CN112815907B - Vehicle wading monitoring method, device and system, computer equipment and storage medium - Google Patents

Vehicle wading monitoring method, device and system, computer equipment and storage medium Download PDF

Info

Publication number
CN112815907B
CN112815907B CN202110090413.3A CN202110090413A CN112815907B CN 112815907 B CN112815907 B CN 112815907B CN 202110090413 A CN202110090413 A CN 202110090413A CN 112815907 B CN112815907 B CN 112815907B
Authority
CN
China
Prior art keywords
vehicle
coordinate
wading
sensor
water surface
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110090413.3A
Other languages
Chinese (zh)
Other versions
CN112815907A (en
Inventor
谢海明
程勇跃
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Fengzhi Technology Co ltd
Original Assignee
Beijing Fengzhi Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Fengzhi Technology Co ltd filed Critical Beijing Fengzhi Technology Co ltd
Priority to CN202110090413.3A priority Critical patent/CN112815907B/en
Publication of CN112815907A publication Critical patent/CN112815907A/en
Application granted granted Critical
Publication of CN112815907B publication Critical patent/CN112815907B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The application relates to a vehicle wading monitoring method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a vehicle inclination angle, a vehicle identification point coordinate and a sensor ranging water surface distance in the vehicle wading process; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head; calculating to obtain a water surface height coordinate according to the vehicle inclination angle, the sensor mounting position point coordinate, the sensor ground projection point coordinate and the sensor ranging water surface distance; and determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate. By adopting the method, the accuracy of vehicle wading monitoring can be improved.

Description

Vehicle wading monitoring method, device and system, computer equipment and storage medium
Technical Field
The application relates to the technical field of vehicle wading detection, in particular to a vehicle wading monitoring method, device and system, computer equipment and a storage medium.
Background
The vehicle can face various different road conditions in the driving process, especially in rainy season, partial road surface ponding is serious, or when outdoor driving passes through a wading road section, a lot of drivers can not accurately judge the self vehicle state, and do not have the driving evaluation experience, easily lead to the vehicle to flame out, even cause the engine to intake to cause the accident.
However, in the existing early warning system adopted on the vehicle, the wading height of the vehicle at the self-installation position is only acquired by a sensor, various inclination states generated in the driving process of the vehicle are not considered, the wading monitoring is not accurate enough, and the early warning form is single.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle wading monitoring method, apparatus, system, computer device and storage medium for solving the above technical problems.
A vehicle wading monitoring method, the method comprising:
acquiring a vehicle inclination angle, a vehicle identification point coordinate and a sensor ranging water surface distance in the vehicle wading process; the vehicle identification point coordinates comprise a vehicle sensor mounting position point, a sensor ground projection point and ground projection points of two end vertexes of a vehicle head;
calculating to obtain a water surface height coordinate according to the vehicle inclination angle, the sensor mounting position point coordinate, the sensor ground projection point coordinate and the sensor ranging water surface distance;
and determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate.
In one embodiment, the method further comprises:
determining wading risk levels according to wading conditions in the vehicle driving process, and performing step-by-step wading early warning according to the wading risk levels;
when the wading risk level is the first level, carrying out sound early warning through a buzzer and displaying the wading risk level through a display screen to carry out early warning;
and when the wading risk level is in a second level, early warning is carried out by displaying the wading risk level and a preset distress signal is sent.
In one embodiment, the vehicle pitch angle comprises an initial wading pitch angle and a wading process pitch angle; obtain vehicle angle of inclination of vehicle among the vehicle wading process, include:
when the vehicle initially wades, acquiring an initial wading inclination angle of the vehicle through an inclination angle sensor;
when the vehicle wades, acquiring an acceleration value in the vehicle wading process, which is acquired by an acceleration sensor, and determining the vehicle running time according to the acceleration value, the vehicle wading distance and the initial vehicle speed;
and acquiring angular velocity values of the vehicle wading process acquired by a triaxial gyroscope sensor, and obtaining the wading process inclination angle on the basis of the vehicle initial wading inclination angle according to the angular velocity values and the vehicle running time.
In one embodiment, according to the vehicle inclination angle, the first coordinate of the sensor installation position point is subjected to coordinate transformation to obtain the transformed second coordinate, and the third coordinate of the ground projection point is subjected to coordinate transformation to obtain the transformed fourth coordinate; the vehicle inclination angle represents a space coordinate transformation relation between a vehicle dynamic coordinate system and a vehicle reference coordinate system;
determining a cosine value of a first included angle between the ground measurement vector and a vector in the vertical axis direction of the vehicle reference coordinate system according to the ground measurement vector formed between the second coordinate and the fourth coordinate after transformation;
obtaining the vertical distance between the sensor and the water surface according to the cosine value of the first included angle and the distance measuring water surface distance of the sensor;
and obtaining a water surface height coordinate according to the vertical axis coordinate in the second coordinate and the vertical distance from the water surface.
In one embodiment, the determining wading conditions in the driving process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate includes:
according to the vehicle inclination angle, carrying out coordinate transformation on each ground projection point in the ground projection points at the vertexes of the two ends of the vehicle head to obtain transformed vertex ground projection point coordinates;
obtaining the wading height of the vehicle at the deepest wading position according to the water surface height coordinate and the transformed vertex ground projection point coordinate; the wading height of the deepest wading of the vehicle represents the wading condition of the vehicle in the driving process.
A vehicle wading monitoring system, the system comprising:
the inclination angle sensor is used for acquiring the initial wading inclination angle of the vehicle when the vehicle initially wades;
the ultrasonic sensor is used for measuring the distance from the installation position of the sensor to the water surface;
the controller is used for acquiring the vehicle inclination angle, the vehicle identification point coordinate and the sensor ranging water surface distance in the vehicle wading process; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head; according to the vehicle inclination angle, the coordinates of the sensor mounting position points, the coordinates of the sensor ground projection points and the distance of the sensor ranging water surface, and calculating to obtain a water surface height coordinate; and determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate.
In one embodiment, the system further comprises: the device comprises a three-axis gyroscope sensor, an acceleration sensor, a buzzer and a display screen; the three-axis gyroscope sensor is connected with the controller, and the acceleration sensor is connected with the controller;
the acceleration sensor is used for acquiring an acceleration value in the vehicle wading process and sending the acceleration value to the controller when the vehicle wades, and the vehicle running time is determined by the controller according to the acceleration value, the vehicle wading distance and the initial vehicle speed;
the three-axis gyroscope sensor is used for acquiring angular velocity values in the vehicle wading process and sending the angular velocity values to the controller, and the controller is used for obtaining the wading process inclination angle on the basis of the vehicle initial wading inclination angle according to the angular velocity values and the vehicle running duration;
the buzzer is used for carrying out wading risk early warning;
the display screen is used for receiving the signal of the controller and displaying the wading risk level of the vehicle; and the controller is also used for receiving an input configuration instruction and transmitting the configuration instruction to the controller.
A vehicle wading monitoring device, the device comprising:
the acquisition module is used for acquiring a vehicle inclination angle, a vehicle identification point coordinate and a sensor ranging water surface distance in the vehicle wading process; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head;
the calculation module is used for calculating to obtain a water surface height coordinate according to the vehicle inclination angle, the sensor installation position point coordinate, the sensor ground projection point coordinate and the sensor ranging water surface distance;
and the determining module is used for determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring a vehicle inclination angle, a vehicle identification point coordinate and a sensor ranging water surface distance in the vehicle wading process; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head;
calculating to obtain a water surface height coordinate according to the vehicle inclination angle, the sensor mounting position point coordinate, the sensor ground projection point coordinate and the sensor ranging water surface distance;
and determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a vehicle inclination angle, a vehicle identification point coordinate and a sensor ranging water surface distance in the vehicle wading process; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head;
calculating to obtain a water surface height coordinate according to the vehicle inclination angle, the sensor mounting position point coordinate, the sensor ground projection point coordinate and the sensor ranging water surface distance;
and determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate.
According to the vehicle wading monitoring method and device, the computer equipment and the storage medium, the vehicle inclination angle, the vehicle identification point coordinate and the sensor ranging water surface distance in the vehicle wading process are obtained; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head; calculating to obtain a water surface height coordinate according to the vehicle inclination angle, the sensor mounting position point coordinate, the sensor ground projection point coordinate and the sensor ranging water surface distance; and determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate. By adopting the method, the vehicle wading condition is obtained by considering the inclination angle generated in the vehicle (wading) running process and utilizing the relation between the coordinate change and the space distance, and the accuracy of vehicle wading monitoring is improved.
Drawings
FIG. 1 is a schematic diagram of a frame of a vehicle wading monitoring system in one embodiment;
FIG. 2 is a schematic flow chart of a vehicle wading monitoring method according to one embodiment;
FIG. 3 is a schematic top view of a vehicle according to one embodiment;
FIG. 4 is a schematic left side view of a vehicle according to one embodiment;
FIG. 5 is a diagram illustrating the establishment of a reference coordinate system for a vehicle according to one embodiment;
FIG. 6 is a schematic flow chart illustrating a vehicle wading risk level warning step according to an embodiment;
FIG. 7 is a flowchart illustrating a step of updating the tilt angle during wading of the vehicle according to an embodiment;
FIG. 8 is a schematic flow chart diagram illustrating the steps for calculating a water surface height coordinate in one embodiment;
FIG. 9 is a diagram illustrating an exemplary relationship between a reference vehicle coordinate system and a dynamic vehicle coordinate system;
FIG. 10 is a flowchart illustrating steps for determining a vehicle wading condition, according to one embodiment;
FIG. 11 is a block diagram showing the configuration of a wading monitoring device for a vehicle according to an embodiment;
FIG. 12 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The vehicle wading monitoring method provided by the present application may be applied to a controller 130 (may also be referred to as a vehicle-mounted terminal controller) of a vehicle wading monitoring system 100 shown in fig. 1, where the system 100 includes: a tilt sensor 110, an ultrasonic sensor 120 and a controller 130, wherein the controller 130 performs the following steps when implementing the method: acquiring a vehicle inclination angle, a vehicle identification point coordinate and a sensor ranging water surface distance in the vehicle wading process (the sensors involved in the method are all ultrasonic sensors 120); the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head; according to the inclination angle of the vehicle, the coordinates of the mounting position points of the sensors, the coordinates of the ground projection points of the sensors and the distance of the sensors from the water surface, and calculating to obtain the height coordinates of the water surface; and determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate. By adopting the method, the accuracy of vehicle wading monitoring can be improved. Wherein the sensor mentioned in the method step is an ultrasonic sensor 120.
Optionally, an analog-to-digital conversion module may be integrated inside the controller 130 to perform data operation processing on the acquired sensor signal data (for example, tilt sensor signal data, ultrasonic sensor signal data, and the like) and data such as coordinates of each vehicle identification point, that is, the controller 130 itself executes the vehicle wading monitoring method, in addition, a vehicle real-time signal may also be sent to a background management system through a wireless module integrated by the controller 130, and the background management system performs summary statistics and analysis processing on the acquired sensor signal data and data such as coordinates of the vehicle identification points, that is, the background management system performs centralized processing on data information of each vehicle, and this embodiment does not limit the execution subject of the vehicle wading monitoring method.
Optionally, the vehicle wading detection system 100 further includes: triaxial gyroscope sensor, acceleration sensor, bee calling organ and display screen. Wherein, the three-axis gyroscope sensor is connected with the controller 130, and the acceleration sensor is connected with the controller 130; the acceleration sensor is used for acquiring an acceleration value in the vehicle wading process and sending the acceleration value to the controller 130 when the vehicle wades, and the vehicle running time is determined by the controller 130 according to the acceleration value, the vehicle wading distance and the initial vehicle speed; the three-axis gyroscope sensor is used for acquiring angular velocity values in the wading process of the vehicle, sending the angular velocity values to the controller 130, and obtaining the angle of inclination in the wading process through the controller 130 on the basis of the initial wading angle of inclination of the vehicle according to the angular velocity values and the running time of the vehicle; the buzzer is used for carrying out wading risk early warning; and the display screen is used for receiving the signal of the controller 130, displaying the wading risk level of the vehicle, receiving an input configuration instruction and transmitting the configuration instruction to the controller 130.
In one embodiment, as shown in fig. 2, a vehicle wading monitoring method is provided, which is described by taking the method as an example applied to the controller 130 in fig. 1, and includes the following steps:
step 201, acquiring a vehicle inclination angle, a vehicle identification point coordinate and a sensor ranging water surface distance in a vehicle wading process; the vehicle identification point coordinates comprise a vehicle sensor mounting position point, a sensor ground projection point and ground projection points of two end vertexes of a vehicle head.
Wherein, when the vehicle wades into water and travels, its angle can change, and the main change has three kinds: yaw (yaw), pitch (pitch) and roll (roll), the angle of inclination of the vehicle when initially wading may be collected using the vehicle's inclination sensors, including: yaw angle (denoted by β), pitch angle (denoted by α), and roll angle (denoted by γ); in addition, since the tilt sensor is not used to detect the wading distance outside the vehicle, the sensors related to the position, the distance, and the like involved in steps 201 to 203 are all referred to as ultrasonic sensors.
As shown in fig. 3 and 4, fig. 3 is a top view of the vehicle, and fig. 4 is a left view of the vehicle, the ultrasonic sensors are mounted at the rear-view mirrors at the left and right sides of the vehicle (i.e., at the positions of point 2 and point 6 in fig. 3) for measuring the distance from the surface of the ponding water (i.e., the ground when no water exists) at the mounting position. The vehicle identification points of the vehicle include (ultrasonic) sensor ground projection points corresponding to a point 3 (which is a ground projection point of a point 2) and a point 7 (which is a ground projection point of a point 6) in fig. 3, respectively, in addition to the mounting position points of the two ultrasonic sensors on the left and right sides; in addition, the vehicle identification point further includes: the ground projection points (point 1 (left vertex) and point 5 (right vertex)) of the vehicle head two end vertexes are not limited in this embodiment.
Establishing a vehicle reference coordinate system under the condition that the vehicle has no inclination angle, and taking a ground projection point of a middle point of a front axle of the vehicle as a coordinate origin (namely, a point 4 shown in fig. 4) and taking a coordinate axis in the direction of the head of the vehicle as a positive half axis of a horizontal axis (namely, an X axis) of the vehicle reference coordinate system based on the coordinate origin as shown in fig. 5; a coordinate axis which is perpendicular to the direction of the vehicle head and points to the left side direction of the vehicle body from the origin of coordinates is taken as a positive half axis of a longitudinal axis (namely a Y axis) of a vehicle reference coordinate system; based on the coordinate origin, the vertical upward coordinate axis perpendicular to the horizontal and vertical coordinate axes is taken as the positive half axis of the vertical axis (namely Z axis) of the vehicle reference coordinate system.
In implementation, a vehicle-mounted terminal controller (which may be referred to as a controller for short) acquires a vehicle inclination angle, a vehicle identification point coordinate and a sensor ranging water surface distance in a vehicle wading process.
Specifically, the vehicle inclination angle at the time of initial wading of the vehicle is acquired by the inclination angle sensor, that is, the vehicle inclination angles α, β, and γ are acquired. The vehicle identification point coordinates correspond to known coordinates based on a vehicle reference coordinate system, wherein the transverse width of a vehicle head is 2D (known quantity), the length from a vehicle front shaft to a vehicle front end vertex is A (known quantity), the vertical distance between two side rearview mirrors and the ground (namely the installation height of the ultrasonic sensor) in a vehicle static state is H (known quantity), and the distance between the middle point of the vehicle front shaft and the installation position of the sensor in the X-axis direction is B (known quantity): then point 1 coordinates are (a, D, 0), point 2 coordinates are (-B, C, H), point 3 coordinates are (-B, C, 0), point 4 coordinates are (0, 0, 0), point 5 coordinates are (a, -D, 0), point 6 coordinates are (-B, -C, -H), and point 7 coordinates are (-B, -C, 0). Further, since the distance between the sensor mounting position (point 2 or point 6) and the water surface can be acquired by the ultrasonic sensor and the distance changes in response to the change in the vehicle inclination angle, the distance from the water surface to the (ultrasonic) sensor is X.
And 202, calculating to obtain a water surface height coordinate according to the vehicle inclination angle, the sensor installation position point coordinate, the sensor ground projection point coordinate and the sensor ranging water surface distance.
In implementation, the controller calculates the water surface height coordinate according to the vehicle inclination angle, the sensor installation position point coordinate, the sensor ground projection point coordinate and the sensor distance measurement water surface distance.
Specifically, the inclination angle changes during the vehicle movement process, and the distance measured by the corresponding ultrasonic sensor (based on the dynamic coordinate system) changes relative to the reference coordinate system, so that the controller firstly performs coordinate transformation on each vehicle identification point (mainly a sensor mounting position point and a sensor ground projection point) according to the vehicle inclination angle to obtain coordinates of each identification point after coordinate transformation, and can obtain the corresponding relation between the dynamic coordinate system and the vehicle reference coordinate system in the vehicle movement state according to the coordinates of each identification point after the transformation, and eliminate the influence of the inclination angle according to the corresponding relation to obtain the measured distance from the water surface collected by the ultrasonic sensor in the vehicle reference coordinate system, and further can calculate and obtain the water surface height coordinate according to the coordinates of each vehicle identification point after the transformation.
And step 203, determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate.
In implementation, the controller determines the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate. Specifically, the wading condition may be reflected by a position relationship between any one of the vehicle identification points and the water surface. Optionally, the chassis of the vehicle is the lowest position of the vehicle body, and when the vehicle wades in the initial water, the vehicle head two end vertexes of the vehicle on the chassis of the vehicle body are the deepest positions of the initial wading, so that the wading condition of the vehicle can be better reflected, and therefore, the wading condition of the vehicle can be determined according to the wading depth of the point.
In the vehicle wading monitoring method, the vehicle inclination angle, the vehicle identification point coordinate and the sensor ranging water surface distance in the vehicle wading process are obtained; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head; calculating to obtain a water surface height coordinate according to the vehicle inclination angle, the sensor mounting position point coordinate, the sensor ground projection point coordinate and the sensor ranging water surface distance; and determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate. By adopting the method, the vehicle wading condition is obtained by considering the inclination angle generated in the vehicle (wading) running process and utilizing the relation between the coordinate change and the space distance, and the accuracy of vehicle wading monitoring is improved.
In one embodiment, as shown in fig. 6, the method further comprises:
step 601, determining a wading risk grade according to the wading condition in the vehicle driving process, and performing gradual wading early warning according to the wading risk grade.
In implementation, the controller determines the wading risk level according to the wading condition in the vehicle running process, and carries out wading early warning step by step according to the wading risk level.
Specifically, the wading risk grade can be judged through the wading height at the deepest wading position of the vehicle, when the wading height at the deepest wading position reaches a preset first depth threshold value, the wading risk grade is determined to be one grade, when the wading height at the deepest wading position reaches a preset second depth threshold value, the wading risk grade is determined to be two grade, … …, and wading early warning measures of different degrees are taken correspondingly according to different wading risk grades. Optionally, the classification of the wading risk level may be determined according to a large amount of historical data, which is not limited in this embodiment.
And step 602, when the wading risk level is the first level, performing sound early warning through a buzzer and displaying the wading risk level through a display screen to perform early warning.
In implementation, when the wading risk level is one level, the controller sends an early warning signal to the buzzer, the buzzer carries out sound early warning, and meanwhile, the display screen displays early warning information, wherein the early warning information comprises the wading risk level and the like. Further, the early warning information can also be sent to a mobile phone terminal of a corresponding user through the background cloud service to perform early warning notification. Optionally, the early warning measure for each level of wading risk level may have various forms, which is not limited in this embodiment, and in addition, the user may manually release the alarm through the display screen or the mobile phone terminal for the early warning measure for the first several levels of wading risk levels.
And 603, when the wading risk level is in the second level, early warning is carried out by displaying the wading risk level and a preset distress signal is sent.
In implementation, when the wading risk level is of the second level, the wading risk level is displayed through the display screen to perform wading early warning, and meanwhile, according to a preset trigger mechanism, a preset distress signal is sent to a specified receiving device, for example, an alarm distress call is dialed to a public security department. In addition, when the wading risk level is higher, the early warning measure corresponding to the wading risk level cannot be manually removed, and the user can selectively set the early warning measure corresponding to each wading level, which is not limited in this embodiment.
In one embodiment, as shown in figure 7, the vehicle tilt angles include an initial wading tilt angle and a wading process tilt angle; the specific processing procedure of step 201 is as follows:
and step 701, when the vehicle initially wades, acquiring an initial wading inclination angle of the vehicle through an inclination angle sensor.
In implementation, when the vehicle initially wades, the controller obtains the inclination angle of the vehicle during initial wading through the inclination angle sensor. Specifically, the tilt angles for the initial wading of the vehicle may be directly obtained by tilt sensors, i.e., tilt angles α, β, and γ.
Step 702, when the vehicle wades, acquiring an acceleration value in the vehicle wading process, which is acquired by an acceleration sensor, and determining the vehicle running time according to the acceleration value, the vehicle wading distance and the initial vehicle speed.
In implementation, the inclination angle of the vehicle is continuously changed in the vehicle wading process, so the inclination angle of the vehicle needs to be updated in real time, firstly, an acceleration value of the vehicle wading process needs to be acquired through an acceleration sensor, and then the vehicle running time is determined according to the acceleration value and the vehicle wading distance.
For example, if the driving time of the vehicle from the top of the vehicle head (a, 0, 0) to the (ultrasonic) sensor mounting position (for example, the coordinate of point 2 is (-B, C, H)) is calculated, the vehicle initially wades through the water surface I from the top of the vehicle head until the (ultrasonic) sensor mounting position of the vehicle (for example, point 2) drives to the water surface I, it is determined that the distance traveled by wading is a + B, and the acceleration value of the vehicle acquired within the distance is a, then the formula of the driving distance and the acceleration of the corresponding vehicle is:
Figure BDA0002912270910000101
wherein A + B is the vehicle running distance; v 0 Is the vehicle initial speed, is a known quantity; t is a vehicle (wading) running time period, and a is an acceleration of the vehicle.
And 703, acquiring angular velocity values of the vehicle wading process acquired by the triaxial gyroscope sensor, and obtaining the wading process inclination angle on the basis of the vehicle initial wading inclination angle according to the angular velocity values and the vehicle running time.
In implementation, the controller obtains three-dimensional angular velocity values (corresponding to X-axis, Y-axis and Z-axis respectively by using ω) of the three-axis gyroscope sensor during wading of the vehicle x ，ω y And ω z And representing) and obtaining the wading process inclination angle on the basis of the vehicle initial wading inclination angle according to the angular velocity value and the vehicle running duration. The specific calculation formula is as follows:
yaw angle during wading: beta + omega x t(1)
Pitching angle in wading driving process: alpha + omega y t(2)
Roll angle during wading travel: gamma + omega z t(3)
In summary, the inclination angles during the wading driving of the vehicle are updated on the basis of the inclination angles acquired by the inclination angle sensors, and the inclination angle updating formulas in each axis direction of the three-dimensional coordinate system are formulas (1) - (3). The vehicle inclination angles α, β, and γ, appearing hereinafter, are all already ω passed at the corresponding times x ，ω y And ω z For the purpose of simplifying the formula, the updated tilt angles are not repeated in this embodiment, where each tilt angle in the following formula is corresponding to β + ω x t，α+ω y t and gamma + omega z t。
In one embodiment, as shown in fig. 8, the sensor mounting position point coordinates include a first coordinate and a second coordinate; the coordinates of the sensor ground projection point comprise a third coordinate and a fourth coordinate; the specific processing procedure of step 202 is as follows:
step 801, according to the vehicle inclination angle, performing coordinate transformation on a first coordinate of a sensor mounting position point to obtain a transformed second coordinate, and performing coordinate transformation on a third coordinate of a ground projection point to obtain a transformed fourth coordinate; the vehicle inclination angle represents a space coordinate transformation relation between a vehicle dynamic coordinate system and a vehicle reference coordinate system;
as shown in fig. 9, during the running of the vehicle, the vehicle may have an angular change, and the angular change of the vehicle (i.e., the vehicle tilt angle) represents a spatial transformation relationship between a dynamic coordinate system of the vehicle and a reference coordinate system of the vehicle, that is, three angular changes of yaw (yaw), pitch (pitch), and roll (roll) are generated between the two coordinate systems, and each of the angular changes is represented by β, α, and γ, respectively.
In implementation, the controller performs coordinate transformation on a first coordinate of the sensor mounting position point according to the vehicle inclination angle to obtain a transformed second coordinate, and performs coordinate transformation on a third coordinate of the ground projection point corresponding to the sensor mounting position point to obtain a transformed fourth coordinate.
Specifically, taking as an example the sensor mounting position point on the left side of the vehicle (point 2) and the corresponding ground projection point (point 3), the coordinates of point 2 are (-B, C, H) and the coordinates of point 3 are (-B, C, 0).
The corresponding spatial coordinate transformation has the relation:
Figure BDA0002912270910000121
according to the relational expression of the space coordinate transformation, namely the formula (1), the coordinates of the points 2 and 3 are transformed respectively, and the specific process is as follows: the transformed point 2 coordinate is represented as (B) 1 ,C 1 ,H 1 ) Then, the specific point 2 coordinate transformation formula is:
Figure BDA0002912270910000122
for the coordinate values corresponding to the three axes in the point 2 coordinate, the Z-axis coordinate in the point 2 coordinate is taken as an example (other axis coordinate basis), and the transformed Z-axis coordinate is represented by Z 2 The specific values are as follows:
[C(sinβsinαcosγ-cosβsinγ)-B(cosβsinαcosγ+sinβsinγ)+Hcosαcosγ]
similarly, the coordinate transformation process of the point 3 is to perform spatial coordinate transformation on the product of the coordinate corresponding to the point 3 and the relational expression of the spatial coordinate transformation, and obtain the transformed coordinate of the point 3 correspondingly, so this embodiment is not repeated herein.
And step 802, determining a cosine value of a first included angle between the ground measurement vector and a vector in the vertical axis direction of the vehicle reference coordinate system according to the ground measurement vector formed between the transformed second coordinate and the transformed fourth coordinate.
In implementation, the controller is based on the transformed second coordinate point (i.e., (B) 1 ,C 1 ,H 1 ) And a fourth coordinate point (e.g., with (B)) 2 ,C 2 ,H 2 ) Representation) of the earth (for vectors between two points)
Figure BDA0002912270910000123
And expressing), determining a cosine value of a first included angle between the ground measurement vector and a vertical axis direction vector of a vehicle reference coordinate system.
Specifically, a vector may be determined based on the coordinates of point 2 and point 3 in the stationary state of the vehicle
Figure BDA0002912270910000124
Is (0, 0, -H), as can be seen from the above step 801, the coordinates of each vehicle identification point under the vehicle reference coordinates will change during the vehicle driving process, and the vector will be generated
Figure BDA0002912270910000125
The direction of the ultrasonic wave is changed along with the change of the direction of the ultrasonic wave, and the direction is consistent with the signal emission direction of the ultrasonic wave sensor, so that the vector is required to be measured
Figure BDA0002912270910000126
Performing spatial transformation to determine current time vector of vehicle motion
Figure BDA0002912270910000131
There are two methods for vector space transformation, the first is: in step 802, the coordinates of the points 2 and 3 are transformed, and vectors are obtained from the transformed points 2 and 3
Figure BDA0002912270910000132
I.e. the relative quantities
Figure BDA0002912270910000133
Carrying out coordinate transformation; second, direct vector pair
Figure BDA0002912270910000134
Performing coordinate transformation to obtain transformed vector
Figure BDA0002912270910000135
The specific calculation formula is:
Figure BDA0002912270910000136
and then according to the vector obtained after coordinate transformation
Figure BDA0002912270910000137
The ratio of the length of the model to the vector in the Z-axis direction (vehicle reference coordinate system) can be obtained
Figure BDA0002912270910000138
The cosine value of the included angle between the Z axis and the vehicle reference coordinate system is represented by cos ζ, then
Figure BDA0002912270910000139
And 803, obtaining the vertical distance between the sensor and the water surface according to the cosine value of the first included angle and the distance between the sensor and the water surface.
In implementation, the controller obtains the vertical distance from the sensor to the water surface at the current moment according to the first included angle cosine value (cos ζ) and the distance measurement water surface distance of the sensor.
Specifically, the product of the first angle cosine value (cos ζ ═ cos α cos γ) and the distance from the water surface X (known quantity acquired by the sensor) of the sensor obtains the vertical distance from the water surface (i.e., Xcos α cos β) of the sensor in the current vehicle motion state.
And step 804, obtaining a water surface height coordinate according to the vertical axis coordinate in the second coordinate and the vertical distance from the water surface.
In implementation, the controller subtracts the vertical axis coordinate (i.e. the transformed Z-axis coordinate of the point 2 or the transformed Z-axis coordinate of the point 6) in the second coordinate from the obtained vertical distance from the water surface (of the ultrasonic sensor), so as to obtain the water surface height coordinate.
Specifically, assuming that the water surface height coordinate (i.e. the water surface height, which is only a one-dimensional coordinate) is n, taking the Z-axis coordinate of the transformed point 2 obtained in step 801 as an example, the specific calculation process of the water surface height coordinate is as follows:
n＝Z 2 -cosζ*X＝C(sinβsinαcosγ-cosβsinγ)-B(cosβsinαcosγ+sinβsinγ)+(H-X)(cosαcosγ)
optionally, the method for calculating the water surface height coordinate by using the Z-axis coordinate of the sensor installation position point (i.e., point 6) on the right side of the vehicle is the same as that on the left side, and is not described again in this embodiment.
In one embodiment, as shown in fig. 10, the ground projection points of the vertexes of the two ends of the vehicle head in the coordinates of the vehicle identification point are the deepest wading points of the vehicle; the specific processing procedure of step 203 is as follows:
and 1001, performing coordinate transformation on each ground projection point in the ground projection points at the vertexes of the two ends of the vehicle head according to the vehicle inclination angle to obtain transformed vertex ground projection point coordinates.
In implementation, the controller performs coordinate change on each ground projection point in the ground projection points at the vertexes of the two ends of the vehicle head according to the vehicle inclination angle to obtain the transformed vertex ground projection point coordinates.
Because the angle of the vehicle can be changed in the wading driving process, the coordinates of the vertexes of the two ends of the vehicle head at the ground projection points (namely, the point 1 and the point 5) are subjected to coordinate transformation to obtain the real coordinates of the ground projection points in the vehicle motion state, and the space coordinate transformation process of the ground projection point (the point 1) of the vehicle head vertex at the left side of the vehicle is as follows:
Figure BDA0002912270910000141
wherein, the transformed Z-axis coordinate of the point 1 is as follows:
Figure BDA0002912270910000142
similarly, the process after the Z-axis coordinate transformation of the vehicle right side point 5 is as follows:
Figure BDA0002912270910000143
Figure BDA0002912270910000144
step 1002, obtaining the wading height of the vehicle at the deepest wading position according to the water surface height coordinate and the transformed vertex ground projection point coordinate; the wading height of the deepest wading of the vehicle represents the wading condition in the driving process of the vehicle.
The vehicle head two-end vertexes are the positions of the deepest wading positions in the initial wading process of the vehicle body, so that the wading depth of the projection points in the dynamic motion process of the positions can be selected, and the wading condition of the vehicle can be represented.
In implementation, the controller obtains the wading height of the deepest wading of the vehicle according to the water surface height coordinate n and the transformed vertex ground projection point coordinate (point 1 or point 5).
Specifically, the water level height coordinate n is subtracted from the Z-axis coordinate of the vehicle left vertex projection point (point 1) to obtain the corresponding wading height of the point:
n-Z 1 ＝(C-D)(sinβsinαcosγ-cosβsinγ)-(B+A)(cosβsinαcosγ+sinβsinγ)+(H-X)(cosαcosγ)
optionally, subtracting the Z-axis coordinate of the projected point (point 5) of the left vertex of the vehicle from the water surface height coordinate n to obtain the corresponding wading height of the point as follows:
n-Z 5 ＝(C+D)(sinβsinαcosγ-cosβsinγ)-(B+A)(cosβsinαcosγ+sinβsinγ)+(H-X)(cosαcosγ)
further, the wading heights calculated by the point 1 and the point 5 can be compared, and the point with the high wading height is selected to serve as a judgment basis of the vehicle wading risk level to reflect the vehicle wading situation.
In addition, the wading height of the deepest wading position of the vehicle can be obtained through calculation to represent the wading condition of the vehicle, the wading heights of other points in the vehicle identification points can be calculated to display the wading condition of the whole vehicle, for example, the wading height corresponding to each position coordinate point is obtained through calculation by using a plurality of position coordinates such as projection coordinates of the sensor installation position points and water surface height coordinates, and the wading height is further used as a judgment basis of the wading risk level of the vehicle to reflect the wading condition of the whole vehicle. Therefore, the present embodiment is not limited to the wading height measuring point in the wading situation of the vehicle.
It should be understood that, although the steps in the flowcharts of fig. 2, 6 to 8, and 10 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2, 6 to 8, and 10 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the steps or stages in other steps.
In one embodiment, as shown in fig. 1 above, there is provided a vehicle wading monitoring system 100 comprising:
the inclination angle sensor 110 is used for acquiring an initial wading inclination angle of the vehicle when the vehicle initially wades;
the ultrasonic sensor 120 is used for measuring the distance from the installation position of the sensor to the water surface;
the controller 130 is used for acquiring a vehicle inclination angle, a vehicle identification point coordinate and a sensor ranging water surface distance in the vehicle wading process; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head; according to the vehicle inclination angle, the coordinates of the sensor mounting position points, the coordinates of the sensor ground projection points and the distance from the water surface measured by the sensor, calculating to obtain the height coordinates of the water surface; and determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate.
Optionally, the controller 130 is further configured to send a trigger warning signal to an unused warning device according to a preset wading risk level according to the wading condition.
In one embodiment, the system 100 further comprises: the device comprises a three-axis gyroscope sensor, an acceleration sensor, a buzzer and a display screen; the three-axis gyroscope sensor is connected with the controller 130, and the acceleration sensor is connected with the controller 130;
the acceleration sensor is used for acquiring an acceleration value in the vehicle wading process and sending the acceleration value to the controller when the vehicle wades, and the vehicle running time is determined by the controller according to the acceleration value, the vehicle wading distance and the initial vehicle speed;
the three-axis gyroscope sensor is used for acquiring angular velocity values in the vehicle wading process and sending the angular velocity values to the controller 130, and the controller 130 obtains the wading process inclination angle on the basis of the vehicle initial wading inclination angle according to the angular velocity values and the vehicle running duration;
the buzzer is used for carrying out wading risk early warning;
the display screen is used for receiving the signal of the controller 130 and displaying the wading risk level of the vehicle; and is also used to receive input configuration instructions and transmit the configuration instructions to the controller 130.
Optionally, the controller 130 may further be in communication connection with a background management system through a wireless module, and transmit the vehicle wading condition data to the background management system, and the background management system stores the vehicle wading condition data. In addition, the background management system can also be bound with network equipment such as a mobile phone terminal of a user, and the interaction between the background management system and the mobile phone terminal of the user is realized by mutually sending network requests through the association of corresponding accounts.
In one embodiment, as shown in fig. 11, there is provided a vehicle wading monitoring device 1100, including: an acquisition module 1110, a calculation module 1120, and a determination module 1130, wherein:
the acquiring module 1110 is used for acquiring a vehicle inclination angle, a vehicle identification point coordinate and a sensor ranging water surface distance in a vehicle wading process; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head;
the calculation module 1120 is used for calculating to obtain a water surface height coordinate according to the vehicle inclination angle, the coordinates of the sensor installation position points, the coordinates of the sensor ground projection points and the distance of the sensor ranging water surface;
the determining module 1130 is configured to determine a wading condition during a vehicle driving process according to the water surface height coordinate and the vehicle identification point coordinate.
In one embodiment, the apparatus 1100 further comprises:
the determining module is used for determining a wading risk grade according to a wading condition in the vehicle driving process and carrying out step-by-step wading early warning according to the wading risk grade;
the first trigger module is used for carrying out sound early warning through a buzzer and displaying the wading risk grade through a display screen to carry out early warning when the wading risk grade is one grade;
and the second trigger module is used for carrying out early warning and sending a preset distress signal by displaying the wading risk grade when the wading risk grade is of the second grade.
In one embodiment, the vehicle tilt angles comprise an initial wading tilt angle and a wading procedure tilt angle; the obtaining module is specifically used for obtaining the initial wading inclination angle of the vehicle through the inclination angle sensor when the vehicle initially wades;
when a vehicle wades, acquiring an acceleration value in the wading process of the vehicle, which is acquired by an acceleration sensor, and determining the running time of the vehicle according to the acceleration value, the wading distance of the vehicle and the initial speed;
and acquiring angular velocity values of the vehicle wading process acquired by the triaxial gyroscope sensor, and obtaining the wading process inclination angle on the basis of the vehicle initial wading inclination angle according to the angular velocity values and the vehicle running time.
In one embodiment, the sensor mounting location point coordinates include a first coordinate and a second coordinate; the coordinates of the sensor ground projection point comprise a third coordinate and a fourth coordinate; the calculation module 1120 is specifically configured to perform coordinate transformation on a first coordinate of the sensor installation position point to obtain a transformed second coordinate and perform coordinate transformation on a third coordinate of the ground projection point to obtain a transformed fourth coordinate according to the vehicle inclination angle; the vehicle inclination angle represents a space coordinate transformation relation between a vehicle dynamic coordinate system and a vehicle reference coordinate system;
determining a cosine value of a first included angle between the ground measurement vector and a vector in the vertical axis direction of the vehicle reference coordinate system according to the ground measurement vector formed between the transformed second coordinate and the transformed fourth coordinate;
obtaining the vertical distance between the sensor and the water surface according to the distance between the cosine value of the first included angle and the distance measuring water surface of the sensor;
and obtaining a water surface height coordinate according to the vertical axis coordinate in the second coordinate and the vertical distance from the water surface.
In one embodiment, the ground projection points of the vertexes of the two ends of the vehicle head in the vehicle identification point coordinates are the deepest wading points of the vehicle; the determining module 1130 is specifically configured to perform coordinate transformation on each ground projection point of the ground projection points at the vertexes of the two ends of the vehicle head according to the vehicle inclination angle to obtain transformed vertex ground projection point coordinates;
obtaining the wading height of the vehicle at the deepest wading position according to the water surface height coordinate and the transformed vertex ground projection point coordinate; the wading height of the deepest wading of the vehicle represents the wading condition in the driving process of the vehicle.
For specific limitations of the vehicle wading monitoring device, reference may be made to the above limitations of the vehicle wading monitoring method, which are not described herein again. All modules in the vehicle wading monitoring device can be completely or partially realized through software, hardware and a combination of the software and the hardware. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 12. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a vehicle wading monitoring method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 12 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring a vehicle inclination angle, a vehicle identification point coordinate and a sensor ranging water surface distance in the vehicle wading process; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head;
calculating to obtain a water surface height coordinate according to the vehicle inclination angle, the sensor mounting position point coordinate, the sensor ground projection point coordinate and the sensor ranging water surface distance;
and determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining a wading risk grade according to a wading condition in the driving process of the vehicle, and carrying out step-by-step wading early warning according to the wading risk grade;
when the wading risk level is one level, carrying out sound early warning through a buzzer and displaying the wading risk level through a display screen to carry out early warning;
and when the wading risk level is in the second level, early warning is carried out by displaying the wading risk level and a preset distress signal is sent.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
when the vehicle initially wades, acquiring an initial wading inclination angle of the vehicle through an inclination angle sensor;
when a vehicle wades, acquiring an acceleration value in the wading process of the vehicle, which is acquired by an acceleration sensor, and determining the running time of the vehicle according to the acceleration value, the wading distance of the vehicle and the initial speed;
and acquiring angular velocity values of the vehicle wading process acquired by the triaxial gyroscope sensor, and obtaining the wading process inclination angle on the basis of the vehicle initial wading inclination angle according to the angular velocity values and the vehicle running time.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
according to the vehicle inclination angle, carrying out coordinate transformation on a first coordinate of a sensor mounting position point to obtain a transformed second coordinate, and carrying out coordinate transformation on a third coordinate of a ground projection point to obtain a transformed fourth coordinate; the vehicle inclination angle represents a space coordinate transformation relation between a vehicle dynamic coordinate system and a vehicle reference coordinate system;
determining a cosine value of a first included angle between the ground measurement vector and a vector in the vertical axis direction of the vehicle reference coordinate system according to the ground measurement vector formed between the transformed second coordinate and the transformed fourth coordinate;
obtaining the vertical distance between the sensor and the water surface according to the distance between the cosine value of the first included angle and the distance measuring water surface of the sensor;
and obtaining a water surface height coordinate according to the vertical axis coordinate in the second coordinate and the vertical distance from the water surface.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
according to the vehicle inclination angle, carrying out coordinate transformation on each ground projection point in the ground projection points at the vertexes of the two ends of the vehicle head to obtain transformed vertex ground projection point coordinates;
obtaining the wading height of the vehicle at the deepest wading position according to the water surface height coordinate and the transformed vertex ground projection point coordinate; the wading height of the deepest wading of the vehicle represents the wading condition in the driving process of the vehicle.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a vehicle inclination angle, a vehicle identification point coordinate and a sensor ranging water surface distance in the vehicle wading process; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head;
calculating to obtain a water surface height coordinate according to the vehicle inclination angle, the sensor mounting position point coordinate, the sensor ground projection point coordinate and the sensor ranging water surface distance;
and determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a wading risk grade according to a wading condition in the driving process of the vehicle, and carrying out step-by-step wading early warning according to the wading risk grade;
when the wading risk level is one level, carrying out sound early warning through a buzzer and displaying the wading risk level through a display screen to carry out early warning;
and when the wading risk level is in the second level, early warning is carried out by displaying the wading risk level and a preset distress signal is sent.
In one embodiment, the computer program when executed by the processor further performs the steps of:
when the vehicle initially wades, acquiring an initial wading inclination angle of the vehicle through an inclination angle sensor;
when a vehicle wades, acquiring an acceleration value in the wading process of the vehicle, which is acquired by an acceleration sensor, and determining the running time of the vehicle according to the acceleration value, the wading distance of the vehicle and the initial speed;
and acquiring angular velocity values of the vehicle wading process acquired by the triaxial gyroscope sensor, and obtaining the wading process inclination angle on the basis of the vehicle initial wading inclination angle according to the angular velocity values and the vehicle running time.
In one embodiment, the computer program when executed by the processor further performs the steps of:
according to the vehicle inclination angle, carrying out coordinate transformation on a first coordinate of the sensor mounting position point to obtain a transformed second coordinate, and carrying out coordinate transformation on a third coordinate of the ground projection point to obtain a transformed fourth coordinate; the vehicle inclination angle represents a space coordinate transformation relation between a vehicle dynamic coordinate system and a vehicle reference coordinate system;
determining a cosine value of a first included angle between the ground measurement vector and a vector in the vertical axis direction of the vehicle reference coordinate system according to the ground measurement vector formed between the transformed second coordinate and the transformed fourth coordinate;
obtaining the vertical distance between the sensor and the water surface according to the distance between the cosine value of the first included angle and the distance measuring water surface of the sensor;
and obtaining a water surface height coordinate according to the vertical axis coordinate in the second coordinate and the vertical distance from the water surface.
In one embodiment, the computer program when executed by the processor further performs the steps of:
according to the vehicle inclination angle, carrying out coordinate transformation on each ground projection point in the ground projection points at the vertexes of the two ends of the vehicle head to obtain transformed vertex ground projection point coordinates;
obtaining the wading height of the vehicle at the deepest wading position according to the water surface height coordinate and the transformed vertex ground projection point coordinate; the wading height of the deepest wading of the vehicle represents the wading condition in the driving process of the vehicle.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A vehicle wading monitoring method, characterized in that the method comprises:
acquiring a vehicle inclination angle, a vehicle identification point coordinate and a sensor ranging water surface distance in the vehicle wading process; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head;
calculating to obtain a water surface height coordinate according to the vehicle inclination angle, the sensor mounting position point coordinate, the sensor ground projection point coordinate and the sensor ranging water surface distance;
according to the water surface height coordinate and the vehicle identification point coordinate, determining a wading condition in the vehicle running process;
the coordinates of the sensor mounting position point comprise a first coordinate and a second coordinate; the coordinates of the sensor ground projection point comprise a third coordinate and a fourth coordinate; according to the vehicle inclination angle, the sensor installation position point coordinate, the sensor ground projection point coordinate and the sensor range finding water surface distance, calculate and obtain the water surface height coordinate, include:
according to the vehicle inclination angle, carrying out coordinate transformation on the first coordinate of the sensor installation position point to obtain a transformed second coordinate, and carrying out coordinate transformation on the third coordinate of the ground projection point to obtain a transformed fourth coordinate; the vehicle inclination angle represents a space coordinate transformation relation between a vehicle dynamic coordinate system and a vehicle reference coordinate system;
determining a cosine value of a first included angle between the ground measurement vector and a vector in the vertical axis direction of the vehicle reference coordinate system according to the ground measurement vector formed between the second coordinate and the fourth coordinate after transformation;
obtaining the vertical distance between the sensor and the water surface according to the cosine value of the first included angle and the distance measuring water surface distance of the sensor;
and obtaining a water surface height coordinate according to the vertical axis coordinate in the second coordinate and the vertical distance from the water surface.
2. The method of claim 1, further comprising:
determining wading risk levels according to wading conditions in the vehicle driving process, and performing step-by-step wading early warning according to the wading risk levels;
when the wading risk level is the first level, carrying out sound early warning through a buzzer and displaying the wading risk level through a display screen to carry out early warning;
and when the wading risk level is in the second stage, early warning is carried out by displaying the wading risk level and a preset distress signal is sent.
3. The method of claim 1, wherein the vehicle tilt angles include an initial wading tilt angle and a wading procedure tilt angle; obtain vehicle angle of inclination of vehicle among the vehicle wading process, include:
when the vehicle initially wades, acquiring an initial wading inclination angle of the vehicle through an inclination angle sensor;
when the vehicle wades, acquiring an acceleration value in the vehicle wading process, which is acquired by an acceleration sensor, and determining the vehicle running time according to the acceleration value, the vehicle wading distance and the initial vehicle speed;
and acquiring angular velocity values of the vehicle wading process acquired by a triaxial gyroscope sensor, and obtaining the wading process inclination angle on the basis of the vehicle initial wading inclination angle according to the angular velocity values and the vehicle running time.
4. The method according to claim 1, wherein ground projection points of vertexes of two ends of the vehicle head in the vehicle identification point coordinates are the deepest wading points of the vehicle; the step of determining the wading condition in the running process of the vehicle according to the water surface height coordinate and the vehicle identification point coordinate comprises the following steps:
according to the vehicle inclination angle, carrying out coordinate transformation on each ground projection point in the ground projection points at the vertexes of the two ends of the vehicle head to obtain transformed vertex ground projection point coordinates;
obtaining the wading height of the vehicle at the deepest wading position according to the water surface height coordinate and the transformed vertex ground projection point coordinate; the wading height of the deepest wading of the vehicle represents the wading condition in the driving process of the vehicle.
5. A vehicle wading monitoring system, the system comprising:
the inclination angle sensor is used for acquiring the initial wading inclination angle of the vehicle when the vehicle initially wades;
the ultrasonic sensor is used for measuring the distance from the installation position of the sensor to the water surface;
the controller is used for acquiring the vehicle inclination angle, the vehicle identification point coordinate and the sensor ranging water surface distance in the vehicle wading process; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head; according to the vehicle inclination angle, the coordinates of the sensor mounting position points, the coordinates of the sensor ground projection points and the distance of the sensor ranging water surface, and calculating to obtain a water surface height coordinate; according to the water surface height coordinate and the vehicle identification point coordinate, determining a wading condition in the vehicle running process; the coordinates of the sensor mounting position point comprise a first coordinate and a second coordinate; the coordinates of the sensor ground projection point comprise a third coordinate and a fourth coordinate;
the controller is further used for carrying out coordinate transformation on the first coordinate of the sensor installation position point to obtain a transformed second coordinate and carrying out coordinate transformation on the third coordinate of the ground projection point to obtain a transformed fourth coordinate according to the vehicle inclination angle; the vehicle inclination angle represents a space coordinate transformation relation between a vehicle dynamic coordinate system and a vehicle reference coordinate system; determining a cosine value of a first included angle between the ground measurement vector and a vector in the vertical axis direction of the vehicle reference coordinate system according to the ground measurement vector formed between the second coordinate and the fourth coordinate after transformation; obtaining the vertical distance between the sensor and the water surface according to the cosine value of the first included angle and the distance measuring water surface distance of the sensor; and obtaining a water surface height coordinate according to the vertical axis coordinate in the second coordinate and the vertical distance from the water surface.
6. The system of claim 5, further comprising: the device comprises a three-axis gyroscope sensor, an acceleration sensor, a buzzer and a display screen; the three-axis gyroscope sensor is connected with the controller, and the acceleration sensor is connected with the controller;
the acceleration sensor is used for acquiring an acceleration value in a vehicle wading process and sending the acceleration value to the controller when the vehicle wades, and the vehicle running time is determined through the controller according to the acceleration value, the vehicle wading distance and the initial vehicle speed;
the three-axis gyroscope sensor is used for acquiring angular velocity values in the vehicle wading process and sending the angular velocity values to the controller, and the controller is used for obtaining the wading process inclination angle on the basis of the vehicle initial wading inclination angle according to the angular velocity values and the vehicle running duration;
the buzzer is used for carrying out wading risk early warning;
the display screen is used for receiving the signal of the controller and displaying the wading risk level of the vehicle; and the controller is also used for receiving an input configuration instruction and transmitting the configuration instruction to the controller.
7. A vehicle wading monitoring device, the device comprising:
the acquisition module is used for acquiring the vehicle inclination angle, the vehicle identification point coordinate and the sensor ranging water surface distance in the vehicle wading process; the vehicle identification point coordinates comprise vehicle sensor mounting position points, sensor ground projection points and ground projection points at the top points of two ends of a vehicle head;
the calculation module is used for calculating to obtain a water surface height coordinate according to the vehicle inclination angle, the sensor installation position point coordinate, the sensor ground projection point coordinate and the sensor ranging water surface distance;
the determining module is used for determining the wading condition in the vehicle running process according to the water surface height coordinate and the vehicle identification point coordinate;
the coordinates of the sensor mounting position point comprise a first coordinate and a second coordinate; the coordinates of the sensor ground projection point comprise a third coordinate and a fourth coordinate; the calculation module is specifically configured to perform coordinate transformation on the first coordinate of the sensor mounting position point to obtain a transformed second coordinate and perform coordinate transformation on the third coordinate of the ground projection point to obtain a transformed fourth coordinate according to the vehicle inclination angle; the vehicle inclination angle represents a space coordinate transformation relation between a vehicle dynamic coordinate system and a vehicle reference coordinate system;
determining a cosine value of a first included angle between the ground measurement vector and a vector in the vertical axis direction of the vehicle reference coordinate system according to the ground measurement vector formed between the second coordinate and the fourth coordinate after transformation;
obtaining the vertical distance between the sensor and the water surface according to the cosine value of the first included angle and the distance measuring water surface distance of the sensor;
and obtaining a water surface height coordinate according to the vertical axis coordinate in the second coordinate and the vertical distance from the water surface.
8. The apparatus of claim 7, further comprising:
the determining module is used for determining wading risk levels according to wading conditions in the vehicle driving process and performing wading early warning step by step according to the wading risk levels;
the first triggering module is used for carrying out sound early warning through a buzzer and displaying the wading risk grade through a display screen to carry out early warning when the wading risk grade is first grade;
and the second trigger module is used for carrying out early warning and sending a preset distress signal by displaying the wading risk grade when the wading risk grade is in a second grade.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 4.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
CN202110090413.3A 2021-01-22 2021-01-22 Vehicle wading monitoring method, device and system, computer equipment and storage medium Active CN112815907B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110090413.3A CN112815907B (en) 2021-01-22 2021-01-22 Vehicle wading monitoring method, device and system, computer equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110090413.3A CN112815907B (en) 2021-01-22 2021-01-22 Vehicle wading monitoring method, device and system, computer equipment and storage medium

Publications (2)

Publication Number Publication Date
CN112815907A CN112815907A (en) 2021-05-18
CN112815907B true CN112815907B (en) 2022-08-12

Family

ID=75858962

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110090413.3A Active CN112815907B (en) 2021-01-22 2021-01-22 Vehicle wading monitoring method, device and system, computer equipment and storage medium

Country Status (1)

Country Link
CN (1) CN112815907B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113470216A (en) * 2021-06-24 2021-10-01 东风汽车集团股份有限公司 Vehicle information acquisition method, device and system and electronic equipment
CN114643951B (en) * 2021-08-11 2023-03-14 长城汽车股份有限公司 Vehicle wading prompting method and device, control device, storage medium and vehicle
CN114485622A (en) * 2022-02-09 2022-05-13 国科星图(深圳)数字技术产业研发中心有限公司 Visual safety monitoring method for dam reservoir
CN114683794B (en) * 2022-04-07 2023-12-26 华人运通(上海)新能源驱动技术有限公司 Wading control method, device, equipment and storage medium for vehicle

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GR1006588B (en) * 2008-10-20 2009-11-05 Παναγιωτης Αναγνωστοπουλος Method of construction of an amphibious vehicle, travelling over irregular terrain and water.
CN108151824B (en) * 2016-12-05 2019-11-08 比亚迪股份有限公司 Water level recognition methods and system based on vehicle-mounted panoramic image
CN108973893B (en) * 2017-05-31 2021-06-11 长城汽车股份有限公司 Vehicle wading detection method and system and vehicle
CN109282872A (en) * 2017-07-20 2019-01-29 比亚迪股份有限公司 Vehicle and paddle detection system and method for it
CN107886043B (en) * 2017-07-20 2022-04-01 吉林大学 Vision-aware anti-collision early warning system and method for forward-looking vehicles and pedestrians of automobile

Also Published As

Publication number Publication date
CN112815907A (en) 2021-05-18

Similar Documents

Publication Publication Date Title
CN112815907B (en) Vehicle wading monitoring method, device and system, computer equipment and storage medium
US10260892B2 (en) Data structure of environment map, environment map preparing system and method, and environment map updating system and method
US20220138896A1 (en) Systems and methods for positioning
CN104641394B (en) Image processing apparatus and image processing method
JP7337208B2 (en) Road surface unevenness detection method, device, electronic device, storage medium, program, and vehicle
US9251587B2 (en) Motion estimation utilizing range detection-enhanced visual odometry
CN106030667B (en) Vehicle running state monitoring arrangement
JP5269024B2 (en) Road surface state estimation device and road surface state estimation method
JP7232437B2 (en) WORK VEHICLE DISPLAY SYSTEM AND GENERATION METHOD
JP2023153955A (en) Map making device, method for control, program, and storage medium
WO2018221455A1 (en) Update device, control method, program, and storage medium
JP2017087997A (en) Wheel slip angle estimation device and method
CN103544485B (en) Driver recognition method and device based on intelligent terminal
CN109416884A (en) Identification region estimating device, identification region presumption method and identification region program for estimating
JP2024056032A (en) Data structure, storage medium and storage device
CN114322856B (en) Mining area pavement evenness detection method, device, storage medium and equipment
CN105759078A (en) Triaxial self calibration method and device for vehicle-mounted acceleration sensor
CN113537606A (en) Accident prediction method, accident prediction device and computer-readable storage medium
JP3794988B2 (en) Surface shape analysis method
WO2019188886A1 (en) Terminal device, information processing method, and storage medium
JP2568109B2 (en) Terrain information display device
WO2021100762A1 (en) Rollover risk presentation device and rollover risk presentation method
JP2018112051A (en) Control system of work machine, work machine, control method of work machine, and navigation controller
JP2018194417A (en) Position estimation device, mobile device
CN115366600A (en) Vehicle control method, device, computer equipment and computer program product

Legal Events

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