warning level is determined according to the wading depth of the vehicle, a text message can be sent to the user's mobile phone to remind the user that the vehicle is at risk of being flooded; when the current wading depth of the vehicle is greater than or equal to 12cm, and When it is less than 15cm, the warning level can be three-level warning level. It can send a reminder to the user and request to control the vehicle to move to a safe area by automatic driving. When sending a reminder to the user's mobile phone and other terminal devices, it can also carry information about the wading state , such as the wading depth of the vehicle and/or photos collected by the camera, etc., so that the user can know the specific wading status through the terminal device. For the sake of brevity, examples are not given one by one, and it should be understood that this embodiment of the present application does not make a limitation thereto.
示例性地，用户可以通过手机、个人计算机等终端设备对安全涉水阈值进行设定，相应地，交通工具可以获取该用户在上述终端设备中对于安全涉水阈值的设定结果，并以此确定多个安全涉水阈值，其中，该终端设备可以通过有线或者无线的方式与该交通工具进行通信，本申请实施例对此不做限定。例如，为了便于与车辆的远程控制，开发者可以开发适用于手机的APP，通过该APP可以实现对于车辆的远程控制，比如，通过该APP可 以实现遥控泊车、远程车辆启动、远程开启空调/车窗等功能，为了便于监测车辆被淹的风险，可以在该APP中设定与检测车辆被淹风险有关的用户界面(user interface，UI)，比如，通过该APP的UI界面，可以选择并显示车辆多个摄像头对车辆周边环境所采集的画面，又比如，该APP的UI界面中可以包括用于设定安全涉水阈值的控件，通过该控件，用户可以实现对于车辆的安全涉水阈值的设定，再比如，通过该APP的UI界面中可以设定多个警告等级所对应的多种提示方式，比如该警告等级所采用的铃声、震动方式、在手机所显示的提示文字等，相应地，手机可以通过网络将用户在该UI界面上对于安全涉水阈值的设定值，发送至车辆，车辆可以根据用户的设定值，完成一个或多个安全涉水阈值的设定，手机也可以保存用户对警告等级的提示方式的设定，也可以将用户对于警告等级的提示方式的设定发送至车辆，当车辆存在被淹的风险时，手机可以根据用户对提示方式的设定，以当前警告等级所对应的提示方式提示用户，为了简洁，此处不再赘述。应理解，以上关于用户通过手机、个人计算机等终端设备设定车辆的安全涉水阈值的方法只是举例以便于说明，本申请实施例对此不做限定。Exemplarily, the user can set the safe water wading threshold through terminal devices such as mobile phones and personal computers. Multiple safe wading thresholds are determined, where the terminal device can communicate with the vehicle in a wired or wireless manner, which is not limited in this embodiment of the present application. For example, in order to facilitate the remote control of the vehicle, the developer can develop an APP suitable for the mobile phone, through which the remote control of the vehicle can be realized. For functions such as car windows, in order to facilitate the monitoring of the risk of vehicle flooding, a user interface (UI) related to detecting the risk of vehicle flooding can be set in the APP. For example, through the UI interface of the APP, you can select and Display the pictures collected by multiple cameras of the vehicle on the surrounding environment of the vehicle. For another example, the UI interface of the APP may include a control for setting the safe wading threshold. Through this control, the user can realize the safe wading threshold of the vehicle. For another example, through the UI interface of the APP, various prompt methods corresponding to multiple warning levels can be set, such as the ringtone, vibration mode, and prompt text displayed on the mobile phone for the warning level, etc. Correspondingly, the mobile phone can send the user's set value for the safe wading threshold on the UI interface to the vehicle through the network, and the vehicle can complete the setting of one or more safe wading thresholds according to the user's set value, The mobile phone can also save the user's setting of the prompt mode of the warning level, and can also send the user's setting of the prompt mode of the warning level to the vehicle. When the vehicle is at risk of being flooded, the mobile phone can If specified, the user will be prompted in the prompt mode corresponding to the current warning level. For the sake of brevity, details will not be repeated here. It should be understood that the above method of setting the safe wading threshold of the vehicle by the user through a terminal device such as a mobile phone or a personal computer is merely an example for illustration, and is not limited in this embodiment of the present application.
示例性地，用户可以通过车载计算机对安全涉水阈值进行设定。例如，用户可以通过车辆100所包括的显示装置130，比如用户可以通过车辆的中控屏的UI界面，对安全涉水阈值进行设定，相应地，中控屏在获取用户的设定值后，可以将该用户的设定值发送至计算平台150，由此可以确定一个或多个安全涉水阈值，并可以以此确定一个或多个警告等级，为了简洁此处不再赘述。Exemplarily, the user can set the safe wading threshold through the on-board computer. For example, the user can set the safe wading threshold through the display device 130 included in the vehicle 100, for example, through the UI interface of the vehicle's central control panel. Correspondingly, after the central control panel obtains the user's set value , the user's set value can be sent to the computing platform 150, so that one or more safe wading thresholds can be determined, and one or more warning levels can be determined accordingly, which will not be repeated here for brevity.
应理解，设定安全涉水阈值的方式只是举例，以便于说明，本申请实施例对此不做限定。It should be understood that the manner of setting the safe water wading threshold is only an example for convenience of description, and is not limited in this embodiment of the present application.
示例性地，根据获取的雷达数据，可以确定雷达对交通工具涉水状态的检测结果。例如，当根据雷达采集的数据，解算得到交通工具(比如车辆)的涉水深度为7cm时，由于其大于或等于一级警告等级对应的安全涉水阈值6cm，以此可以确定雷达对该交通工具涉水状态的检测结果为存在被淹风险，也就是说，雷达对于交通工具的涉水状态的检测结果可以是1。Exemplarily, according to the acquired radar data, the detection result of the radar on the wading state of the vehicle can be determined. For example, when the wading depth of a vehicle (such as a vehicle) is calculated to be 7cm according to the data collected by the radar, since it is greater than or equal to the safe wading threshold of 6cm corresponding to the first-level warning level, it can be determined that the radar has a wading depth of 7cm. The detection result of the wading state of the vehicle is that there is a risk of being submerged, that is to say, the detection result of the wading state of the vehicle by the radar may be 1.
示例性地，根据获取的摄像头采集的数据，可以确定摄像头对交通工具涉水状态的检测结果。例如，当通过对摄像头采集的数据输入图像识别算法后，如果图像中识别为水的部分包围了该涉水交通工具，可以确定摄像头对交通工具涉水状态的检测结果为存在被淹风险，也就是说，摄像头对于交通工具的涉水状态的检测结果可以是1。Exemplarily, according to the acquired data collected by the camera, the detection result of the camera on the wading state of the vehicle can be determined. For example, when the data collected by the camera is input into the image recognition algorithm, if the part of the image identified as water surrounds the wading vehicle, it can be determined that the camera detects the wading state of the vehicle as a risk of being submerged, and That is to say, the detection result of the camera for the wading state of the vehicle may be 1.
示例性地，可以对第一传感器和第二传感器对涉水状态的检测结果进行综合判断，确定车辆是否存在被淹风险。Exemplarily, a comprehensive judgment may be made on the detection results of the wading state by the first sensor and the second sensor to determine whether the vehicle is at risk of being flooded.
具体地，根据多个传感器所采集的数据，确定交通工具最终是否存在被淹风险，可以是根据每个传感器检测的涉水状态，确定交通工具是否存在被淹风险。Specifically, according to the data collected by a plurality of sensors, it is determined whether the vehicle is at risk of being submerged in the end, and it may be determined whether the vehicle is at risk of being submerged according to the wading state detected by each sensor.
示例性地，可以对每个第一传感器和/或第二传感器的检测结果设定权重，从而可以将多个传感器的检测结果进行融合，以确定交通工具是否存在被淹风险。例如，当可以获取1个超声波雷达、1个毫米波雷达、2个摄像头(比如摄像头1和摄像头2)的数据时，可以将超声波雷达、毫米波雷达、摄像头1、摄像头2的检测结果的权重分别配置为0.2、0.3、0.25、0.25，比如，当超声波雷达、毫米波雷达、摄像头1和摄像头2的检测结果分别为0、1、1、1时，得到的融合后的检测结果可以是0.8。为了简洁不再一一举例，应理 解，本申请实施例对此不做限定。Exemplarily, weights may be set for the detection results of each first sensor and/or second sensor, so that the detection results of multiple sensors may be fused to determine whether the vehicle is at risk of being flooded. For example, when the data of 1 ultrasonic radar, 1 millimeter-wave radar, and 2 cameras (such as camera 1 and camera 2) can be obtained, the weights of the detection results of ultrasonic radar, millimeter-wave radar, camera 1, and camera 2 can be Configure them as 0.2, 0.3, 0.25, and 0.25 respectively. For example, when the detection results of ultrasonic radar, millimeter wave radar, camera 1, and camera 2 are 0, 1, 1, and 1 respectively, the obtained fusion detection result can be 0.8 . For the sake of brevity, no examples are given one by one, and it should be understood that this embodiment of the present application does not make a limitation thereto.
具体地，当融合后的检测结果大于或等于第一阈值时，可以认为交通工具存在被淹风险。例如，比如第一阈值为0.6，对应的检测结果分别为0、1、1的超声波雷达、毫米波雷达、环视摄像头，若其检测结果的权重分别为0.2、0.3、0.5时，由于其融合后的检测结果0.8大于第一阈值，可以认为交通工具存在被淹的风险；当各传感器的检测结果分别为1、1、0时，由于其融合后的检测结果0.5小于第一阈值，可以认为交通工具无被淹风险，相应地，可以认为雷达的检测结果存在误差。Specifically, when the fused detection result is greater than or equal to the first threshold, it may be considered that the vehicle has a risk of being flooded. For example, if the first threshold is 0.6, and the corresponding detection results are 0, 1, 1 for ultrasonic radar, millimeter-wave radar, and surround-view camera, if the weights of the detection results are 0.2, 0.3, and 0.5, due to their fusion The detection result of 0.8 is greater than the first threshold, it can be considered that the vehicle is at risk of being flooded; when the detection results of each sensor are 1, 1, 0 respectively, since the detection result after fusion is 0.5 is less than the first threshold, it can be considered that the traffic The tool has no risk of being flooded, and accordingly, it can be considered that there are errors in the detection results of the radar.
示例性地，可以对每个类型的传感器的检测结果设定权重，从而将多个类型的传感器的检测结果进行统合，以确定交通工具是否存在被淹风险。例如，当可以获取超声波雷达、毫米波雷达、摄像头的数据时，可以将超声波雷达、毫米波雷达、摄像头的检测结果的权重分别配置为0.2、0.3、0.5，比如，当超声波雷达、毫米波雷达、摄像头的检测结果分别为0、1、1时，得到的融合后的检测结果可以是0.8。进一步地，当同类型传感器中包括多个传感器时，可以先对该多个传感器的检测结果进行融合，得到该类型的传感器的综合检测结果，从而可以对多个类型的传感器的检测结果进行融合。例如，当交通工具包括多个超声波雷达时，可以根据安装位置、安装角度等参数对该多个超声波雷达的检测结果设定权重，从而可以得到超声波雷达的综合检测结果，进而可以根据此综合检测结果以及其他类型的传感器的检测结果，得到融合后的检测结果，以此确定交通工具是否存在被淹的风险。为了简洁不再一一举例，应理解，本申请实施例对此不做限定。Exemplarily, weights may be set for the detection results of each type of sensor, so that the detection results of multiple types of sensors are integrated to determine whether the vehicle is at risk of being flooded. For example, when the data of ultrasonic radar, millimeter wave radar, and camera can be obtained, the weights of the detection results of ultrasonic radar, millimeter wave radar, and camera can be configured as 0.2, 0.3, and 0.5 respectively. For example, when ultrasonic radar, millimeter wave radar When the detection results of the camera and the camera are 0, 1, and 1 respectively, the obtained fused detection result may be 0.8. Further, when the same type of sensors includes multiple sensors, the detection results of the multiple sensors can be fused first to obtain the comprehensive detection results of this type of sensors, so that the detection results of multiple types of sensors can be fused . For example, when the vehicle includes multiple ultrasonic radars, weights can be set for the detection results of the multiple ultrasonic radars according to the installation position, installation angle and other parameters, so that the comprehensive detection results of the ultrasonic radars can be obtained, and then the comprehensive detection results can be obtained based on the comprehensive detection results. The results and the detection results of other types of sensors are combined to obtain the detection results to determine whether the vehicle is at risk of being flooded. For the sake of brevity, examples are not given one by one, and it should be understood that this embodiment of the present application does not make a limitation thereto.
可选地，可以将第一传感器采集的第一数据和第二传感器采集的第二数据进行融合后，确定交通工具是否存在被淹风险。Optionally, after the first data collected by the first sensor and the second data collected by the second sensor may be fused, it may be determined whether the vehicle is at risk of being flooded.
示例性地，对于不同的传感器数据，可以通过特征提取后获得对应的传感器特征数据并进行特征融合，比如，融合的方式可以为连接(concatenate，concat)叠加，可以获得融合后的特征数据，从而可以根据特征层融合后的数据通过用于推理的神经网络进行推理，确定交通工具是否存在被淹风险。例如，当可以同时获取雷达和摄像头在同一时刻采集的数据时，可以通过特征提取分别获得雷达和摄像头所对应的特征数据，通过将上述特征数据进行融合，可以得到的融合后的特征数据，其中可以既可以包括由摄像头所采集的数据而得到的交通工具是否涉水的信息，又可以包括由雷达所采集的数据而得到的交通工具涉水深度的信息，从而可以根据推理的神经网络确定交通工具是否存在被淹风险。应理解，以上将第一数据和第二数据进行融合的方法只是举例以便于说明，本申请实施例对此不做限定。Exemplarily, for different sensor data, the corresponding sensor feature data can be obtained after feature extraction and feature fusion can be performed. For example, the fusion method can be concatenate (concatenate, concat) superposition, and the fused feature data can be obtained, so that According to the fused data of the feature layer, reasoning can be performed through the neural network used for reasoning to determine whether the vehicle is at risk of being flooded. For example, when the data collected by the radar and the camera at the same time can be obtained at the same time, the feature data corresponding to the radar and the camera can be obtained separately through feature extraction, and the fused feature data can be obtained by fusing the above feature data, where It can not only include the information of whether the vehicle is wading obtained from the data collected by the camera, but also include the information of the wading depth of the vehicle obtained from the data collected by the radar, so that the traffic can be determined according to the reasoning neural network. Whether the tool is at risk of being flooded. It should be understood that the above method of fusing the first data and the second data is only an example for illustration, and is not limited in this embodiment of the present application.
示例性地，该交通工具可以位于室内，其中，该交通工具位于室内可以指，该交通工具的部分或者全部被基础设施遮挡。例如，以交通工具为车辆为例，该车辆可以位于地下车库、开放式停车场的遮阳棚下、立交桥底、高架桥下、被房檐遮挡的停车区域等。当交通工具位于室内时，由于该交通工具的部分或者全部可以被遮挡可能无法正确地检测到降水量，而且交通工具所处环境的积水情况不止与降水量相关，还可以与排水情况相关(比如地下车库的雨水倒灌)，在本申请实施例中，根据第一数据和第二数据，可以确定车辆的是否涉水以及涉水深度，由此可以确定车辆是否存在被淹的风险，通过该方法可以更准确地检测车辆被淹的风险，也可以具有更广泛的使用范围。应理解，以上场景只是举例以便于说明，本申请实施例对此不做限定。Exemplarily, the vehicle may be located indoors, where the vehicle located indoors may mean that part or all of the vehicle is covered by infrastructure. For example, taking the vehicle as an example, the vehicle may be located in an underground garage, under an awning in an open parking lot, at the bottom of an overpass, under a viaduct, or in a parking area covered by eaves. When the vehicle is located indoors, the amount of precipitation may not be detected correctly because part or all of the vehicle may be covered, and the water accumulation in the environment of the vehicle is not only related to the precipitation, but also related to the drainage ( For example, the rainwater backflow of the underground garage), in the embodiment of the present application, according to the first data and the second data, it is possible to determine whether the vehicle is wading and the wading depth, so as to determine whether the vehicle is at risk of being flooded. The method could more accurately detect the risk of a vehicle being flooded, and could also have a wider range of applicability. It should be understood that the above scenarios are only examples for illustration, and are not limited in this embodiment of the present application.
示例性地，当确定交通工具的涉水状态为存在被淹风险时，可以向提示装置发送第一指令，用于指示该提示装置提示用户该交通工具存在被淹风险。例如，当融合后的检测结果大于或等于第一阈值时，可以确定交通工具存在被淹风险，在此情况下，可以向用户的手机等终端设备发送第一指令，用于指示终端设备提示用户该交通工具存在被淹的风险。Exemplarily, when it is determined that the wading state of the vehicle has a risk of being submerged, a first instruction may be sent to the prompting device for instructing the prompting device to prompt the user that the vehicle has a risk of being submerged. For example, when the fused detection result is greater than or equal to the first threshold, it can be determined that the vehicle is at risk of being flooded. In this case, a first instruction can be sent to the user's mobile phone and other terminal equipment to instruct the terminal equipment to prompt the user There is a risk of flooding this vehicle.
示例性地，可以根据雷达采集的数据，确定提示装置的提示方式。具体地，可以根据雷达采集的数据确定涉水深度，确定警告等级，从而可以确定该警告等级对应的提示装置的提示方式。例如，以交通工具为车辆为例，当警告等级为一级警告时，提示装置(比如手机)对应的提示方式，可以是通过其屏幕显示“提醒：您的车辆可能被淹，请您尽快挪动车辆”；当警告等级为二级警告时，提示装置对应的提示方式可以是通过其屏幕显示“提醒：您的车舱即将进水，请您尽快挪动车辆”；当警告等级为三级警告时，对应的提示方式可以是通过语音提醒。示例性地，在不同的警告等级下，提示装置还可以采用不同的音乐、震动方式等提示方式对用户进行提示，为了简洁此处不再一一举例说明。应理解，以上提示方式只是举例，本申请实施例对此不做限定。Exemplarily, the prompting mode of the prompting device may be determined according to the data collected by the radar. Specifically, the wading depth can be determined according to the data collected by the radar, and the warning level can be determined, so that the prompting mode of the prompting device corresponding to the warning level can be determined. For example, taking the vehicle as an example, when the warning level is a first-level warning, the corresponding prompt method of the prompt device (such as a mobile phone) can be displayed on its screen "Reminder: Your vehicle may be flooded, please move as soon as possible." vehicle"; when the warning level is the second level warning, the corresponding prompt method of the prompt device can be displayed on its screen "Reminder: Your cabin is about to flood, please move the vehicle as soon as possible"; when the warning level is the third level warning , the corresponding prompting method may be through voice prompting. Exemplarily, under different warning levels, the prompting device may also use different prompting methods such as music and vibration to prompt the user, and for the sake of brevity, no further examples are given here. It should be understood that the above prompting manner is only an example, which is not limited in this embodiment of the present application.
示例性地，当确定交通工具存在被淹风险时，可以控制该交通工具驶离当前的区域。例如，当处理模块根据融合后的检测结果确定车辆存在被淹风险时，可以向ADAS***发送指令，以指示其控制该车辆驶离车辆当前所处的区域，比如，可以根据对车辆停车前行驶路径的记录以及传感器对车库环境的感知，控制车辆行驶至车库外的地势较高的区域；又例如，当用户接受到提示装置发送的车辆被淹警告后，可以通过响应消息指示车辆的新的停靠位置/区域，ADAS***由此可以控制车辆驶离当前所处的区域。应理解，以上控制交通工具驶离当前区域的方法只是举例，本申请实施例对此不做限定。Exemplarily, when it is determined that the vehicle is at risk of being flooded, the vehicle may be controlled to leave the current area. For example, when the processing module determines that the vehicle is at risk of being flooded according to the fused detection results, it can send an instruction to the ADAS system to instruct it to control the vehicle to leave the area where the vehicle is currently located. Record the path and the sensor’s perception of the garage environment, and control the vehicle to drive to a higher terrain area outside the garage; for another example, when the user receives the vehicle flood warning sent by the prompt device, he can indicate the new location of the vehicle through a response message. Parking location/area, the ADAS system can thus control the vehicle to leave the current area. It should be understood that the above method for controlling the vehicle to leave the current area is just an example, and this embodiment of the present application does not limit it.
本申请实施例中，可以在不增加传统物理液位传感器的情况下，通过将多个传感器的检测结果融合，可以准确地检测交通工具的被淹风险，能够降低车辆的传感器成本，能够避免传统物理液位传感器在布置中的困难和限制，可以提高传感器配置的灵活性。In the embodiment of the present application, without increasing the traditional physical liquid level sensor, by fusing the detection results of multiple sensors, the flooding risk of the vehicle can be accurately detected, the sensor cost of the vehicle can be reduced, and the traditional Difficulties and limitations in placement of physical level sensors allow for increased sensor configuration flexibility.
示例性地，图6示出了本申请实施例提供的一种防被淹的方法的流程示意图。该方法可以包括以下部分或全部步骤。Exemplarily, FIG. 6 shows a schematic flowchart of a method for preventing flooding provided by an embodiment of the present application. The method may include some or all of the following steps.
S410，确定防被淹模式是否开启。S410, determine whether the anti-flooding mode is enabled.
示例性地，用户可以在用户界面上选择开启防被淹模式，通过确定用户的设置，可以确定防被淹模式是否开启，若确认防被淹模式开启可以跳转S415，若确认防被淹模式未开启，可以跳转S470。例如，当车辆处于熄火或无人接管的状态时，可以开启防被淹模式，开启防被淹模式后，可以对车辆的涉水状态进行检测，可以获知车辆是否存在被淹风险。应理解，以上关于确定防被淹模式开启的方法只是举例，本申请实施例对此不做限定。Exemplarily, the user can choose to turn on the anti-flooding mode on the user interface. By confirming the user's settings, it can be determined whether the anti-flooding mode is turned on. If it is confirmed that the anti-flooding mode is turned on, S415 can be skipped. If it is not enabled, skip to S470. For example, when the vehicle is turned off or no one is taking over, the anti-flooding mode can be turned on. After the anti-flooding mode is turned on, the wading state of the vehicle can be detected to know whether the vehicle is at risk of being flooded. It should be understood that the above method for determining that the anti-flooding mode is turned on is just an example, which is not limited in this embodiment of the present application.
S415，确定安全涉水阈值。S415. Determine a safe wading threshold.
示例性地，可以根据***配置中对最大安全涉水深度的设定，以及用户对安全涉水阈值的设定，确定多个安全涉水阈值，并以此确定多个警告等级。为了简洁，此处不再赘述，应理解，本申请实施例对此不做限定。Exemplarily, multiple safe wading thresholds may be determined according to the setting of the maximum safe wading depth in the system configuration and the setting of the safe wading threshold by the user, and then multiple warning levels may be determined accordingly. For the sake of brevity, details are not described here, and it should be understood that this embodiment of the present application does not limit it.
S420，获取雷达采集的数据。S420. Acquire data collected by the radar.
示例性地，可以获取超声波雷达和毫米波雷达采集的数据。Exemplarily, data collected by ultrasonic radar and millimeter wave radar may be acquired.
具体地，可以根据超声波雷达和毫米波雷达采集的数据确定涉水深度。例如，可以根据超声波雷达采集的数据，确定涉水深度1，比如用d u表示，可以根据毫米波雷达采集的 数据确定涉水深度2，比如用d r表示，相应地，涉水深度d可以由涉水深度d u和d r以及相应的权重计算得到。为了便于理解和说明，以下使用d u表示由超声波雷达采集的数据所确定涉水深度，d r表示由毫米波雷达采集的数据所确定涉水深度，d表示由超声波雷达和毫米波雷达综合确定的涉水深度，即由d u和d r综合确定的涉水深度。 Specifically, the wading depth can be determined according to the data collected by the ultrasonic radar and the millimeter wave radar. For example, the wading depth 1 can be determined according to the data collected by the ultrasonic radar, such as represented by du , and the wading depth 2 can be determined according to the data collected by the millimeter-wave radar, such as represented by d r . Correspondingly, the wading depth d can be Calculated from the wading depths d u and d r and the corresponding weights. For the convenience of understanding and explanation, du is used below to represent the wading depth determined by the data collected by the ultrasonic radar, d r represents the wading depth determined by the data collected by the millimeter-wave radar, and d represents the comprehensive determination by the ultrasonic radar and the millimeter-wave radar The wading depth is the wading depth determined comprehensively by du and dr .
应理解，S420可以对应步骤S310的部分内容，为了简洁，此处不再赘述。It should be understood that S420 may correspond to part of the content of step S310, and for the sake of brevity, details are not repeated here.
S430，确定涉水深度是否大于或等于安全涉水阈值，若涉水深度大于或等于安全涉水阈值，跳转S435；若涉水深度小于安全涉水阈值，跳转S420。S430, determine whether the wading depth is greater than or equal to the safe wading threshold, if the wading depth is greater than or equal to the safe wading threshold, go to S435; if the wading depth is less than the safe wading threshold, go to S420.
示例性地，根据超声波雷达和/或毫米波雷达采集的数据确定的涉水深度大于或等于安全涉水阈值时，开启摄像头。例如，可以是当根据超声波雷达或毫米波雷达的数据分别确定的涉水深度d u或d r，大于或等于一级警告对应的安全涉水阈值时，开启摄像头；又例如，可以是涉水深度d大于或等于一级警告对应的安全涉水阈值时，开启摄像头；再例如，可以是当根据雷达采集的数据确定的涉水深度大于或等于最大安全涉水深度时，开启摄像头。为了简洁，此处不再一一举例说明。应理解，本申请实施例对此不做限定。 Exemplarily, when the wading depth determined according to the data collected by the ultrasonic radar and/or the millimeter wave radar is greater than or equal to a safe wading threshold, the camera is turned on. For example, when the wading depth du or d r respectively determined according to the data of ultrasonic radar or millimeter-wave radar is greater than or equal to the safe wading threshold corresponding to the first-level warning, the camera is turned on; another example, it can be wading When the depth d is greater than or equal to the safe wading threshold corresponding to the first-level warning, the camera is turned on; for another example, when the wading depth determined according to the data collected by the radar is greater than or equal to the maximum safe wading depth, the camera is turned on. For the sake of brevity, examples are not given here. It should be understood that this is not limited in the embodiment of the present application.
S435，获取摄像头采集的数据。S435. Acquire data collected by the camera.
具体地，开启摄像头后，可以获取摄像头采集的数据。Specifically, after the camera is turned on, data collected by the camera can be obtained.
本申请实施例中，当根据雷达采集的数据所解算出的涉水深度大于或等于安全涉水阈值时，再开启摄像头并获取摄像头采集的图像，通过该方式可以降低***的功耗，节省资源。另外，当交通工具处于无被淹风险的场景(比如沙地、雪地等场景)时，根据雷达采集的数据可能会错误地将其他物体(比如沙子、雪等)识别为水面，以至于错误地解算出在当前场景下并不存在的“涉水深度”，但是由于可以根据摄像装置采集的数据确定该交通工具是否涉水，从而确定雷达的检测结果是否存在错误，以此可以提高判断该交通工具是否存在被淹风险的准确度，也就是说，可以在无物理液位传感器的情况下，通过第一数据和第二数据，可以准确地确定交通工具是否存在被淹风险。In the embodiment of the present application, when the wading depth calculated according to the data collected by the radar is greater than or equal to the safe wading threshold, the camera is turned on and the image collected by the camera is obtained. In this way, the power consumption of the system can be reduced and resources can be saved. . In addition, when the vehicle is in a scene where there is no risk of flooding (such as sand, snow, etc.), the data collected by the radar may mistakenly identify other objects (such as sand, snow, etc.) The ground solution calculates the "wading depth" that does not exist in the current scene, but since it can be determined whether the vehicle is wading based on the data collected by the camera device, it can be determined whether there is an error in the detection result of the radar, which can improve the judgment of the vehicle. The accuracy of whether the vehicle is at risk of being flooded, that is to say, whether the vehicle is at risk of being flooded can be accurately determined through the first data and the second data without a physical liquid level sensor.
具体地，步骤S420至S435中关于获取传感器采集的数据，可以参照步骤S310的描述，为了简洁，此处不再赘述。Specifically, for acquiring the data collected by the sensor in steps S420 to S435, reference may be made to the description of step S310, and for the sake of brevity, details are not repeated here.
S440，确定交通工具是否存在被淹风险，若交通工具存在被淹风险，跳转S445，若交通工具不存在被淹风险，可以跳转S420。S440. Determine whether the vehicle is at risk of being flooded. If the vehicle is at risk of being flooded, go to S445. If the vehicle is not at risk of being flooded, go to S420.
示例性地，根据雷达和摄像头采集的数据，可以分别得到雷达和摄像头对交通工具涉水的检测结果，将雷达和摄像头对交通工具涉水的检测结果融合后进行推理，可以得到交通工具的涉水状态信息。Exemplarily, according to the data collected by the radar and the camera, the detection results of the vehicle wading by the radar and the camera can be obtained respectively, and the detection results of the vehicle wading by the radar and the camera can be fused and reasoned, and the vehicle wading can be obtained. Water status information.
具体地，关于根据传感器采集的数据确定交通工具是否存在被淹的风险的描述，可以参照步骤S320，为了简洁，此处不再赘述。Specifically, for the description of determining whether the vehicle is at risk of being flooded according to the data collected by the sensor, reference may be made to step S320 , and for the sake of brevity, details are not repeated here.
本申请实施例中，通过获取交通工具通常会装备的雷达和摄像头等感知传感器所采集的数据，能够确定交通工具的涉水状态，从而确定交通工具是否存在被淹风险，使得可以在不装备传统物理液位传感器的情况下，检测交通工具被淹的风险，能够降低传感器的成本，能够降低由于物理液位传感器的使用要求而导致的传感器的布置难度，还可以提高传感器布置的灵活度。In the embodiment of the present application, the wading state of the vehicle can be determined by acquiring data collected by perception sensors such as radars and cameras that are usually equipped with the vehicle, so as to determine whether the vehicle is at risk of being flooded, so that it can be used without traditional equipment. In the case of a physical liquid level sensor, detecting the risk of vehicle flooding can reduce the cost of the sensor, reduce the difficulty of sensor layout due to the use requirements of the physical liquid level sensor, and improve the flexibility of sensor layout.
S445，发送警告信息提示用户。S445, sending a warning message to prompt the user.
具体地，可以根据涉水深度和安全涉水阈值确定警告等级。进一步地，可以根据警告 等级确定提示装置的提示方式。示例性地，终端设备可以根据用户对提示方式的设定，对用户提示其车辆存在被淹的风险。例如，手机等终端设备在其屏幕中显示警告信息，比如“提醒：您的车辆可能被淹，请您尽快挪动车辆”；又比如“提醒：您的机器人已被水包围，请您尽快解救它”。为了简洁，此处不再赘述。Specifically, the warning level may be determined according to the wading depth and the safe wading threshold. Further, the prompting mode of the prompting device can be determined according to the warning level. Exemplarily, the terminal device may remind the user that there is a risk of the vehicle being flooded according to the user's setting of the prompt mode. For example, terminal devices such as mobile phones display warning messages on their screens, such as "Reminder: Your vehicle may be flooded, please move the vehicle as soon as possible"; another example is "Reminder: Your robot is surrounded by water, please rescue it as soon as possible." ". For the sake of brevity, details are not repeated here.
具体地，关于警告等级和安全涉水阈值的描述可以参照步骤S320，为了简洁，此处不再赘述。Specifically, for the description about the warning level and the safe wading threshold, reference may be made to step S320, and for the sake of brevity, details are not repeated here.
本申请实施例中，在确定交通工具存在被淹风险时，通过提示设备对用户的提示，能够使得用户及时了解该交通工具存在被淹的风险，从而使得用户可以及时做出应对措施。In the embodiment of the present application, when it is determined that the vehicle is at risk of being flooded, the user can be informed of the risk of being flooded in the vehicle in a timely manner through the prompting device to the user, so that the user can take countermeasures in time.
S450，确定是否接收到响应信息，若接收到响应信息，可以跳转S455，若没有接收到响应信息，可以跳转S457。S450. Determine whether response information is received. If response information is received, go to S455. If no response information is received, go to S457.
具体地，该响应消息可以是用户针对警告消息做出的响应。Specifically, the response message may be the user's response to the warning message.
示例性地，用户可以通过响应信息指示新的区域，相应地，在接收到该响应信息之后，可以控制该交通工具行驶至用户指示的区域。例如，以交通工具为车辆为例，用户可以在响应消息中指示“若车辆的涉水深度在10分钟内未降低则移动至新的停靠位置”，相应地，在接收到该响应消息之后，可以执行该响应消息指示的操作以应对车辆所存在的被淹风险。Exemplarily, the user may indicate a new area through the response information, and accordingly, after receiving the response information, the vehicle may be controlled to drive to the area indicated by the user. For example, taking the vehicle as an example, the user may indicate in the response message "if the wading depth of the vehicle does not decrease within 10 minutes, then move to a new parking position", correspondingly, after receiving the response message, The operation indicated by the response message may be performed to deal with the flooding risk of the vehicle.
示例性地，用户可以通过响应消息指示交通工具的行驶路线，相应地，在接收到该响应信息之后，可以控制该交通工具根据指示的行驶路线行驶。例如，根据用户所指示的行驶路线，可以由ADAS控制车辆按照车辆指示的行驶路线行驶。Exemplarily, the user may indicate the driving route of the vehicle through a response message, and correspondingly, after receiving the response information, the vehicle may be controlled to drive according to the indicated driving route. For example, according to the driving route indicated by the user, the ADAS can control the vehicle to drive according to the driving route indicated by the vehicle.
应理解，以上通过响应消息指示解除交通工具被淹风险的操作的方法只是举例以便于说明，本申请实施例对此不做限定。It should be understood that the above method of instructing the operation of removing the flooding risk of the vehicle by responding to the message is only an example for convenience of description, and is not limited in this embodiment of the present application.
本申请实施例中，通过获取响应消息，使得可以根据用户的远程指示进行操作，从而可以提高对交通工具被淹风险处理的及时性。In the embodiment of the present application, by obtaining the response message, the operation can be performed according to the remote instruction of the user, thereby improving the timeliness of handling the flooding risk of the vehicle.
S455，根据响应消息，确定是否采取自动驶离操作，若采取自动驶离操作，可以跳转S460，若不采取自动驶离操作，可以跳转S470。S455, according to the response message, determine whether to take the automatic driving away operation, if the automatic driving away operation is adopted, skip to S460, and if not to take the automatic driving away operation, can skip to S470.
示例性地，以交通工具为车辆为例，用户可以在响应消息中指示是否由自动驾驶控制车辆驶离当前所处的区域。Exemplarily, taking the vehicle as an example, the user may indicate in the response message whether the vehicle is controlled by the automatic driving to leave the current area.
S457，确定是否为最高警告等级，若为最高警告等级，可以跳转S460，若不是最高警告等级，可以跳转S420。S457, determine whether it is the highest warning level, if it is the highest warning level, you can skip to S460, if it is not the highest warning level, you can skip to S420.
示例性地，以交通工具为车辆为例，当警告等级为最高警告等级时，可以由自动驾驶控制车辆驶离当前所处区域，以避免车辆被淹。Exemplarily, taking the vehicle as an example, when the warning level is the highest warning level, the automatic driving may control the vehicle to drive away from the current area to avoid the vehicle being flooded.
S460，自动驶离当前所处区域。S460, automatically driving away from the current area.
为了便于说明，以下以交通工具为车辆为例，对自动驶离的方式进行说明，也就是说，在以下实施例中，车辆均可以替代为交通工具。For the convenience of description, the vehicle is taken as an example below to describe the manner of automatic driving away. That is to say, in the following embodiments, the vehicle can be replaced by a vehicle.
示例性地，可以以自动驾驶方式控制车辆驶离当前所处区域。Exemplarily, the vehicle may be controlled to leave the current area in an automatic driving manner.
示例性地，当用户在响应消息中指示新的区域或位置时，可以由自动驾驶控制车辆驶离其当前所处的区域，并行驶至用户所指示的区域或位置。例如，可以根据车辆中所保存的高精地图，搜索车辆当前所处位置至用户所指示的位置之间的最优路径，根据传感器采集的车辆周围的道路和环境信息，控制车辆行驶至用户所指示的新的位置。Exemplarily, when the user indicates a new area or location in the response message, the automatic driving may control the vehicle to drive away from the area it is currently in, and drive to the area or location indicated by the user. For example, according to the high-precision map saved in the vehicle, the optimal path between the current position of the vehicle and the position indicated by the user can be searched, and the vehicle can be controlled to drive to the location indicated by the user according to the road and environmental information around the vehicle collected by the sensor. indicates the new location.
示例性地，当用户在响应消息中指示新的区域或位置时，车辆可以将该新的区域或位置发送至云服务器，该云服务器可以根据车辆当前所处区域和用户所指示的新的区域或位置，对车辆的行驶路径进行规划，并将该行驶路径发送至车辆，车辆可以对该行驶路径进行校验，若该行驶路径存在问题，可以指示云服务再次进行规划，若该行驶路径不存在问题，车辆可以根据该行驶路径行驶至新的区域或位置。Exemplarily, when the user indicates a new area or location in the response message, the vehicle may send the new area or location to the cloud server, and the cloud server may or location, plan the driving path of the vehicle, and send the driving path to the vehicle, and the vehicle can verify the driving path. If there is a problem with the driving path, it can instruct the cloud service to plan again. There is a problem, the vehicle can drive to a new area or location according to this travel route.
示例性地，车辆可以从互联网获取不存在被淹风险的区域的信息，并将该车位作为新的停靠位置，进而可以通过自动驾驶的方式行驶至该区域。Exemplarily, the vehicle can obtain information from the Internet on an area that does not have the risk of being flooded, and use the parking space as a new parking position, and then drive to the area by automatic driving.
示例性地，可以采用即时定位与地图构建(simultaneous localization and mapping，SLAM)技术，在车辆行驶时，可以根据车辆传感器数据进行地图构建，可以对车辆进行实时定位，并记录车辆的行驶路径，当警告等级为最高警告等级，且未收到用户的响应消息时，车辆可以按照所构建的地图、所记录的行驶路径，以及传感器对环境的感知，驶离车库，以避免车辆被淹。Exemplarily, the simultaneous localization and mapping (SLAM) technology can be used. When the vehicle is driving, the map can be constructed according to the vehicle sensor data, the vehicle can be positioned in real time, and the driving path of the vehicle can be recorded. When the warning level is the highest level and no response message from the user is received, the vehicle can drive out of the garage according to the constructed map, the recorded driving path, and the sensor's perception of the environment to avoid the vehicle being flooded.
应理解，以上交通工具自动驶离当前所处区域的方法只是举例，本申请实施例对此不做限定。It should be understood that the above method for the vehicle to automatically drive away from the current area is just an example, which is not limited in this embodiment of the present application.
本申请实施例中，在确定交通工具存在被淹的风险后，通过控制交通工具驶离当前所处的区域，可以降低该交通工具被淹的风险，或者说可以解除当前交通工具被淹的风险。In the embodiment of the present application, after it is determined that the vehicle is at risk of being flooded, by controlling the vehicle to leave the current area, the risk of the vehicle being flooded can be reduced, or the current risk of the vehicle being flooded can be eliminated. .
S470，当用户指示交通工具无需自动驶离当前所处区域时，可以结束检测。S470, when the user indicates that the vehicle does not need to automatically drive away from the current area, the detection may be ended.
示例性地，图7是本申请实施例提供的一种防被淹的检测的装置的示意性框图。该装置700包括获取单元710和处理单元720。Exemplarily, FIG. 7 is a schematic block diagram of an apparatus for detecting flooding prevention provided by an embodiment of the present application. The apparatus 700 includes an acquisition unit 710 and a processing unit 720 .
其中，获取单元710，可以用于获取第一传感器采集的第一数据和第二传感器采集的第二数据，其中该第一数据用于确定该交通工具的涉水深度，该第二数据用于确定该交通工具是否涉水，该第一传感器可以包括感知***中的一个或多个传感器，该第二传感器可以包括一个或多个摄像装置；处理单元720，可以用于根据该第一数据和该第二数据，确定该交通工具是否存在被淹的风险。Wherein, the obtaining unit 710 may be used to obtain the first data collected by the first sensor and the second data collected by the second sensor, wherein the first data is used to determine the wading depth of the vehicle, and the second data is used to To determine whether the vehicle is wading, the first sensor may include one or more sensors in the perception system, and the second sensor may include one or more camera devices; the processing unit 720 may be used to The second data determines whether the vehicle is at risk of being flooded.
具体地，感知***可以包括感测关于交通工具周边的环境的信息的若干种传感器，该感知***可以属于待检测被淹风险的交通工具，也可以属于该交通工具以外的其他交通工具。Specifically, the perception system may include several sensors for sensing information about the environment around the vehicle, and the perception system may belong to the vehicle whose flooding risk is to be detected, or to other vehicles other than the vehicle.
示例性地，该第一传感器可以是雷达传感器，可以是超声波雷达、毫米波雷达、激光雷达等类型的雷达，该第二传感器可以是摄像头传感器，可以是长焦摄像头、广角摄像头、双目摄像头、鱼眼摄像头等类型的摄像头。为了简洁，不再一一举例说明，应理解，本申请实施例对此不做限定。Exemplarily, the first sensor may be a radar sensor, such as ultrasonic radar, millimeter wave radar, lidar, etc., and the second sensor may be a camera sensor, such as a telephoto camera, a wide-angle camera, or a binocular camera. , fisheye camera and other types of cameras. For the sake of brevity, examples are not described one by one, and it should be understood that this embodiment of the present application does not limit it.
具体地，关于第一传感器、第二传感器、第一数据、第二数据的描述可以参考步骤S310，为了简洁，此处不再赘述。Specifically, for descriptions about the first sensor, the second sensor, the first data, and the second data, reference may be made to step S310, and for the sake of brevity, details are not repeated here.
可选地，第一传感器可以包括激光雷达、毫米波雷达、超声波雷达中的一种或多种。Optionally, the first sensor may include one or more of lidar, millimeter wave radar, and ultrasonic radar.
可选地，该交通工具位于室内。Optionally, the vehicle is located indoors.
具体地，关于交通工具位于室内的描述，可以参照步骤S320，为了简洁此处不再赘述。Specifically, for the description that the vehicle is located indoors, reference may be made to step S320, which will not be repeated here for brevity.
可选地，该处理单元720具体用于：若根据该第一数据确定的交通工具的涉水深度大于或等于预设阈值，且根据该第二数据确定该交通工具涉水，确定该交通工具存在被淹的 风险。Optionally, the processing unit 720 is specifically configured to: if the wading depth of the vehicle determined according to the first data is greater than or equal to a preset threshold, and it is determined according to the second data that the vehicle is wading, determine that the vehicle is wading. There is a risk of flooding.
可选地，该装置700还可以包括收发单元730(图7未示出)，该收发单元730可以用于：当确定该交通工具存在被淹的风险时，向第一提示装置发送第一指令，该第一指令用于指示该第一提示装置提示用户该交通工具存在被淹的风险。应理解，该收发单元可以直接发送第一指令至第一提示装置，也可以通过其他装置/模块发送该第一指令至第一提示装置，本申请实施例对此不做限定。Optionally, the device 700 may also include a transceiver unit 730 (not shown in FIG. 7 ), and the transceiver unit 730 may be used to: when it is determined that the vehicle is at risk of being flooded, send a first instruction to the first prompting device , the first instruction is used to instruct the first prompting device to prompt the user that the vehicle has a risk of being flooded. It should be understood that the transceiver unit may directly send the first instruction to the first prompting device, or may send the first instruction to the first prompting device through other devices/modules, which is not limited in this embodiment of the present application.
可选地，该收发单元730还可以用于：接收响应消息，该响应消息包括用户对解除交通工具被淹的风险的指示。Optionally, the transceiving unit 730 may also be configured to: receive a response message, where the response message includes an instruction from the user to eliminate the risk of the vehicle being flooded.
示例性地，该第一提示装置可以是电脑、智能手机、平板电脑、个人数字助理、可穿戴设备等终端设备，为了简洁，此处不再一一举例。示例性地，该终端设备可以与该交通工具相关联，比如，可以是该终端设备上登录的账号与车辆上登录的账号相关联。例如，以该第一提示装置为手机、交通工具为车辆为例，手机上登录的账号与车辆上登录的账号相关联，可以是手机上登录的账号和车辆上登录的账号为同一账号；或者，也可以是手机上登录的账号为车辆上登录的账号所在的家庭群组中的账号；或者，手机上登录的账号为经过车辆上登录的账号授权后的账号。应理解，以上关于第一提示装置的描述只是示例以便于说明，本申请实施例对此不做限定。Exemplarily, the first prompting device may be a terminal device such as a computer, a smart phone, a tablet computer, a personal digital assistant, or a wearable device, and for the sake of brevity, no examples are given here. Exemplarily, the terminal device may be associated with the vehicle, for example, the account registered on the terminal device may be associated with the account registered on the vehicle. For example, taking the first prompting device as a mobile phone and the vehicle as an example, the account registered on the mobile phone is associated with the account registered on the vehicle, and the account registered on the mobile phone and the account registered on the vehicle may be the same account; or , it may also be that the account registered on the mobile phone is an account in the family group where the account registered on the vehicle belongs; or, the account registered on the mobile phone is an account authorized by the account registered on the vehicle. It should be understood that the above description about the first prompting device is only an example for illustration purposes, and is not limited in this embodiment of the present application.
可选地，该第一指令可以包括警告等级，该处理单元还可以用于：在向所述第一提示装置发送第一指令之前，根据该交通工具的涉水深度，确定该警告等级。Optionally, the first instruction may include a warning level, and the processing unit may be further configured to: determine the warning level according to the wading depth of the vehicle before sending the first instruction to the first prompting device.
可选地，该处理单元还可以用于：当确定该交通工具存在被淹的风险时，控制交通工具驶离当前的区域。Optionally, the processing unit may also be used for: when it is determined that the vehicle is at risk of being flooded, control the vehicle to leave the current area.
示例性地，该处理单元控制交通工具驶离当前所处的区域，可以是当该处理单元确认该交通工具存在被淹风险时，指示控制装置/***控制该交通工具驶离当前所处的区域，比如，以该交通工具为车辆为例，该处理单元可以向ADAS***/装置发送消息，指示ADAS***控制车辆驶离当前所处的区域，也就是说，该处理单元可以是以调用ADAS功能的方式控制车辆驶离当前所处的区域。Exemplarily, the processing unit controls the vehicle to leave the current area. When the processing unit confirms that the vehicle is at risk of being flooded, instructs the control device/system to control the vehicle to leave the current area. For example, taking the vehicle as an example, the processing unit may send a message to the ADAS system/device, instructing the ADAS system to control the vehicle to leave the current area, that is, the processing unit may call the ADAS function to control the vehicle to leave the current area.
示例性地，该处理单元控制交通工具驶离当前所处的区域，可以是该处理单元具有控制交通工具行驶的功能，比如，该处理单元可以为该交通工具规划行驶路线等。Exemplarily, the processing unit controls the vehicle to leave the current area. It may be that the processing unit has the function of controlling the vehicle to run. For example, the processing unit may plan a driving route for the vehicle.
应理解，以上处理单元控制交通工具驶离当前所处区域的方式只是举例，本申请实施例对此不做限定。It should be understood that the manner in which the above processing unit controls the vehicle to leave the current area is just an example, which is not limited in this embodiment of the present application.
根据本申请实施例中的装置，可以在不增加传统物理液位传感器的情况下，通过获取多个传感器所采集的数据，可以在灵活配置各传感器的同时，准确地检测交通工具的被淹风险，能够降低交通工具的传感器成本和布置难度。According to the device in the embodiment of the present application, without adding traditional physical liquid level sensors, by acquiring data collected by multiple sensors, it is possible to accurately detect the flooding risk of vehicles while flexibly configuring each sensor , which can reduce the sensor cost and layout difficulty of the vehicle.
应理解，图7所示的装置700可以用于实现防被淹的检测的方法300，图7所示的装置还可以具有图3或图4所示的***架构，还可以用于实现图5至图6所示的方法，具体步骤可以参照上述对图5至图6的描述，为了简洁此处不再赘述。It should be understood that the device 700 shown in FIG. 7 can be used to implement the method 300 for detecting anti-flooding. The device shown in FIG. 7 can also have the system architecture shown in FIG. 3 or FIG. For the method shown in FIG. 6 , the specific steps may refer to the above description of FIG. 5 to FIG. 6 , and will not be repeated here for the sake of brevity.
示例性地，图8为本申请实施例提供的一种装置1300的结构示例图。装置1300包括处理器1302、通信接口1303和存储器1304。装置1300的一种示例为芯片。装置1300的另一种示例为计算设备。Exemplarily, FIG. 8 is a structural example diagram of an apparatus 1300 provided in an embodiment of the present application. The apparatus 1300 includes a processor 1302 , a communication interface 1303 and a memory 1304 . One example of device 1300 is a chip. Another example of apparatus 1300 is a computing device.
处理器1302、存储器1304和通信接口1303之间可以通过总线通信。存储器1304中 存储有可执行代码，处理器1302读取存储器1304中的可执行代码以执行对应的方法。存储器1304中还可以包括操作***等其他运行进程所需的软件模块。操作***可以为LINUX TM，UNIX TM，WINDOWS TM等。 The processor 1302, the memory 1304, and the communication interface 1303 may communicate through a bus. Executable codes are stored in the memory 1304, and the processor 1302 reads the executable codes in the memory 1304 to execute a corresponding method. The memory 1304 may also include an operating system and other software modules required for running processes. The operating system can be LINUX TM , UNIX TM , WINDOWS TM and so on.
例如，存储器1304中的可执行代码用于实现图5至图6所示的方法，处理器1302读取存储器1304中的该可执行代码以执行图5至图6所示的方法。For example, the executable code in the memory 1304 is used to implement the methods shown in FIGS. 5 to 6 , and the processor 1302 reads the executable code in the memory 1304 to execute the methods shown in FIGS. 5 to 6 .
其中，处理器1302可以为CPU。存储器1304可以包括易失性存储器(volatile memory，VM)，例如随机存取存储器(random access memory，RAM)。存储器1304还可以包括非易失性存储器(non-volatile memory，NVM)，例如只读存储器(read-only memory，ROM)，快闪存储器，硬盘驱动器(hard disk drive，HDD)或固态启动器(solid state disk，SSD)。Wherein, the processor 1302 may be a CPU. The memory 1304 may include a volatile memory (volatile memory, VM), such as a random access memory (random access memory, RAM). Memory 1304 can also include non-volatile memory (non-volatile memory, NVM), such as read-only memory (read-only memory, ROM), flash memory, hard disk drive (hard disk drive, HDD) or solid-state starter ( solid state disk, SSD).
在本申请实施例中，“第一”、“第二”以及各种数字编号仅为描述方便进行的区分，并不用来限制本申请实施例的范围。例如，区分不同的时钟源、介质等。In the embodiment of the present application, "first", "second" and various numbers are only for convenience of description, and are not used to limit the scope of the embodiment of the present application. For example, distinguishing between different clock sources, media, etc.
应理解，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。It should be understood that the term "and/or" in this article is only an association relationship describing associated objects, indicating that there may be three relationships, for example, A and/or B may mean: A exists alone, and A and B exist at the same time , there are three cases of B alone. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.
应理解，在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。It should be understood that, in various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, and should not be used in the embodiments of the present application. The implementation process constitutes any limitation.
在本说明书中使用的术语“部件”、“模块”、“***”等用于表示计算机相关的实体、硬件、固件、硬件和软件的组合、软件、或执行中的软件。例如，部件可以是但不限于，在处理器上运行的进程、处理器、对象、可执行文件、执行线程、程序和/或计算机。通过图示，在计算设备上运行的应用和计算设备都可以是部件。一个或多个部件可驻留在进程和/或执行线程中，部件可位于一个计算机上和/或分布在2个或更多个计算机之间。此外，这些部件可从在上面存储有各种数据结构的各种计算机可读介质执行。部件可例如根据具有一个或多个数据分组(例如来自与本地***、分布式***和/或网络间的另一部件交互的二个部件的数据，例如通过信号与其它***交互的互联网)的信号通过本地和/或远程进程来通信。The terms "component", "module", "system" and the like are used in this specification to refer to a computer-related entity, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component may be, but is not limited to being, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of illustration, both an application running on a computing device and the computing device can be components. One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between two or more computers. In addition, these components can execute from various computer readable media having various data structures stored thereon. A component may, for example, be based on a signal having one or more packets of data (e.g., data from two components interacting with another component between a local system, a distributed system, and/or a network, such as the Internet via a signal interacting with other systems). Communicate through local and/or remote processes.
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的***、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.
在本申请所提供的几个实施例中，应该理解到，所揭露的***、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间 接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器、随机存取存储器、磁碟或者光盘等各种可以存储程序代码的介质。If the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: various media capable of storing program codes such as U disk, mobile hard disk, read-only memory, random access memory, magnetic disk or optical disk.
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。The above is only a specific implementation of the application, but the scope of protection of the application is not limited thereto. Anyone familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the application. Should be covered within the protection scope of this application. Therefore, the protection scope of the present application should be determined by the protection scope of the claims.

Claims (18)

  1. 一种防被淹的检测的方法，其特征在于，包括：An anti-flooding detection method is characterized by comprising:
    获取第一传感器采集的第一数据和第二传感器采集的第二数据，其中所述第一数据用于确定交通工具的涉水深度，所述第二数据用于确定所述交通工具是否涉水，所述第一传感器包括感知***中的一种或多种传感器，所述第二传感器包括摄像装置；Acquiring first data collected by the first sensor and second data collected by the second sensor, wherein the first data is used to determine the wading depth of the vehicle, and the second data is used to determine whether the vehicle is wading , the first sensor includes one or more sensors in the perception system, and the second sensor includes a camera;
    根据所述第一数据和所述第二数据，确定所述交通工具是否存在被淹的风险。According to the first data and the second data, it is determined whether the vehicle is at risk of being flooded.
  2. 如权利要求1所述的方法，其特征在于，所述根据所述第一数据和所述第二数据，确定所述交通工具是否存在被淹的风险，包括：The method according to claim 1, wherein, according to the first data and the second data, determining whether the vehicle is at risk of being flooded comprises:
    若根据所述第一数据确定的所述交通工具的涉水深度大于或等于预设阈值，且根据所述第二数据确定所述交通工具涉水，确定所述交通工具存在被淹的风险。If the wading depth of the vehicle determined according to the first data is greater than or equal to a preset threshold, and it is determined according to the second data that the vehicle is wading, it is determined that the vehicle is at risk of being submerged.
  3. 如权利要求2所述的方法，其特征在于，所述方法还包括：The method of claim 2, further comprising:
    当确定所述交通工具存在被淹的风险时，向第一提示装置发送第一指令，所述第一指令用于指示所述第一提示装置提示用户所述交通工具存在被淹的风险。When it is determined that the vehicle is at risk of being flooded, a first instruction is sent to the first prompting device, where the first instruction is used to instruct the first prompting device to prompt the user that the vehicle is at risk of being flooded.
  4. 如权利要求3所述的方法，其特征在于，所述第一指令包括警告等级，所述方法还包括：The method of claim 3, wherein the first instruction includes a warning level, the method further comprising:
    在向所述第一提示装置发送所述第一指令之前，根据所述交通工具的涉水深度，确定所述警告等级。Before sending the first instruction to the first prompting device, the warning level is determined according to the wading depth of the vehicle.
  5. 如权利要求1至4中任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1 to 4, further comprising:
    当确定所述交通工具存在被淹的风险时，控制所述交通工具驶离当前的区域。When it is determined that the vehicle is at risk of being flooded, the vehicle is controlled to leave the current area.
  6. 如权利要求1至5中任一项所述的方法，其特征在于，所述第一传感器包括激光雷达、毫米波雷达、超声波雷达中的一种或多种。The method according to any one of claims 1 to 5, wherein the first sensor includes one or more of laser radar, millimeter wave radar, and ultrasonic radar.
  7. 如权利要求1至6中任一项所述的方法，其特征在于，所述交通工具位于室内。A method as claimed in any one of claims 1 to 6, wherein the vehicle is located indoors.
  8. 一种防被淹的检测的装置，其特征在于，包括：An anti-flooding detection device is characterized in that it includes:
    获取单元，用于获取第一传感器采集的第一数据和第二传感器采集的第二数据，其中所述第一数据用于确定交通工具的涉水深度，所述第二数据用于确定所述交通工具是否涉水，所述第一传感器包括感知***中的一种或多种传感器，所述第二传感器包括摄像装置；an acquisition unit, configured to acquire first data collected by the first sensor and second data collected by the second sensor, wherein the first data is used to determine the wading depth of the vehicle, and the second data is used to determine the Whether the vehicle is wading, the first sensor includes one or more sensors in the perception system, and the second sensor includes a camera;
    处理单元，用于根据所述第一数据和所述第二数据，确定所述交通工具是否存在被淹的风险。A processing unit, configured to determine whether the vehicle is at risk of being flooded according to the first data and the second data.
  9. 如权利要求8所述的装置，其特征在于，所述处理单元具体用于：The device according to claim 8, wherein the processing unit is specifically used for:
    若根据所述第一数据确定的所述交通工具的涉水深度大于或等于预设阈值，且根据所述第二数据确定所述交通工具涉水，确定所述交通工具存在被淹的风险。If the wading depth of the vehicle determined according to the first data is greater than or equal to a preset threshold, and it is determined according to the second data that the vehicle is wading, it is determined that the vehicle is at risk of being submerged.
  10. 如权利要求9所述的装置，其特征在于，所述装置还包括收发单元，所述收发单元用于：The device according to claim 9, wherein the device further comprises a transceiver unit, the transceiver unit is used for:
    当确定所述交通工具存在被淹的风险时，向第一提示装置发送第一指令，所述第一指令用于指示所述第一提示装置提示用户所述交通工具存在被淹的风险。When it is determined that the vehicle is at risk of being flooded, a first instruction is sent to the first prompting device, where the first instruction is used to instruct the first prompting device to prompt the user that the vehicle is at risk of being flooded.
  11. 如权利要求10所述的装置，其特征在于，所述第一指令包括警告等级，所述处理单元还用于：The device according to claim 10, wherein the first instruction includes a warning level, and the processing unit is further configured to:
    在向所述第一提示装置发送所述第一指令之前，根据所述交通工具的涉水深度，确定所述警告等级。Before sending the first instruction to the first prompting device, the warning level is determined according to the wading depth of the vehicle.
  12. 如权利要求8至11中任一项所述的装置，其特征在于，所述处理单元还用于：The device according to any one of claims 8 to 11, wherein the processing unit is further configured to:
    当确定所述交通工具存在被淹的风险时，控制所述交通工具驶离当前的区域。When it is determined that the vehicle is at risk of being flooded, the vehicle is controlled to leave the current area.
  13. 如权利要求8至12中任一项所述的装置，其特征在于，所述第一传感器包括激光雷达、毫米波雷达、超声波雷达中的一种或多种。The device according to any one of claims 8 to 12, wherein the first sensor includes one or more of laser radar, millimeter wave radar, and ultrasonic radar.
  14. 如权利要求8至13中任一项所述的装置，其特征在于，所述交通工具位于室内。Apparatus as claimed in any one of claims 8 to 13, wherein the vehicle is located indoors.
  15. 一种装置，其特征在于，包括处理器和存储器，所述存储器用于存储程序指令，所述处理器用于调用所述程序指令来执行权利要求1至7中任一项所述的防被淹的检测的方法。A device, characterized in that it includes a processor and a memory, the memory is used to store program instructions, and the processor is used to call the program instructions to execute the flood prevention described in any one of claims 1 to 7 method of detection.
  16. 一种交通工具，其特征在于，包括权利要求8至15中任一项所述的装置。A vehicle, characterized by comprising the device according to any one of claims 8-15.
  17. 一种计算机可读存储介质，其特征在于，所述计算机可读介质存储有程序代码，当所述程序代码在计算机上运行时，使得计算机执行如权利要求1至7中任意一项所述的方法。A computer-readable storage medium, characterized in that the computer-readable medium stores program codes, and when the program codes are run on a computer, the computer executes the method according to any one of claims 1 to 7. method.
  18. 一种芯片，其特征在于，所述芯片包括处理器与数据接口，所述处理器通过所述数据接口读取存储器上存储的指令，以执行如权利要求1至7中任一项所述的方法。A chip, characterized in that the chip includes a processor and a data interface, and the processor reads instructions stored on the memory through the data interface to execute the method described in any one of claims 1 to 7. method.
PCT/CN2021/141011 2021-12-24 2021-12-24 Anti-submerging detection method and apparatus, and vehicle WO2023115497A1 (en)

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