CN109282872A - Vehicle and paddle detection system and method for it - Google Patents
Vehicle and paddle detection system and method for it Download PDFInfo
- Publication number
- CN109282872A CN109282872A CN201710597251.6A CN201710597251A CN109282872A CN 109282872 A CN109282872 A CN 109282872A CN 201710597251 A CN201710597251 A CN 201710597251A CN 109282872 A CN109282872 A CN 109282872A
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- Prior art keywords
- vehicle
- tilt angle
- water level
- ponding
- paddling
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/14—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measurement of pressure
Abstract
The invention discloses a kind of vehicle and for its paddle detection system and method, wherein, the detection system of paddling includes: water level sensor, water level sensor is arranged on vehicle, and between level road locating for vehicle have the first pre-determined distance, water level sensor for detected when vehicle is paddled itself between the ponding water surface at a distance to obtain apart from detected value；Inclination angle obtains module, and inclination angle obtains module for obtaining the first tilt angle of vehicle body in a first direction and the second tilt angle in a second direction of vehicle respectively；Control module, control module are used to calculate the ponding height that vehicle is presently in position according to the first pre-determined distance, apart from detected value, the first tilt angle and the second tilt angle.Detection system according to the present invention of paddling can greatly improve the accuracy of vehicle fording depth detection, so as to guarantee the operation with security and stability of vehicle.
Description
Technical field
The present invention relates to technical field of vehicle, in particular to a kind of detection system of paddling for vehicle, a kind of vehicle, one
Kind is used for paddle detection method and a kind of non-transitorycomputer readable storage medium of vehicle.
Background technique
With the development of social and economic level, more and more users possess and use private car.However due to city
Seeping phenomenon is more and more frequent, most of drivers on the run all can due to encountering ponding it is worried, when in order to save
Between venture paddle and be difficult to choose between taking a roundabout way for the sake of insuring.When venture is paddled, since driver can not know current relate to
Water depth, too deep ponding may injure the safety of vehicle.
Currently, fording depth is detected using the ultrasonic sensor under outside rear-view mirror in the related technology, but this detection
The accuracy of mode is heavily dependent on the surface evenness of underwater, and when Uneven road, fording depth is detected
Accuracy it is poor.
Summary of the invention
The present invention is directed to solve one of the technical problem in above-mentioned technology at least to a certain extent.For this purpose, of the invention
One purpose is to propose a kind of detection system of paddling for vehicle, can greatly improve the accurate of vehicle fording depth detection
Property, so as to guarantee the operation with security and stability of vehicle.
Second object of the present invention is to propose a kind of vehicle.
Third object of the present invention is to propose a kind of detection method of paddling for vehicle.
Fourth object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
In order to achieve the above objectives, first aspect present invention embodiment proposes a kind of detection system of paddling for vehicle,
The system includes: water level sensor, and the water level sensor is arranged on the vehicle, and with horizontal road locating for the vehicle
There is the first pre-determined distance between face, the water level sensor for detected when the vehicle is paddled itself and the ponding water surface it
Between distance to obtain apart from detected value；Inclination angle obtains module, and the inclination angle obtains module for obtaining the vehicle respectively
The first tilt angle of vehicle body in a first direction and the second tilt angle in a second direction；Control module, the control
Module be used for according to first pre-determined distance, it is described apart from detected value, first tilt angle and second inclination angle
Degree calculates the ponding height that the vehicle is presently in position.
Detection system of paddling according to an embodiment of the present invention for vehicle, detects itself and ponding by water level sensor
The distance between water surface, and the tilt angle that module obtains vehicle body is obtained by inclination angle, and by control module according to water level
The tilt angle of the distance between sensor and the ponding water surface and vehicle body calculates the ponding height that vehicle is presently in position, can
The accuracy of vehicle fording depth detection is greatly improved, so as to guarantee the operation with security and stability of vehicle.
In order to achieve the above objectives, second aspect of the present invention embodiment proposes a kind of vehicle comprising first party of the present invention
The detection system of paddling for vehicle that face embodiment proposes.
Vehicle according to an embodiment of the present invention can greatly improve the accuracy of fording depth detection, so as to guarantee
It runs with security and stability.
In order to achieve the above objectives, third aspect present invention embodiment proposes a kind of detection method of paddling for vehicle,
Method includes the following steps: detected by water level sensor when the vehicle is paddled itself between the ponding water surface at a distance from
To obtain apart from detected value, wherein the water level sensor is arranged on the vehicle, and with horizontal road locating for the vehicle
There is the first pre-determined distance between face；The vehicle body of the vehicle the first tilt angle in a first direction is obtained respectively and
The second tilt angle on two directions；According to first pre-determined distance, it is described apart from detected value, first tilt angle and
Second tilt angle calculates the ponding height that the vehicle is presently in position.
Detection method of paddling according to an embodiment of the present invention for vehicle, detects itself and ponding by water level sensor
The distance between water surface, and obtain the tilt angle of vehicle body, and according to the distance between water level sensor and the ponding water surface and
The tilt angle of vehicle body calculates the ponding height that vehicle is presently in position, can greatly improve the standard of vehicle fording depth detection
True property, so as to guarantee the operation with security and stability of vehicle.
In order to achieve the above objectives, fourth aspect present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, wherein realizes that third aspect present invention embodiment proposes when the program is executed by processor
The detection method of paddling for vehicle.
Non-transitorycomputer readable storage medium according to an embodiment of the present invention, by the computer journey for executing its storage
Sequence can greatly improve the accuracy of vehicle fording depth detection, so as to guarantee the operation with security and stability of vehicle.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or by recognizing practice of the invention.
Detailed description of the invention
Fig. 1 is the block diagram according to the detection system of paddling for vehicle of the embodiment of the present invention；
Fig. 2 is the cross-sectional view according to the water level sensor of one embodiment of the invention；
Fig. 3 is the ponding height calculating parameter schematic diagram according to one embodiment of the invention；
Fig. 4 is the structural schematic diagram according to the detection system of paddling for vehicle of a specific embodiment of the invention；
Fig. 5 is the block diagram according to the vehicle of the embodiment of the present invention；
Fig. 6 is the flow chart according to the detection method of paddling for vehicle of the embodiment of the present invention；
Fig. 7 is the flow chart according to the detection method of paddling for vehicle of a specific embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
With reference to the accompanying drawing to describe the vehicle of the embodiment of the present invention and for its paddle detection system and method.
Fig. 1 is the block diagram according to the detection system of paddling for vehicle of the embodiment of the present invention.
As shown in Figure 1, the detection system of paddling for vehicle of the embodiment of the present invention, including water level sensor 10, inclination angle
Obtain module 20 and control module 30.
Wherein, water level sensor 10 is arranged on vehicle, and has first to preset between level road locating for vehicle
Distance, water level sensor 10 for detected when vehicle is paddled itself with the ponding water surface between at a distance from obtain distance detect
Value；Inclination angle obtains the first tilt angle that module 20 is used to obtain respectively the vehicle body of vehicle in a first direction and in second direction
On the second tilt angle；Control module 30 is used for according to the first pre-determined distance, apart from detected value, the first tilt angle and second
Tilt angle calculates the ponding height that vehicle is presently in position.
In one embodiment of the invention, water level sensor 10 may be provided on the front deck central axes of vehicle, and water level passes
Sensor 10 can be differential water level sensor.As shown in Fig. 2, the water level sensor 10 can be cylindrical, the water level sensor 10
It may include connector 11, signal processing chip 12, sensor mounting flange face 13, pressure membrane 14, strainer 15 and venthole 16.Its
In, sensor mounting flange face 13 is used to for water level sensor 10 being fixed on the predetermined position of vehicle, and strainer 15 is located at water level
The bottom of sensor 10 can be used for stopping the impurity in ponding, to guarantee detection effect；Venthole 16 is located at water level sensor 10
Top, venthole 16 can connect a pipeline, and the blow vent of the pipeline is arranged in the higher position of vehicle.Water level as a result,
Sensor 10 can be judged between themselves bottom and the ponding water surface by the pressure difference between the hydraulic side in bottom and top air pressure side
Distance, i.e., the embodiment of the present invention apart from detected value.Specifically, pressure membrane 14 can be used for perceiving above-mentioned pressure difference, signal processing core
Piece 12 can be that Δ P=ρ hg is obtained apart from detected value according to formula, wherein Δ P is above-mentioned pressure difference, and ρ is the density of ponding, this hair
It can use the density of light water in bright embodiment, h is apart from detected value, and g is acceleration of gravity.Then, can by connector 11 with
Connection between controller 30 will be transmitted to controller 30 apart from detected value.Ponding feelings are detected by differential water level sensor
Condition, the accuracy of detection and real-time are higher.
It should be appreciated that water level sensor 10 is difficult to be considered as particle because having certain volume or height, but at this
In the embodiment of invention, the first pre-determined distance can be measured on the basis of the same position of water level sensor 10 and apart from detection
Value.It, can will be between level road locating for its bottom and vehicle such as differential water level sensor described above
Distance is used as the first pre-determined distance, and by detection the distance between its bottom and the ponding water surface to obtain apart from detected value.
Since the first pre-determined distance is the distance between water level sensor 10 and road surface when vehicle is in level road, and
When vehicle is paddled, vehicle is not necessarily in level road, therefore can not be by the first pre-determined distance and apart from detected value
The sum of the ponding height of position is presently in as vehicle.In consideration of it, the inclination conditions of combining road of the embodiment of the present invention, specifically
The ponding height that vehicle is presently in position is calculated in conjunction with the tilt angle of vehicle.
In one embodiment of the invention, inclination angle acquisition module 20 can be respectively according to the ESP (Electronic of vehicle
StabilityProgram, body electronics systems stabilisation) vehicle detected acceleration in a first direction and in second party
Upward acceleration obtains the first tilt angle and the second tilt angle.
In one embodiment of the invention, first direction can be the front-rear direction of vehicle, and second direction can be vehicle
Left and right directions.That is, can be in the horizontal plane using the front-rear direction of vehicle as X-axis, left and right directions is that Y-axis establishes rectangular co-ordinate
Acceleration of the vehicle in X-axis and Y-axis detects by ESP, to obtain tilt angle of the vehicle relative to X-axis and Y-axis in system.Benefit
The tilt angle that vehicle is obtained with the existing ESP of vehicle can simplify the structure of the detection system of paddling of the embodiment of the present invention.
After getting the first tilt angle and the second tilt angle, when the first tilt angle is 0, control module 30 can
The ponding height that vehicle is presently in position is calculated according to the following formula:
H=h+ Δ h*cos β+L/2*sin β.
When the second tilt angle is 0, control module 30 can calculate the product that vehicle is presently in position according to the following formula
Water height:
H=h+ Δ h*cos α+l/2*sin α.
When the first tilt angle and second tilt angle are not 0, control module 30 can be counted according to the following formula
Calculate the ponding height that vehicle is presently in position:
Wherein, H is ponding height, and h is apart from detected value, and α is the first tilt angle, and β is the second tilt angle, and Δ h is
First pre-determined distance, L are the wheelspan of vehicle, and l is the wheelbase of vehicle, θ=arctan (l2+L2)/(2l*cos α), L*cos α=l*
cosβ。
For example, as shown in Figure 3, it is assumed that α 0, i.e. vehicle are not tilted forward and back, then ponding height H=h+ Δ h*
cosβ+L/2*sinβ。
Detection system of paddling according to an embodiment of the present invention for vehicle, detects itself and ponding by water level sensor
The distance between water surface, and the tilt angle that module obtains vehicle body is obtained by inclination angle, and by control module according to water level
The tilt angle of the distance between sensor and the ponding water surface and vehicle body calculates the ponding height that vehicle is presently in position, can
The accuracy of vehicle fording depth detection is greatly improved, so as to guarantee the operation with security and stability of vehicle.
The detection system of paddling of the embodiment of the present invention can not only detect that vehicle is presently in the ponding height of position, also
The driver that result feeds back to vehicle can be will test, so that driver takes corresponding safety measure according to testing result, or can
Corresponding safety measure is directly taken by vehicle according to testing result.
In one embodiment of the invention, can also be used in will be apart from detected value, the first tilt angle, for control module 30
Two tilt angles and the ponding being calculated height are sent to the in-vehicle multi-media system of vehicle to be shown or be broadcasted.Citing
For, the image processing module in in-vehicle multi-media system can be according to apart from detected value, the first tilt angle, the second tilt angle
Ponding image is generated with the ponding height that is calculated, and the ponding image is shown by display screen, in in-vehicle multi-media system
Instrument ponding height can be shown by way of showing text, the tone playing equipment in in-vehicle multi-media system can be to ponding height
Etc. data broadcasted.The driver of vehicle can easily and timely know the situation of paddling of vehicle as a result, corresponding to take
Counter-measure.
In one embodiment of the invention, vehicle can be electric vehicle or hybrid vehicle, when control module 30 obtains
When getting ponding height, the data such as ponding height can be also sent to the drive motor controller of vehicle.Drive motor controller
It can be judged whether to need to carry out powershift according to data such as ponding height, and generate constant target torque value, to control
Vehicle passes through region of paddling with stable speed.
In one embodiment of the invention, it may also include water level switch for the detection system of paddling of vehicle, water level is opened
The driver's cabin setting of corresponding vehicle is closed, and there is the second pre-determined distance, water level between water level switch and the cab floor of vehicle
Switch is triggered when touching ponding, and generates trigger signal, and trigger signal is sent to control module 30, controls mould
Block 30 is also used to send warning message to the in-vehicle multi-media system of vehicle according to trigger signal to alarm.For example,
Water level switch may be disposed at the right side of driver present position and at cab floor 30cm, when water level switch is triggered
When, instrument in in-vehicle multi-media system can by way of showing text display alarm information, remind driver to abandon vehicle emergency.
Thereby, it is possible to alarm in ponding excessive height, the personal safety of driver is injured to avoid excessively high ponding.
In one embodiment of the invention, when the ponding height that control module 30 calculates is greater than the first preset safety limit
When, if vehicle executes corresponding function, such as idling start and stop function, then it may cause vehicle failure.Control module 30 at this time
Controllable vehicle closes corresponding function to protect to vehicle.
In one embodiment of the invention, when the ponding height that control module 30 calculates is greater than the second preset safety limit
When, it is greater than 1.5m, can determine whether vehicle falling into water, control module 30 can control Vehicular communication system outwardly at this time, such as to
Distress signals are issued with the mobile terminal of vehicle binding, or can be by vehicle window automatic-explosion of control vehicle etc. to help to drive
The person of sailing saves oneself.
In one particular embodiment of the present invention, as shown in figure 4, control module 30 can be connected to vehicle for newly-increased
The controller of paddling of CAN (Controller Area Network, controller local area network) network, controller of paddling is by examining
Disconnected data connector DLC is connected with the DLC interface of vehicle.By providing often electricity for controller of paddling so that it starts work.It relates to
Water controller can be communicatively coupled with drive motor controller, differential water level sensor and water level switch, and can pass through CAN
Automatically controlled net in network is connected to CAN gateway.The ESP of vehicle can be connected to CAN gateway, vehicle mounted multimedia by stability contorting net
System can be connected to CAN gateway by comfortable net.What water level sensor obtained as a result, generates apart from detected value, water level switch
Trigger signal can be transferred to controller of paddling, and acceleration of the vehicle of the ESP detection of vehicle in X-axis and Y-axis can pass through CAN net
Network is transferred to controller of paddling, can be by vehicle after controller of paddling obtains the situation of paddling of vehicle according to the information received
Situation of paddling is transferred to in-vehicle multi-media system by CAN network, to inform the driver of vehicle.Also, paddle controller also
The situation of paddling of vehicle can be transferred to drive motor controller, drive motor controller generates dynamic according to the situation of paddling of vehicle
The signals such as power switching, target torque, and it is transferred to by CAN network dynamical system (including driving motor and the speed changer of vehicle
Deng), to control vehicle progress powershift and be run with stabilizing speed.Data are carried out using the existing CAN network of vehicle as a result,
Transmission, fast speed, stability is preferable, and can simplify the structure for detection system of paddling.
Corresponding above-described embodiment, the present invention also propose a kind of vehicle.
As shown in figure 5, the vehicle 1000 of the embodiment of the present invention, including the above embodiment of the present invention propose for vehicle
Detection system of paddling 100, specific embodiment can refer to above-described embodiment.
Vehicle according to an embodiment of the present invention can greatly improve the accuracy of fording depth detection, so as to guarantee
It runs with security and stability.
Corresponding above-described embodiment, the present invention also propose a kind of detection method of paddling for vehicle.
As shown in fig. 6, the detection method of paddling for vehicle of the embodiment of the present invention, comprising the following steps:
S1, detected by water level sensor when vehicle is paddled itself between the ponding water surface at a distance from obtain distance inspection
Measured value, wherein water level sensor is arranged on vehicle, and has the first pre-determined distance between level road locating for vehicle.
In one embodiment of the invention, water level sensor may be provided on the front deck central axes of vehicle, level sensor
Device can be differential water level sensor.Referring to Fig. 2, which can be cylindrical, which may include patching
Part, signal processing chip, sensor mounting flange face, pressure membrane, strainer and venthole.Wherein, sensor mounting flange face is used
In the predetermined position that water level sensor is fixed on to vehicle, strainer is located at the bottom of water level sensor, can be used for stopping ponding
In impurity, to guarantee detection effect；Venthole is located at the top of water level sensor, and venthole can connect a pipeline, and should
The higher position of vehicle is arranged in the blow vent of pipeline.Water level sensor can pass through the hydraulic side in bottom and top air pressure side as a result,
Between pressure difference judge the distance between themselves bottom and the ponding water surface, i.e., the embodiment of the present invention apart from detected value.Specifically
Ground, pressure membrane can be used for perceiving above-mentioned pressure difference, and signal processing chip can be that Δ P=ρ hg is obtained apart from detected value according to formula,
In, Δ P is above-mentioned pressure difference, and ρ is the density of ponding, can use the density of light water in the embodiment of the present invention, for apart from detected value, g
For acceleration of gravity.Then, the operation or control system of vehicle can will be transmitted to apart from detected value by connector.Pass through pressure difference
Formula water level sensor detects ponding situation, and the accuracy of detection and real-time be higher.
It should be appreciated that water level sensor is difficult to be considered as particle because having certain volume or height, but in this hair
In bright embodiment, the first pre-determined distance can be measured on the basis of the same position of water level sensor and apart from detected value.Example
Such as differential water level sensor described above, the distance between level road locating for its bottom and vehicle can be made
For the first pre-determined distance, and by detection the distance between its bottom and the ponding water surface to obtain apart from detected value.
S2 obtains vehicle body the first tilt angle in a first direction of vehicle and second inclining in a second direction respectively
Rake angle.
It is current to calculate vehicle according to the first pre-determined distance, apart from detected value, the first tilt angle and the second tilt angle by S3
The ponding height of present position.
Since the first pre-determined distance is the distance between water level sensor and road surface when vehicle is in level road, and work as
When vehicle is paddled, vehicle is not necessarily in level road, thus can not by the first pre-determined distance and apart from detected value it
With the ponding height for being presently in position as vehicle.In consideration of it, the inclination conditions of combining road of the embodiment of the present invention, specific to tie
The tilt angle of vehicle is closed to calculate the ponding height that vehicle is presently in position.
In one embodiment of the invention, can respectively according to the ESP of vehicle vehicle detected in a first direction
Acceleration and acceleration in a second direction obtain the first tilt angle and the second tilt angle.
In one embodiment of the invention, first direction can be the front-rear direction of vehicle, and second direction can be vehicle
Left and right directions.That is, can be in the horizontal plane using the front-rear direction of vehicle as X-axis, left and right directions is that Y-axis establishes rectangular co-ordinate
Acceleration of the vehicle in X-axis and Y-axis detects by ESP, to obtain tilt angle of the vehicle relative to X-axis and Y-axis in system.Benefit
The tilt angle that vehicle is obtained with the existing ESP of vehicle, can be improved the convenience for detection of paddling.
It, can be according to following public affairs when the first tilt angle is 0 after getting the first tilt angle and the second tilt angle
Formula calculates the ponding height that vehicle is presently in position:
H=h+ Δ h*cos β+L/2*sin β.
When the second tilt angle is 0, the ponding height that vehicle is presently in position can be calculated according to the following formula:
H=h+ Δ h*cos α+l/2*sin α.
When the first tilt angle and second tilt angle are not 0, it is current vehicle can be calculated according to the following formula
The ponding height of present position:
Wherein, H is ponding height, and h is apart from detected value, and α is the first tilt angle, and β is the second tilt angle, and Δ h is
First pre-determined distance, L are the wheelspan of vehicle, and l is the wheelbase of vehicle, θ=arctan (l2+L2)/(2l*cos α), L*cos α=l*
cosβ。
For example, as shown in Figure 3, it is assumed that α 0, i.e. vehicle are not tilted forward and back, then ponding height H=h+ Δ h*
cosβ+L/2*sinβ。
Detection method of paddling according to an embodiment of the present invention for vehicle, detects itself and ponding by water level sensor
The distance between water surface, and obtain the tilt angle of vehicle body, and according to the distance between water level sensor and the ponding water surface and
The tilt angle of vehicle body calculates the ponding height that vehicle is presently in position, can greatly improve the standard of vehicle fording depth detection
True property, so as to guarantee the operation with security and stability of vehicle.
The detection method of paddling of the embodiment of the present invention can not only detect that vehicle is presently in the ponding height of position, also
The driver that result feeds back to vehicle can be will test, so that driver takes corresponding safety measure according to testing result, or can
Corresponding safety measure is directly taken by vehicle according to testing result.
It in one embodiment of the invention, can also will be apart from detected value, the first tilt angle, the second tilt angle and meter
Obtained ponding height is sent to the in-vehicle multi-media system of vehicle to be shown or be broadcasted.For example, vehicle-mounted more matchmakers
Image processing module in system system can be according to apart from detected value, the first tilt angle, second tilt angle and being calculated
Ponding height generates ponding image, and shows the ponding image by display screen, and the instrument in in-vehicle multi-media system can pass through
The mode of display text shows ponding height, and the tone playing equipment in in-vehicle multi-media system can broadcast the data such as ponding height
Report.The driver of vehicle can easily and timely know the situation of paddling of vehicle as a result, to take corresponding counter-measure.
In one embodiment of the invention, vehicle can be electric vehicle or hybrid vehicle, when getting ponding height
When spending, the data such as ponding height can be also sent to the drive motor controller of vehicle.Drive motor controller can be according to ponding
The data such as height judge whether to need to carry out powershift, and generate constant target torque value, to control vehicle with stabilization
Speed pass through region of paddling.
In one embodiment of the invention, water level switch is also provided on vehicle, specifically, water level switch corresponds to vehicle
Driver's cabin setting, and there is the second pre-determined distance between water level switch and the cab floor of vehicle, water level switch connecing
Be triggered when contacting ponding, and generate trigger signal, and trigger signal is sent to controller of paddling, paddle controller according to
Trigger signal sends warning message to the in-vehicle multi-media system of vehicle to alarm.For example, water level switch can be set
Set the right side in driver present position and at cab floor 30cm, when water level switch is triggered, vehicle mounted multimedia
Instrument in system display alarm information, prompting driver can abandon vehicle emergency by way of showing text.Thereby, it is possible in product
It alarms when water excessive height, the personal safety of driver is injured to avoid excessively high ponding.
In one embodiment of the invention, when ponding height is greater than the first preset safety limit, if vehicle executes phase
Function, such as idling start and stop function are answered, then may cause vehicle failure.Can control at this time vehicle close corresponding function with
Vehicle is protected.
In one embodiment of the invention, when ponding height is greater than the second preset safety limit, it is greater than 1.5m,
It can determine whether vehicle falling into water, can control Vehicular communication system outwardly at this time, such as issued to the mobile terminal bound with the vehicle
Distress signals, or can be by vehicle window automatic-explosion of control vehicle etc. to help driver self-help.
In one particular embodiment of the present invention, as shown in fig. 7, the detection method of paddling for vehicle may include following
Step:
S101 is powered on.The devices such as controller, water level sensor of paddling are both powered up.
S102 receives the water level signal of water level sensor.It include between water level sensor and the ponding water surface in water level signal
Distance.
S103 receives the acceleration signal of ESP.Including the acceleration in X-axis and Y direction.
S104 obtains ponding height according to water level signal and acceleration signal.
S105, judges whether ponding height is greater than the first preset height.If so, thening follow the steps S106；If it is not, then
Return step S104.
S106, into the mode of paddling.That is, the first preset height is to judge whether vehicle enters sentencing for mode of paddling
Disconnected threshold value, wherein when vehicle enters and paddles mode, step S107 and S108 can be performed.
S107, driving motor execute powershift.
S108, the display interface change of in-vehicle multi-media system.It can show ponding image or ponding data.
Whether S109, real-time judge ponding height are reduced to the second preset height.Such as it is reduced to water level sensor and product
The distance between water water surface is 0.If so, thening follow the steps S110.If otherwise continuing to execute step S109.
S110 exits the mode of paddling.
Corresponding above-described embodiment, the present invention also propose a kind of non-transitorycomputer readable storage medium.
The non-transitorycomputer readable storage medium of the embodiment of the present invention, is stored thereon with computer program, when the journey
Sequence can realize the detection method of paddling for vehicle that the above embodiment of the present invention proposes when being executed by processor.
Non-transitorycomputer readable storage medium according to an embodiment of the present invention, by the computer journey for executing its storage
Sequence can greatly improve the accuracy of vehicle fording depth detection, so as to guarantee the operation with security and stability of vehicle.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (14)
1. a kind of detection system of paddling for vehicle characterized by comprising
Water level sensor, the water level sensor are arranged on the vehicle, and between level road locating for the vehicle
With the first pre-determined distance, the water level sensor be used for detected when the vehicle is paddled itself between the ponding water surface away from
From with detected value with a distance from obtaining；
Inclination angle obtains module, and the inclination angle obtains module and is used to obtain first of the vehicle body of the vehicle in a first direction respectively
Tilt angle and the second tilt angle in a second direction；
Control module, the control module be used for according to first pre-determined distance, it is described apart from detected value, it is described first inclination
Angle and second tilt angle calculate the ponding height that the vehicle is presently in position.
2. the detection system of paddling according to claim 1 for vehicle, which is characterized in that the water level sensor is pressure
Differential water level sensor.
3. the detection system of paddling according to claim 1 for vehicle, which is characterized in that the inclination angle obtains module point
Not according to the ESP of the vehicle acceleration of the vehicle in a first direction detected and acceleration in a second direction
Obtain first tilt angle and second tilt angle.
4. the detection system of paddling according to any one of claim 1-3 for vehicle, which is characterized in that described first
Direction is the front-rear direction of the vehicle, and the second direction is the left and right directions of the vehicle, wherein
When first tilt angle is 0, the control module calculates the vehicle according to the following formula and is presently in position
Ponding height:
H=h+ Δ h*cos β+L/2*sin β,
When second tilt angle is 0, the control module calculates the vehicle according to the following formula and is presently in position
Ponding height:
H=h+ Δ h*cos α+l/2*sin α,
When first tilt angle and second tilt angle are not 0, the control module is counted according to the following formula
Calculate the ponding height that the vehicle is presently in position:
Wherein, H is the ponding height, and h is described apart from detected value, and α is first tilt angle, and β inclines for described second
Rake angle, Δ h are first pre-determined distance, and L is the wheelspan of the vehicle, and l is the wheelbase of the vehicle, θ=arctan (l2
+L2)/(2l*cos α), L*cos α=l*cos β.
5. the detection system of paddling according to claim 1 for vehicle, which is characterized in that the control module is also used to
By it is described apart from detected value, first tilt angle, second tilt angle and be calculated the ponding height hair
The in-vehicle multi-media system of the vehicle is given to be shown or be broadcasted.
6. the detection system of paddling according to claim 1 for vehicle, which is characterized in that further include:
Water level switch, the water level switch correspond to the driver's cabin setting of the vehicle, and the water level switch and the vehicle
There is the second pre-determined distance, the water level switch is triggered when touching ponding, and generates triggering letter between cab floor
Number, and the trigger signal is sent to the control module, the control module be also used to according to the trigger signal to
The in-vehicle multi-media system of the vehicle sends warning message to alarm.
7. a kind of vehicle, which is characterized in that including the detection of paddling according to claim 1 to 6 for vehicle
System.
8. a kind of detection method of paddling for vehicle, which comprises the following steps:
Detected by water level sensor when the vehicle is paddled itself between the ponding water surface at a distance from obtain distance detection
Value, wherein the water level sensor is arranged on the vehicle, and has first between level road locating for the vehicle
Pre-determined distance；
The first tilt angle of the vehicle body of the vehicle in a first direction and the second inclination in a second direction are obtained respectively
Angle；
According to first pre-determined distance, it is described apart from detected value, first tilt angle and the second tilt angle meter
Calculate the ponding height that the vehicle is presently in position.
9. the detection method of paddling according to claim 8 for vehicle, which is characterized in that the water level sensor is pressure
Differential water level sensor.
10. the detection method of paddling according to claim 8 for vehicle, which is characterized in that respectively according to the vehicle
The ESP vehicle detected acceleration in a first direction and acceleration in a second direction obtain described first and incline
Rake angle and second tilt angle.
11. being used for the detection method of paddling of vehicle according to any one of claim 8-10, which is characterized in that described the
One direction is the front-rear direction of the vehicle, and the second direction is the left and right directions of the vehicle, wherein
When first tilt angle is 0, the ponding height that the vehicle is presently in position is calculated according to the following formula:
H=h+ Δ h*cos β+L/2*sin β,
When second tilt angle is 0, the ponding height that the vehicle is presently in position is calculated according to the following formula:
H=h+ Δ h*cos α+l/2*sin α,
When first tilt angle and second tilt angle are not 0, the vehicle is calculated according to the following formula and is worked as
The ponding height of preceding present position:
Wherein, H is the ponding height, and h is described apart from detected value, and α is first tilt angle, and β inclines for described second
Rake angle, Δ h are first pre-determined distance, and L is the wheelspan of the vehicle, and l is the wheelbase of the vehicle, θ=arctan (l2
+L2)/(2l*cos α), L*cos α=l*cos β.
12. the detection method of paddling according to claim 8 for vehicle, which is characterized in that also detect the distance
Value, first tilt angle, second tilt angle and the ponding height being calculated are sent to the vehicle
In-vehicle multi-media system is to be shown or be broadcasted.
13. the detection method of paddling according to claim 8 for vehicle, which is characterized in that when the correspondence vehicle
Driver's cabin setting, and the water level switch between the cab floor of the vehicle with the second pre-determined distance touches ponding
When, also warning message is sent to alarm to the in-vehicle multi-media system of the vehicle.
14. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
The detection method of paddling for vehicle as described in any in claim 8-13 is realized when being executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710597251.6A CN109282872A (en) | 2017-07-20 | 2017-07-20 | Vehicle and paddle detection system and method for it |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710597251.6A CN109282872A (en) | 2017-07-20 | 2017-07-20 | Vehicle and paddle detection system and method for it |
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| CN109282872A true CN109282872A (en) | 2019-01-29 |
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| CN201710597251.6A Pending CN109282872A (en) | 2017-07-20 | 2017-07-20 | Vehicle and paddle detection system and method for it |
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| CN111735517A (en) * | 2020-07-13 | 2020-10-02 | 浙江聚励云机械科技有限公司 | Liquid level measuring method |
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