CN108621998B - Water depth detection system and method for vehicle - Google Patents
Water depth detection system and method for vehicle Download PDFInfo
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- CN108621998B CN108621998B CN201710169691.1A CN201710169691A CN108621998B CN 108621998 B CN108621998 B CN 108621998B CN 201710169691 A CN201710169691 A CN 201710169691A CN 108621998 B CN108621998 B CN 108621998B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
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Abstract
The invention relates to a water depth detection system and a method for a vehicle. A water depth detection system for a vehicle, comprising: peripheral vehicle detection means for detecting peripheral vehicles around the own vehicle; a camera device connected to the surrounding vehicle detection device for taking an image of the surrounding vehicle; and an analyzing device connected to the imaging device and configured to determine whether the surrounding vehicle is traveling in water from the image, and calculate a water level depth at the surrounding vehicle from the image when it is determined that the surrounding vehicle is traveling in water.
Description
Technical Field
The invention relates to the technical field of vehicle assistance. More particularly, the present invention relates to a water depth detection system and method for a vehicle.
Background
The wading depth of the vehicle should not exceed a certain threshold while the vehicle is in motion, otherwise vehicle failure or damage may result, and even passenger safety may be compromised. Currently, methods of detecting wading depth using a water sensor of a vehicle have been developed. However, this method cannot avoid a dangerous location where the water level is high in advance because the vehicle can be detected only after wading. In addition, the water depth of the road can be detected by the vehicle-mounted radar. However, radar systems are costly.
For this reason, there is a need for a water depth detection system and method that can detect the water level height of a road in advance and is convenient to use.
Disclosure of Invention
An object of the present invention is to provide a water depth detection system and method capable of detecting a water level height of a road in advance. It is another object of the present invention to provide a water depth detection system and method capable of detecting a wading condition of a surrounding vehicle. It is another object of the present invention to provide a water depth detection system and method that can actively avoid high water level locations.
One aspect of the present invention provides a water depth detection system for a vehicle, comprising: peripheral vehicle detection means for detecting peripheral vehicles around the own vehicle; a camera device connected to the surrounding vehicle detection device for taking an image of the surrounding vehicle; and an analyzing device connected to the imaging device and configured to determine whether the surrounding vehicle is traveling in water from the image, and calculate a water level depth at the surrounding vehicle from the image when it is determined that the surrounding vehicle is traveling in water.
According to an embodiment of the present invention, the surrounding vehicle detecting device is configured to detect a surrounding vehicle within a predetermined range around the own vehicle.
According to an embodiment of the invention, the analysis device is configured to: a vehicle reference dimension is found and the water level depth at the surrounding vehicle is calculated from the vehicle reference dimension.
According to an embodiment of the invention, the analysis device is configured to: the height of the water surface to a reference point of the surrounding vehicle is calculated from the vehicle reference dimension, and the water level depth at the surrounding vehicle is calculated from the height.
According to an embodiment of the invention, the analysis device is configured to: the water level depth at the contact position of the wheels of the surrounding vehicle with the ground is calculated.
According to an embodiment of the invention, the analysis device is configured to: the marker calculates the location of the water level depth and the corresponding water level depth to generate a water depth map.
According to an embodiment of the invention, the analysis device is configured to: when the position at which the water level depth is calculated has been marked, the marked water level depth at the position and the calculated water level depth are averaged to obtain a mean water level depth, and the mean water level depth is marked as a new water level depth in the water depth map.
According to an embodiment of the invention, the analysis device is configured to: the attitude of the surrounding vehicle is determined from the image, and the vehicle reference dimension is corrected according to the attitude of the surrounding vehicle.
According to an embodiment of the invention, the analysis device is configured to: determining from the water depth map whether there is a position where the water depth is greater than a threshold value in or near an expected travel track of the own vehicle, and the water depth detection system further includes an output device configured to: when the analysis means judges that there is a position where the water level depth is greater than the threshold value in or near the expected travel locus of the own vehicle, a control signal is issued to perform at least one of the following: sending out an alarm; displaying the deepwater position; automatically braking and/or steering to avoid deep water locations; and re-planning the travel path to avoid the deep water location.
According to an embodiment of the present invention, the camera device is provided on the roof of the own vehicle.
Another aspect of the invention provides a vehicle comprising a water depth detection system according to the invention.
Another aspect of the present invention provides a water depth detection method for a vehicle, including: detecting surrounding vehicles around the own vehicle; capturing images of surrounding vehicles; and determining whether the surrounding vehicle is traveling in water based on the image, and calculating a water level depth at the surrounding vehicle based on the image when it is determined that the surrounding vehicle is traveling in water.
According to an embodiment of the present invention, detecting a surrounding vehicle around the own vehicle includes: peripheral vehicles within a predetermined range around the own vehicle are detected.
According to an embodiment of the invention, a vehicle reference dimension is found and the water level depth at the surrounding vehicle is calculated from the vehicle reference dimension.
According to an embodiment of the invention, the height of the water level to a reference point of the surrounding vehicle is calculated from the vehicle reference dimension, and the water level depth at the surrounding vehicle is calculated from the height.
According to an embodiment of the present invention, the water level depth at the contact position of the wheels of the surrounding vehicle with the ground is calculated.
According to the embodiment of the invention, the water depth detection method further comprises the following steps: the marker calculates the location of the water level depth and the corresponding water level depth to generate a water depth map.
According to an embodiment of the present invention, when the position at which the water level depth is calculated has been marked, the marked water level depth and the calculated water level depth at the position are averaged to obtain a mean water level depth, and the mean water level depth is marked as a new water level depth in the water depth map.
According to the embodiment of the present invention, the attitude of the surrounding vehicle is determined from the image, and the vehicle reference dimension is corrected according to the attitude of the surrounding vehicle.
According to the embodiment of the present invention, it is determined from the water depth map whether there is a position where the water level depth is greater than the threshold value in or near the expected travel locus of the own vehicle, and when it is determined that there is a position where the water level depth is greater than the threshold value in or near the expected travel locus of the own vehicle, a control signal is issued to perform at least one of the following: sending out an alarm; displaying the deepwater position; automatically braking and/or steering to avoid deep water locations; and re-planning the travel path to avoid the deep water location.
Drawings
FIG. 1 is a schematic illustration of a vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an application example of the water depth detection system according to the present invention.
Fig. 3 is an example of an image taken by the water depth detection system according to the present invention.
Fig. 4 is an example of an image taken by the water depth detection system according to the present invention.
FIG. 5 is a flow chart of a water depth detection method according to an embodiment of the invention.
Detailed Description
Hereinafter, embodiments of the present invention are described with reference to the drawings. The following detailed description and drawings are illustrative of the principles of the invention, which is not limited to the preferred embodiments described, but is defined by the claims. The invention will now be described in detail with reference to exemplary embodiments thereof, some of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings, in which like reference numerals refer to the same or similar elements in different drawings unless otherwise indicated. The aspects described in the following exemplary embodiments do not represent all aspects of the present invention. Rather, these aspects are merely exemplary of the systems and methods according to the various aspects of the present invention as recited in the appended claims.
The water depth detection system according to the embodiment of the present invention may be mounted on or applied to a vehicle. The vehicle may be an internal combustion engine vehicle using an internal combustion engine as a drive source, an electric vehicle or a fuel cell vehicle using an electric motor as a drive source, a hybrid vehicle using both of the above as drive sources, or a vehicle having another drive source.
FIG. 1 is a schematic illustration of a vehicle according to one embodiment of the present invention. As shown in fig. 1, the vehicle includes a water depth detection system 100 and an operation performing system 200. The water depth detection system 100 and the operation performing system 200 may be connected to and in communication with each other. Well-known power and steering devices, drive trains, and like components of the vehicle are not shown in FIG. 1 for the sake of clarity.
As shown in fig. 1, the water depth detection system 100 includes a surrounding vehicle detection device 110, an imaging device 120, and an analysis device 130.
The surrounding vehicle detection means 110 may detect surrounding vehicles around the own vehicle. In an exemplary embodiment, the surrounding vehicle detection device 110 may detect surrounding vehicles within a predetermined range around the own vehicle. In some embodiments, the surrounding vehicle detection device 110 may detect the position, shape, size of the surrounding vehicle and/or the shape, size, etc. of components of the surrounding vehicle.
According to an embodiment of the present invention, the surrounding vehicle detection apparatus 110 may include one or more detection units, and may include various types of detection units, such as a laser detection unit, an ultrasonic detection unit, a radar detection unit, an image pickup unit, and the like. The surrounding vehicle detection device 110 may detect the surrounding vehicle by any one of the above detection units and/or combinations of the detection units.
In some embodiments, the camera unit may be disposed in front of, behind, or otherwise of the own vehicle, and may include a visible light camera unit, an infrared camera unit, or the like. By analyzing the picture captured by the camera unit, information such as the shape, position, and motion data of an object such as another vehicle can be acquired.
In some embodiments, the ultrasonic detection unit can be installed around the vehicle, and can accurately measure the distance from an object outside the vehicle to the vehicle by utilizing the characteristics of strong ultrasonic directionality and the like. Due to the air attenuation, the ultrasonic detection unit usually has higher ranging accuracy for short-distance objects than for long-distance objects.
In some embodiments, the radar detection unit may be mounted in front of, behind, or otherwise on the vehicle. The radar detection unit can accurately measure the distance of an object outside the vehicle from the vehicle using the characteristics of electromagnetic waves, and is generally more sensitive to metal objects. The radar detection unit may also measure velocity variations of the vehicle and the moving object due to the doppler effect.
In some embodiments, the laser detection unit may be mounted in front of, behind, or otherwise on the vehicle. The laser detection unit can detect accurate object edge and shape information, so that accurate object identification and tracking can be carried out.
The camera device 120 may communicate with the surrounding vehicle detection device 110 by wire or wirelessly. The camera 120 is used to capture images of surrounding vehicles. In the exemplary embodiment, when the surrounding vehicle is detected by the surrounding vehicle detection device 110, the image pickup device 120 picks up an image of the surrounding vehicle. The camera 120 may include one or more camera units. The camera unit may for example be a digital camera unit. The image pickup unit may include a visible light image pickup unit, an infrared image pickup unit, and the like.
According to the embodiment of the present invention, the camera device 120 may be disposed at the front, rear, side, or the like of the vehicle. In an exemplary embodiment, the camera 120 may be provided on the roof of the own vehicle. In some embodiments, the camera 120 may include one or more of the already installed cameras of the vehicle, such as a front-facing camera, a back-up camera, a panoramic camera, and the like. In some embodiments, camera 120 may comprise a separately disposed camera of the vehicle.
The analysis device 130 may be in wired or wireless communication with the surrounding vehicle detection device 110 and/or the camera device 120. According to an embodiment of the present invention, the analysis device 130 may receive the image captured by the camera device 120 and determine whether the surrounding vehicle is traveling in water according to the image. In an exemplary embodiment, the analysis device 130 may determine whether the surrounding vehicle is traveling in water through image recognition. For example, the analysis device 130 may recognize and judge whether or not a water surface exists at the periphery of the surrounding vehicle in the image to determine whether or not the surrounding vehicle travels in water. In some embodiments, the analysis device 130 may identify the water surface in the image by texture recognition.
The analysis means 130 may calculate the water level depth at the surrounding vehicle from the image when it is judged that the surrounding vehicle is traveling in water.
According to some embodiments of the present invention, the analysis device 130 may look up a vehicle reference dimension and calculate a water level depth at the surrounding vehicle from the vehicle reference dimension. In some embodiments, the analysis device 130 may pre-store a plurality of vehicle reference dimensions, for example in a database. In some embodiments, the analysis device 130 may obtain the vehicle reference dimension from the outside, such as through wireless communication or the like. According to an embodiment of the invention, the vehicle reference dimension comprises a height of the vehicle, a height of a component of the vehicle, etc.
In an exemplary embodiment, the analyzing device 130 may look up the corresponding vehicle reference dimension based on the detected parameters of the surrounding vehicle. The "detected parameter of the surrounding vehicle" indicates the detected parameter of the type, shape, size, and the like of the surrounding vehicle. In some embodiments, the analysis device 130 may look up the corresponding vehicle reference dimension according to the type of the surrounding vehicle (e.g., the surrounding vehicle belongs to a car or truck, etc.). In an exemplary embodiment, the analysis device 130 may acquire the detected parameters of the surrounding vehicle from the surrounding vehicle detection device 110.
In an exemplary embodiment, the analysis device 130 may calculate a height of the water level to a reference point of the surrounding vehicle from the vehicle reference size, and calculate a water level depth at the surrounding vehicle from the height.
Fig. 2 shows an application example of the water depth detection system according to the present invention. As shown in fig. 2, the vehicle 10 includes a water depth detection system 100 (not shown in fig. 2) and the surrounding vehicles 20 are traveling in water (shown in phantom). The water depth detection system 100 of the vehicle 10 detects the surrounding vehicle 20 within a predetermined range of the vehicle 10, and captures an image of the surrounding vehicle 20.
Fig. 3 shows an example of an image taken by the water depth detection system according to the present invention. In the image shown in fig. 3, the analysis device 130 (not shown in fig. 3) recognizes that the water surface 30 exists at the outer periphery of the surrounding vehicle 20, thereby determining that the surrounding vehicle 20 is traveling in water. Then, the analysis device 130 calculates the water level depth from the image.
In the exemplary embodiment, analysis device 130 looks for a vehicle reference dimension H1. For example, the vehicle reference dimension H1 may be the vehicle height, i.e., the height from the highest point of the vehicle to level ground when the vehicle is on level ground. Furthermore, the analysis device 130 may calculate a vertical height H2 from the reference point a of the surrounding vehicle 20 to the water surface 30 in the image, e.g., based on a pixel distance. In some embodiments, reference point a may be the highest point of the vehicle.
At this time, the water level depth D may be calculated by the following formula (1):
D＝H1-H2 (1)。
according to some embodiments of the invention, the analysis device 130 may calculate a water level depth at a position where the outer periphery of the surrounding vehicle 20 is in contact with the water surface. For example, in the example shown in fig. 3, the analysis device 130 may calculate the water level depth at all or part of the locations where the surrounding vehicles 20 are in contact with the water surface 30.
According to some embodiments of the present invention, the analyzing device 130 may calculate a water level depth at a contact position of the wheels of the surrounding vehicle 20 with the ground. For example, in the example shown in fig. 3, the analysis device 130 may be at a contact position L of the front wheels of the surrounding vehicle 20 with the groundfAnd/or the contact position L of the rear wheel with the groundrAnd (6) calculating the water level depth.
The calculation of the water level depth when the surrounding vehicle 20 is on a level ground is described above. However, the present invention is not limited thereto. It will be appreciated by those skilled in the art that the analysis apparatus of the present invention can also calculate the water level depth when the surrounding vehicle is on a non-level ground.
According to the embodiment of the present invention, the analysis device 130 may determine the attitude of the surrounding vehicle (i.e., the angle of the vehicle with respect to the horizontal ground) from the image, and correct the vehicle reference dimension according to the attitude of the surrounding vehicle. The attitude of the surrounding vehicle includes the surrounding vehicle being on level ground or on non-level ground.
In some embodiments, analysis device 130 may determine the pose of the surrounding vehicle based on the height between different portions of the surrounding vehicle in the image. For example, if the head of the surrounding vehicle is higher than the tail, the analysis device 130 may determine that the surrounding vehicle is tilted forward, and conversely, determine that the surrounding vehicle is tilted backward. For example, if the left side of the surrounding vehicle is higher than the right side, the analysis device 130 may determine that the surrounding vehicle is inclined to the right, and conversely, determine that the surrounding vehicle is inclined to the left.
In some embodiments, the analysis device 130 may determine the attitude of the surrounding vehicle (or a portion thereof) from the angle of the surrounding vehicle (or a portion thereof) relative to the water surface in the image. For example, if the lower edge of the window of the surrounding vehicle is angled with respect to the water surface, the analysis device 130 determines that the surrounding vehicle is tilted.
According to an embodiment of the present invention, upon determining that the surrounding vehicle is on a non-level ground, the analysis device 130 may correct the vehicle reference size to calculate the water level depth at the surrounding vehicle.
An example in which the analysis device 130 corrects the vehicle reference dimension is described below. Fig. 4 shows an example of an image taken by the water depth detection system according to the present invention. In the image shown in fig. 4, the analysis device 130 (not shown in fig. 4) recognizes that the water surface 30 exists at the outer periphery of the surrounding vehicle 20, thereby determining that the surrounding vehicle 20 is traveling in water.
Further, the analysis device 130 determines the posture of the surrounding vehicle 20, and determines that the surrounding vehicle 20 is on a non-level ground. Then, the analysis device 130 calculates the water level depth from the image.
In the exemplary embodiment, analysis device 130 looks for a vehicle reference dimension H1. For example, the vehicle reference dimension H1 may be a vehicle height. The analysis means 130 determines that the surrounding vehicle 20 is tilted with respect to the water surface 30, i.e. that the vehicle plane 40 of the surrounding vehicle 20 is tilted with respect to the water surface 30. "vehicle plane" means a plane that extends through the vehicle and is parallel to horizontal ground when the vehicle is on horizontal ground.
According to the embodiment of the present invention, the analysis device 130 may correct the vehicle reference dimension according to the inclination condition of the surrounding vehicle 20. In some embodiments, the analysis device 130 may calculate the angle α between the vehicle plane 40 and the water surface 30 from the image.
For the contact position L of the front wheels of the surrounding vehicle 20 with the groundfThe analysis device 130 may calculate the corrected vehicle reference dimension H1 by the following formula (2)f：
H1f＝H1/cosα (2)。
Furthermore, the analysis device 130 may calculate in the image a vertical height H2 from the reference point a of the surrounding vehicle 20 to the water surface 30, for exampleBased on the pixel distance. At this time, the contact position L of the front wheels of the surrounding vehicle 20 with the ground can be calculated by the following formula (3)fWater level depth D off：
Df＝H1f-H2 (3)。
Contact position L of rear wheel with ground for surrounding vehicle 20rThe analysis device 130 may calculate the corrected vehicle reference dimension H1 by the following formula (4)r：
H1r＝H1*cosα (4)。
At this time, the water level depth D at the contact position Lr of the rear wheels of the surrounding vehicle 20 with the ground can be calculated by the following formula (5)r：
Dr＝H1r-H2 (5)。
Furthermore, the analysis device 130 may also correct the vehicle reference size at other locations and calculate the water level depth at that location accordingly.
According to an embodiment of the present invention, the analysis device 130 may mark the positions at which the water level depths are calculated and the corresponding water level depths to generate a water depth map. In an exemplary embodiment, the analysis device 130 may establish a coordinate system, obtain coordinates of a position at which the water level depth is calculated, and mark the corresponding water level depth on the coordinates. By marking the calculated water level depths and corresponding locations, the analysis device 130 may generate a water depth map.
In some embodiments, the analysis device 130 may establish a coordinate system (e.g., a rectangular coordinate system) with the center point of the rear axle of the vehicle as an origin, and record coordinates (x, y) of each position at which the water level depth is calculated. In other embodiments, the analysis device 130 may establish a coordinate system with other locations as the origin.
According to an embodiment of the present invention, the analysis device 130 may store the generated water depth map.
According to an embodiment of the present invention, when a new water level depth is calculated for the same location, the analysis device 130 may update the water level depth at the location. In an exemplary embodiment, when it is judged that the position at which the water level depth is calculated has been marked, the analyzing device 130 averages the water level depth marked at the position and the calculated water level depth to obtain a mean water level depth, and marks the mean water level depth as a new water level depth in the water level map. In other embodiments, the analyzing device 130 may also update the water level depth in other manners, such as replacing an existing water level depth with a new water level depth.
According to the embodiment of the present invention, the analysis device 130 may further determine the deep water position according to the water depth map, that is, the water level depth of the deep water position is higher than the wading depth threshold of the vehicle. In an exemplary embodiment, the wading depth threshold may be, for example, the height of the rear exhaust pipe of the host vehicle, the height of the engine, or the like. In an exemplary embodiment, the analysis device 130 may determine whether the calculated water level depth is greater than a wading depth threshold, and mark the corresponding location as a deep water location when the water level depth is greater than the wading depth threshold.
In an exemplary embodiment, the analysis device 130 may further determine whether there is a position where the water level depth is greater than the wading depth threshold value in or near the expected travel track of the vehicle according to the water depth map. In some embodiments, the analysis device 130 may acquire an expected travel track of the own vehicle and determine whether the position at which the water level depth is calculated is in or near the expected travel track, and if the position is in or near the expected travel track, the analysis device 130 may determine whether the water level depth at the position is greater than the wading depth threshold. In some embodiments, the analysis device 130 may acquire an expected travel track of the own vehicle and acquire all positions where the calculated water level depth is greater than the wading depth threshold, and determine whether or not these positions are in or near the expected travel track.
According to an embodiment of the present invention, the water depth detection system 100 may further include an output device 140. The output device 140 may be in wired or wireless communication with the surrounding vehicle detection device 110, the camera device 120, and/or the analysis device 130. The output device 140 may also be in wired or wireless communication with the operation execution system 200. The operation performing system 200 is configured to control operations of various components of the vehicle, such as a power system, a steering system, a transmission system, a brake system, a safety system, and the like of the vehicle.
According to some embodiments of the present invention, the output device 140 may issue the control signal when the analysis device 130 determines that a deep water location exists in or near the expected travel trajectory of the host vehicle. According to an embodiment of the invention, the control signal may comprise at least one of: sending out an alarm; displaying the deepwater position; automatically braking and/or steering to avoid deep water locations; and re-planning the travel path to avoid the deep water location.
In some embodiments, the output device 140 may control the provision of an alert to a user of the vehicle when the analysis device 130 determines that a deep water location exists in or near the expected travel trajectory of the host vehicle. For example, the output device 140 may inform the user that a deep water location exists in or near the expected travel trajectory of the vehicle by at least one of: vibration warning, sound warning, light warning, graphic warning and text warning.
In some embodiments, the output device 140 may control the display of the image of the deep water location to the user when the analysis device 130 determines that the deep water location exists in or near the expected travel trajectory of the host vehicle. In this case, the user can observe the distribution image of the deep water position, thereby helping to control the vehicle to avoid the deep water position.
In some embodiments, when the analysis device 130 determines that a deep water location exists in or near the expected travel trajectory of the host vehicle, the output device 140 may control the host vehicle to automatically brake and/or steer or to re-plan the travel trajectory to avoid the deep water location. In this case, the water depth detection system 100 according to the present invention may automatically control the vehicle to avoid the vehicle from traveling to a deep water position that has been detected, thereby reducing the risk due to wading.
A water depth detection method for a vehicle according to an embodiment of the present invention will be described below with reference to the accompanying drawings. FIG. 5 shows a flow diagram of a water depth detection method according to one embodiment of the invention.
As shown in fig. 5, in step S510, peripheral vehicles around the own vehicle are detected. In an exemplary embodiment, surrounding vehicles within a predetermined range around the own vehicle may be detected. In some embodiments, the location, shape, size of the surrounding vehicle and/or the shape, size, etc. of components of the surrounding vehicle may be detected.
In step S520, an image of the surrounding vehicle is captured. In some embodiments, the images of the surrounding vehicle may be taken with an already installed camera of the vehicle or a separately provided camera.
In step S530, it is determined whether the surrounding vehicle is traveling in water based on the image. In an exemplary embodiment, whether the surrounding vehicle is traveling in water may be determined by image recognition (e.g., texture recognition). For example, it is possible to recognize and judge whether or not a water surface exists at the periphery of the surrounding vehicle in the image to determine whether or not the surrounding vehicle travels in water.
If it is determined in step S530 that the surrounding vehicle is traveling in water, the method proceeds to step S540. If it is determined in step S530 that the surrounding vehicle is not running in water, the method returns to step S510.
In step S540, the water level depth at the surrounding vehicle is calculated from the image. According to some embodiments of the invention, a vehicle reference dimension may be found and the water level depth at the surrounding vehicle calculated from the vehicle reference dimension. The vehicle reference dimension may be stored in advance or acquired from the outside. According to an embodiment of the invention, the vehicle reference dimension comprises a height of the vehicle, a height of a component of the vehicle, etc.
In an exemplary embodiment, the height of the water surface to a reference point of the surrounding vehicle may be calculated from the vehicle reference dimension, and the water level depth at the surrounding vehicle may be calculated from the height.
According to the embodiment of the present invention, it is possible to determine the attitude of the surrounding vehicle from the image and correct the vehicle reference dimension according to the attitude of the surrounding vehicle. According to an embodiment of the present invention, when it is determined that the surrounding vehicle is on a non-level ground, the vehicle reference size may be corrected to calculate the water level depth at the surrounding vehicle. For more details of calculating the water level depth, reference is made to the above description, and further description is omitted here.
Optionally, the water level detecting method may further include a step S550 of marking the calculated water level depth position and the corresponding water level depth to generate a water depth map. In an exemplary embodiment, a coordinate system may be established, coordinates of the position at which the water level depth is calculated are obtained, and the corresponding water level depth is marked on the coordinates. According to embodiments of the present invention, the generated water depth map may be stored.
According to an embodiment of the present invention, when a new water level depth is calculated for the same position, the water level depth at the position may be updated. For example, the water level depth marked at that position and the calculated water level depth are averaged to obtain a mean water level depth, and the mean water level depth is marked as a new water level depth in the water depth map.
Optionally, the water level detection method may further include step S560 of determining whether there is a deep water position where the water level depth is greater than the wading depth threshold value in or near the expected travel track of the vehicle according to the water depth map. In an exemplary embodiment, the wading depth threshold may be, for example, the height of the rear exhaust pipe of the host vehicle, the height of the engine, or the like.
Optionally, the water level detection method may further include step S570 of issuing a control signal when it is determined that a deep water position exists in or near the expected travel track of the own vehicle. According to an embodiment of the invention, the control signal may comprise at least one of: sending out an alarm; displaying the deepwater position; automatically braking and/or steering to avoid deep water locations; and re-planning the travel path to avoid the deep water location.
While the invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the construction and methods of the embodiments described above. On the contrary, the invention is intended to cover various modifications and equivalent arrangements. In addition, while the various elements and method steps of the disclosed invention are shown in various example combinations and configurations, other combinations, including more, less or all, of the elements or methods are also within the scope of the invention.
Claims (20)
1. A water depth detection system for a vehicle, comprising:
peripheral vehicle detection means for detecting peripheral vehicles around the own vehicle;
a camera device connected to the surrounding vehicle detection device for taking an image of the surrounding vehicle; and
and an analysis device connected to the imaging device and configured to determine whether the surrounding vehicle is traveling in water from the image, and calculate a water level depth at the surrounding vehicle from the image when it is determined that the surrounding vehicle is traveling in water.
2. The water depth detection system of claim 1, wherein
The surrounding vehicle detection device is configured to detect surrounding vehicles within a predetermined range around the own vehicle.
3. The water depth detection system of claim 2, wherein
The analysis device is configured to: a vehicle reference dimension is looked up and a water level depth at the surrounding vehicle is calculated from the vehicle reference dimension.
4. The water depth detection system of claim 3, wherein
The analysis device is configured to: calculating a height of a water surface to a reference point of the surrounding vehicle from the vehicle reference dimension, and calculating a water level depth at the surrounding vehicle from the height.
5. The water depth detection system of claim 1, wherein
The analysis device is configured to: calculating a water level depth at a contact position of a wheel of the surrounding vehicle with a ground surface.
6. The water depth detection system of claim 1, wherein
The analysis device is configured to: the marker calculates the location of the water level depth and the corresponding water level depth to generate a water depth map.
7. The water depth detection system of claim 6, wherein
The analysis device is configured to: when the position at which the water level depth is calculated has been marked, the marked water level depth and the calculated water level depth at the position are averaged to obtain an average water level depth, and the average water level depth is marked as a new water level depth in the water depth map.
8. The water depth detection system of claim 6 or 7, wherein
The analysis device is configured to: the attitude of the surrounding vehicle is determined from the image, and the vehicle reference dimension is corrected according to the attitude of the surrounding vehicle.
9. The water depth detection system of claim 6 or 7, wherein
The analysis device is configured to: judging whether there is a position where the water level depth is greater than a threshold value in or near the expected travel track of the own vehicle from the water depth map, and
the water depth detection system further includes an output device configured to: when the analysis means judges that there is a position where the water level depth is greater than a threshold value in or near the expected travel locus of the own vehicle, issuing a control signal to perform at least one of:
sending out an alarm;
displaying the deepwater position;
automatically braking and/or steering to avoid deep water locations; and
and replanning the driving track to avoid the deep water position.
10. The water depth detection system of claim 1, wherein
The camera device is arranged on the top of the vehicle.
11. A vehicle comprising a water depth detection system according to any one of claims 1 to 10.
12. A water depth detection method for a vehicle, comprising:
detecting surrounding vehicles around the own vehicle;
capturing an image of the surrounding vehicle; and
determining whether the surrounding vehicle is traveling in water from the image, and calculating a water level depth at the surrounding vehicle from the image when it is determined that the surrounding vehicle is traveling in water.
13. The water depth detection method of claim 12, wherein
Detecting a surrounding vehicle around the own vehicle includes: peripheral vehicles within a predetermined range around the own vehicle are detected.
14. The water depth detection method of claim 13, wherein
A vehicle reference dimension is looked up and a water level depth at the surrounding vehicle is calculated from the vehicle reference dimension.
15. The water depth detection method of claim 14, wherein
Calculating a height of a water surface to a reference point of the surrounding vehicle from the vehicle reference dimension, and calculating a water level depth at the surrounding vehicle from the height.
16. The water depth detection system of claim 12, wherein
Calculating a water level depth at a contact position of a wheel of the surrounding vehicle with a ground surface.
17. The water depth detection method of claim 12, further comprising:
the marker calculates the location of the water level depth and the corresponding water level depth to generate a water depth map.
18. The water depth detection method of claim 17, wherein
When the position at which the water level depth is calculated has been marked, the marked water level depth and the calculated water level depth at the position are averaged to obtain an average water level depth, and the average water level depth is marked as a new water level depth in the water depth map.
19. The water depth detection method of claim 17 or 18, wherein
The attitude of the surrounding vehicle is determined from the image, and the vehicle reference dimension is corrected according to the attitude of the surrounding vehicle.
20. The water depth detection method of claim 17 or 18, wherein
Judging whether there is a position where the water level depth is greater than a threshold value in or near the expected travel track of the own vehicle from the water depth map, and
when it is judged that a position where the water level depth is greater than a threshold value exists in or near the expected travel track of the own vehicle, a control signal is issued to perform at least one of:
sending out an alarm;
displaying the deepwater position;
automatically braking and/or steering to avoid deep water locations; and
and replanning the driving track to avoid the deep water position.
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| CN109801327B (en) * | 2018-12-21 | 2020-07-21 | 杭州电子科技大学 | Urban waterlogging depth information extraction method based on video data |
| CN109927659B (en) * | 2019-03-11 | 2021-05-18 | 沈晓亮 | Online intelligent early warning device of car water logging |
| CN113257022B (en) * | 2020-02-13 | 2023-03-03 | 奥迪股份公司 | Driving assistance device, corresponding method, vehicle, computer device and medium |
| CN113340317A (en) * | 2021-05-20 | 2021-09-03 | 云度新能源汽车有限公司 | Method for assisting passage of flooded area and storage device |
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| KR20130006910A (en) * | 2011-06-27 | 2013-01-18 | 주식회사 포스텔 | Incident response system using black box for car and incident response method thereby |
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| CN202938875U (en) * | 2012-11-27 | 2013-05-15 | 北京汽车股份有限公司 | Wading warning device |
| JP6278880B2 (en) * | 2014-10-30 | 2018-02-14 | 三菱電機株式会社 | Water level measuring device |
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| CN105253060B (en) * | 2015-11-06 | 2018-10-02 | 南京理工大学 | Vehicle-mounted fording depth detection and prior-warning device |
| CN105547402A (en) * | 2015-12-08 | 2016-05-04 | 重庆多邦科技股份有限公司 | Hydrologic monitoring system |
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