CN113879311A - Automobile wading early warning device and control method thereof - Google Patents
Automobile wading early warning device and control method thereof Download PDFInfo
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- CN113879311A CN113879311A CN202111105963.4A CN202111105963A CN113879311A CN 113879311 A CN113879311 A CN 113879311A CN 202111105963 A CN202111105963 A CN 202111105963A CN 113879311 A CN113879311 A CN 113879311A
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- wading
- level sensor
- signal processor
- liquid level
- vehicle
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- 238000000034 method Methods 0.000 title claims description 14
- 239000007788 liquid Substances 0.000 claims abstract description 85
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 27
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 241000976416 Isatis tinctoria subsp. canescens Species 0.000 claims description 18
- 206010014357 Electric shock Diseases 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 description 2
- 238000007654 immersion Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000001010 compromised effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
Abstract
The invention discloses an automobile wading early warning device, which comprises a wading liquid level sensor, a CAN bus, a front camera, a video signal processor, a wading signal processor and a power assembly controller, wherein the wading signal processor and the power assembly controller are in signal connection with the CAN bus through lines, the video signal processor is in signal connection with the wading liquid level sensor through a line, the wading liquid level sensor is in signal connection with the wading signal processor through a line, the front camera is arranged at the front end of an automobile, the automobile wading monitoring system has the advantages that road condition information in front of an automobile CAN be monitored, the video signal processor CAN select to wake up the wading liquid level sensor according to monitoring information of the front camera, the wading liquid level sensor CAN transmit detected water level information to the wading signal processor, and the wading signal processor CAN transmit the wading water level information to the central control display and the power assembly controller through the CAN bus. The invention can monitor the water level of the passing automobile, and ensures the safety of the automobile and the driver.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an automobile wading early warning device and a control method thereof.
Background
When a vehicle runs on a water accumulation road, a driver can hardly judge whether the vehicle can smoothly pass through a front water area through subjective judgment, and the driver often has two difficulties in advancing and retreating. When the vehicle enters a deep water area by wrong judgment, the vehicle is easy to flameout, even the engine enters water, and the engine is damaged; under severe conditions, the life and property safety of the members may also be compromised. For an electric automobile, a high-voltage battery is generally arranged at the lower part of an automobile chassis, and the ground clearance is small; when the automobile wades, the high-voltage battery is easy to leak or damage, and the life safety of surrounding pedestrians is threatened.
The prior art has certain technical defects. Firstly, the use frequency of a wading scene is not considered to be low, the power consumption of the liquid level sensor is high after long-term work, the loss is large, the service life is short, the activation condition of the wading early warning device is designed, and the system can be in a non-working state if not necessary. And secondly, the power control right is not forcibly cut off for the wading early warning device. When the driver does not notice the early warning information or the prompting device fails, wrong behavior is generated, and serious consequences occur.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an automobile wading early warning device and a control method thereof, wherein whether the wading early warning device is started or not can be judged according to the specific automobile condition in front of the automobile, the current wading condition of the automobile is judged according to the signal of the wading early warning device and is prompted to a driver, when the wading of the automobile is deep and the engine is possibly influenced to fail, a power system can be forcibly closed, the automobile is flamed out, and the safety of the automobile and the driver is ensured.
In order to achieve the purpose, the invention adopts the technical scheme that:
an automobile wading early warning device comprises a wading liquid level sensor, a CAN bus, a front camera, a video signal processor, a wading signal processor and a power assembly controller, the wading signal processor and the power assembly controller are in signal connection with the CAN bus through lines, the video signal processor is in signal connection with the wading liquid level sensor through a circuit, the wading liquid level sensor is in signal connection with the wading signal processor through a circuit, the front camera is arranged at the front end of the automobile, the road condition information in front of the automobile can be monitored, the video signal processor can select to awaken the wading liquid level sensor according to the monitoring information of the front camera, the wading liquid level sensor can transmit the water level information detected by the wading liquid level sensor to the wading signal processor, the wading signal processor CAN transmit wading water level information to the central control display and the power assembly controller through the CAN bus.
Furthermore, the wading liquid level sensor is a static pressure type liquid level sensor, the wading liquid level sensor is fixedly installed on the bottom surface of the automobile chassis, the wading liquid level sensor can output different voltage values to the wading signal processor according to different pressures sensed by different wading depths, and the wading signal processor can prompt a driver of wading parts with corresponding depths through the central control display according to different voltage values.
The control method of the automobile wading early warning device comprises the following steps:
s1: the front camera monitors road condition information in the driving process of the vehicle and transmits the monitored video information to the video signal processor;
s2: the video signal processor receives video information collected by the front camera and analyzes and processes the video information, and when the video signal processor judges that wading can happen in front of the vehicle according to the video information collected by the front camera, the video signal processor wakes up the wading liquid level sensor, and the wading liquid level sensor starts to work in a powered-on mode;
s3: after the wading liquid level sensor starts to work, when a vehicle runs to a wading area, the wading liquid level sensor senses different water pressures according to different wading depths, converts the water pressures at different depths into voltages and transmits the voltages to the wading signal processor;
s4: the wading signal processor converts the voltage value transmitted by the wading liquid level sensor into a corresponding wading depth, correspondingly converts the wading depth into a component which possibly wades on the vehicle body, and prompts the risk of the component which possibly wades on the vehicle body on a central control display to a driver through a CAN bus;
s5: when the wading signal processor converts the voltage value transmitted by the wading liquid level sensor into the corresponding wading depth to reach the depth of the vehicle air inlet in the S4, the wading signal processor transmits the information to the power assembly controller through the CAN bus to control the power assembly controller to forcibly close the power system.
Further, in the step S3, the output voltage of the wading level sensor is directly proportional to the wading depth of the wading level sensor, and when the wading depth of the wading level sensor is 0cm, the output voltage of the wading level sensor is 0V; when the wading depth of the wading liquid level sensor is 10cm, the output voltage of the wading liquid level sensor is 10V.
Further, in the step S4, when the output voltage of the wading level sensor is 0V to 1V, the wading signal processor determines that the wading depth of the vehicle is 0cm to 10cm at the time, the vehicle wades slightly, but the water level does not enter the cockpit; when the output voltage of the wading liquid level sensor is 1V-3V, the wading signal processor judges that the wading depth of the vehicle is 10cm-30cm at the moment, the vehicle wades slightly, the water level enters a driving cabin, and the vehicle has the risk of water immersion; when the output voltage of the wading liquid level sensor is 3V-5V, the wading signal processor judges that the wading depth of the vehicle is 30cm-50cm at the moment, the vehicle wades moderately, the relay box is immersed, and the vehicle has an electric shock risk; when the output voltage of the wading liquid level sensor is 5V-9V, the wading signal processor judges that the wading depth of the vehicle is 50cm-90cm at the moment, the vehicle wades heavily, the relay box is soaked, the electric power steering motor is soaked, and the vehicle has electric shock and steering failure risks; when the output voltage of the wading liquid level sensor is more than 9V, the wading signal processor judges that the wading depth of the vehicle is more than 90cm at the moment, the vehicle wades seriously, the air inlet is soaked, the engine has failure risk, the wading signal processor controls the power assembly controller to forcibly close the power system through the CAN bus, and the vehicle is flameout.
According to the invention, whether wading risk exists when the vehicle continues to run is judged by the video signal processor according to the video information collected by the front camera, and when the wading risk exists, the wading liquid level sensor is turned on by the video signal processor, otherwise, the wading liquid level sensor is in a dormant state, so that the working loss of the wading liquid level sensor can be reduced, the service life of the wading liquid level sensor is prolonged, and the loss of electric energy when the wading liquid level sensor does not work necessarily is also reduced; the wading signal processor CAN correspond to the wading position of the vehicle body piece according to the voltage value transmitted by the wading liquid level sensor, and transmits the voltage value to the central control display through the CAN bus to prompt the risk to the driver.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention;
FIG. 2 is a flow chart of the operation of the apparatus of the present invention;
FIG. 3 is a table showing the relationship between wading depth and output voltage of the wading level sensor according to the present invention;
FIG. 4 is a table showing the relationship between the output voltage of the wading level sensor and the wading body member in the wading signal processor according to the present invention.
In the figure:
1. wading liquid level sensor, 2, CAN bus, 3, preceding camera, 4, video signal processor, 5, wading signal processor, 6, power assembly controller, 7, well accuse display.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An automobile wading early warning device comprises a wading liquid level sensor 1, a CAN bus 2, a front camera 3, a video signal processor 4, a wading signal processor 5 and a power assembly controller 6, wherein the wading signal processor 5 and the power assembly controller 6 are in signal connection with the CAN bus 2 through circuits, the video signal processor 4 is in signal connection with the wading liquid level sensor 1 through circuits, the wading liquid level sensor 1 is in signal connection with the wading signal processor 5 through circuits, the front camera 3 is arranged at the front end of an automobile and CAN monitor road condition information in front of the automobile, the video signal processor 4 CAN select to wake up the wading liquid level sensor 1 according to the monitoring information of the front camera, the wading liquid level sensor 1 CAN transmit the detected water level information to the wading signal processor 5, the wading signal processor 5 CAN transmit wading water level information to the central control display 7 and the power assembly controller 6 through the CAN bus 2; the wading liquid level sensor 1 is a static pressure type liquid level sensor, the wading liquid level sensor 1 is fixedly installed on the bottom surface of an automobile chassis, the wading liquid level sensor 1 can output different voltage values to the wading signal processor 5 according to different pressures sensed by different wading depths, and the wading signal processor 5 can prompt a driver of wading parts with corresponding depths through the central control display 7 according to different voltage values.
The control method of the automobile wading early warning device comprises the following steps:
s1: the front camera 3 monitors road condition information in the driving process of the vehicle and transmits the monitored video information to the video signal processor 4;
s2: the video signal processor 4 receives video information collected by the front camera 3 and analyzes and processes the video information, when the video signal processor 4 judges that wading happens in front of the vehicle according to the video information collected by the front camera 3, the video signal processor 4 wakes up the wading liquid level sensor 1, and the wading liquid level sensor 1 starts to work in a power-on mode;
s3: after the wading liquid level sensor 1 starts to work, when a vehicle runs to a wading area, the wading liquid level sensor 1 senses different water pressures according to different wading depths, converts the water pressures of different depths into voltages and transmits the voltages to the wading signal processor 5;
s4: the wading signal processor 5 converts the voltage value transmitted by the wading liquid level sensor 1 into a corresponding wading depth, correspondingly converts the wading depth into a component which is possibly waded on the vehicle body, and prompts the risk of the component which is possibly waded on the vehicle body to a driver on the central control display 7 through the CAN bus 2;
s5: when the wading signal processor 5 converts the voltage value transmitted by the wading liquid level sensor 1 into the corresponding wading depth to reach the depth of the vehicle air inlet in the step S4, the wading signal processor 5 transmits the information to the power assembly controller 6 through the CAN bus 2, and the power assembly controller 6 is controlled to forcibly close the power system.
In the step S3, the output voltage of the wading level sensor 1 is in direct proportion to the wading depth of the wading level sensor 1, and when the wading depth of the wading level sensor 1 is 0cm, the output voltage of the wading level sensor 1 is 0V; when the wading depth of the wading liquid level sensor 1 is 10cm, the output voltage of the wading liquid level sensor 1 is 10V.
In the step S4, when the output voltage of the wading liquid level sensor 1 is 0V to 1V, the wading signal processor 5 determines that the wading depth of the vehicle is 0cm to 10cm at the time, the vehicle wades slightly, but the water level does not enter the cockpit; when the output voltage of the wading liquid level sensor 1 is 1V-3V, the wading signal processor 5 judges that the wading depth of the vehicle is 10cm-30cm at the moment, the vehicle wades slightly, the water level enters a driving cabin, and the vehicle has the risk of water immersion; when the output voltage of the wading liquid level sensor 1 is 3V-5V, the wading signal processor 5 judges that the wading depth of the vehicle is 30cm-50cm at the moment, the vehicle wades moderately, the relay box is soaked, and the vehicle has an electric shock risk; when the output voltage of the wading liquid level sensor 1 is 5V-9V, the wading signal processor 5 judges that the wading depth of the vehicle is 50cm-90cm at the moment, the vehicle wades heavily, the relay box is soaked, the electric power steering motor is soaked, and the vehicle has electric shock and steering failure risks; when the output voltage of the wading liquid level sensor 1 is more than 9V, the wading signal processor 5 judges that the wading depth of the vehicle is more than 90cm at the moment, the vehicle wades seriously, the air inlet is soaked, the engine has failure risk, the wading signal processor 5 controls the power assembly controller 6 to forcibly close the power system through the CAN bus 2, and the vehicle is flameout.
According to the invention, whether the wading risk exists when the vehicle continues to run is judged by the video signal processor 4 according to the video information collected by the front camera 3, when the wading risk exists, the wading liquid level sensor 1 is turned on by the video signal processor 4, otherwise, the wading liquid level sensor 1 is in a dormant state, so that the working loss of the wading liquid level sensor 1 can be reduced, the service life of the wading liquid level sensor 1 is prolonged, and the loss of electric energy when the wading liquid level sensor 1 does not work necessarily is also reduced; the wading signal processor 5 CAN correspond to the wading position of the vehicle body part according to the voltage value transmitted by the wading liquid level sensor 1, and transmits the voltage value to the central control display 7 through the CAN bus 2 to prompt the risk to the driver.
Claims (5)
1. An automobile wading early warning device comprises a wading liquid level sensor (1), a CAN bus (2), a front camera (3), a video signal processor (4), a wading signal processor (5) and a power assembly controller (6), and is characterized in that the wading signal processor (5) and the power assembly controller (6) are in signal connection with the CAN bus (2) through circuits, the video signal processor (4) is in signal connection with the wading liquid level sensor (1) through circuits, the wading liquid level sensor (1) is in signal connection with the wading signal processor (5) through circuits, the front camera (3) is arranged at the front end of an automobile and CAN monitor road condition information in front of the automobile, the video signal processor (4) CAN select to wake up the wading liquid level sensor (1) according to monitoring information of the front camera, the wading liquid level sensor (1) CAN transmit the water level information detected by the wading liquid level sensor to the wading signal processor (5), and the wading signal processor (5) CAN transmit the wading water level information to the central control display (7) and the power assembly controller (6) through the CAN bus (2).
2. The automobile wading early warning device according to claim 1, wherein the wading liquid level sensor (1) is a static pressure type liquid level sensor, the wading liquid level sensor (1) is fixedly installed on the bottom surface of an automobile chassis, the wading liquid level sensor (1) can output different voltage values to the wading signal processor (5) according to different pressures sensed by different wading depths, and the wading signal processor (5) can prompt a driver of a wading component with a corresponding depth through the central control display (7) according to different voltage values.
3. A control method of the automobile wading warning device according to claim 2, characterized by comprising the steps of:
s1: the front camera (3) monitors road condition information in the driving process of the vehicle and transmits the monitored video information to the video signal processor (4);
s2: the video signal processor (4) receives video information collected by the front camera (3), analyzes and processes the video information, and when the video signal processor (4) judges that wading happens in front of the vehicle according to the video information collected by the front camera (3), the video signal processor (4) wakes up the wading liquid level sensor (1), and the wading liquid level sensor (1) starts to work in an electrified mode;
s3: after the wading liquid level sensor (1) starts to work, when a vehicle runs to a wading area, the wading liquid level sensor (1) senses different water pressures according to different wading depths, converts the water pressures at different depths into voltages and transmits the voltages to the wading signal processor (5);
s4: the wading signal processor (5) converts voltage values transmitted by the wading liquid level sensor (1) into corresponding wading depths, correspondingly converts the wading depths into components which are possibly waded on a vehicle body, and prompts risks to a driver through a CAN bus (2) by the components which are possibly waded on the vehicle body on a central control display (7);
s5: when the wading signal processor (5) converts the voltage value transmitted by the wading liquid level sensor (1) into the corresponding wading depth to reach the depth of the vehicle air inlet in the S4, the wading signal processor (5) transmits the information to the power assembly controller (6) through the CAN bus (2) to control the power assembly controller (6) to forcibly close the power system.
4. The control method of the automobile wading warning device according to claim 3, wherein in the step S3, the output voltage of the wading level sensor (1) is proportional to the wading depth of the wading level sensor (1), and when the wading depth of the wading level sensor (1) is 0cm, the output voltage of the wading level sensor (1) is 0V; when the wading depth of the wading liquid level sensor (1) is 10cm, the output voltage of the wading liquid level sensor (1) is 10V.
5. The automobile wading early warning device according to claim 4, wherein in step S4, when the output voltage of the wading level sensor (1) is 0V-1V, the wading signal processor (5) determines that the wading depth of the vehicle is 0cm-10cm at the time, the vehicle wades slightly, but the water level does not enter the cockpit; when the output voltage of the wading liquid level sensor (1) is 1V-3V, the wading signal processor (5) judges that the wading depth of the vehicle is 10cm-30cm at the moment, the vehicle wades slightly, the water level enters a driving cabin, and the vehicle has the risk of flooding; when the output voltage of the wading liquid level sensor (1) is 3V-5V, the wading signal processor (5) judges that the wading depth of the vehicle is 30cm-50cm at the moment, the vehicle wades moderately, the relay box is immersed, and the vehicle has electric shock risk; when the output voltage of the wading liquid level sensor (1) is 5V-9V, the wading signal processor (5) judges that the wading depth of the vehicle is 50cm-90cm at the moment, the vehicle wades heavily, the relay box is soaked, the electric power steering motor is soaked, and the vehicle has electric shock and steering failure risks; when the output voltage of the wading liquid level sensor (1) is more than 9V, the wading signal processor (5) judges that the wading depth of the vehicle is more than 90cm at the moment, the vehicle wades seriously, the air inlet is soaked, the engine has failure risk, the wading signal processor (5) controls the power assembly controller (6) to forcibly close the power system through the CAN bus (2), and the vehicle is flamed out.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111105963.4A CN113879311A (en) | 2021-09-22 | 2021-09-22 | Automobile wading early warning device and control method thereof |
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| CN202111105963.4A CN113879311A (en) | 2021-09-22 | 2021-09-22 | Automobile wading early warning device and control method thereof |
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| CN113879311A true CN113879311A (en) | 2022-01-04 |
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| CN109677323A (en) * | 2019-01-07 | 2019-04-26 | 安徽理工大学 | A kind of fuel vehicle is paddled early warning system and method |
| CN112937486A (en) * | 2021-03-16 | 2021-06-11 | 吉林大学 | Vehicle-mounted online monitoring and driving assistance system and method for road accumulated water |
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2021
- 2021-09-22 CN CN202111105963.4A patent/CN113879311A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20140085066A1 (en) * | 2010-12-15 | 2014-03-27 | Jaguar Land Rover Limited | Wading vehicle water level display |
| GB201219266D0 (en) * | 2011-10-27 | 2012-12-12 | Land Rover Uk Ltd | Wading appaatus and method |
| CN202694583U (en) * | 2012-06-01 | 2013-01-23 | 北京水信物联科技股份有限公司 | Road safety passage electronic early warning apparatus |
| CN205098045U (en) * | 2015-10-29 | 2016-03-23 | 浙江吉利汽车研究院有限公司 | Vehicle is paddled and is warned and protection system |
| CN107705605A (en) * | 2017-09-29 | 2018-02-16 | 北京新能源汽车股份有限公司 | Electric vehicle immersion method for early warning and device |
| CN109677323A (en) * | 2019-01-07 | 2019-04-26 | 安徽理工大学 | A kind of fuel vehicle is paddled early warning system and method |
| CN112937486A (en) * | 2021-03-16 | 2021-06-11 | 吉林大学 | Vehicle-mounted online monitoring and driving assistance system and method for road accumulated water |
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