CN114954232A - Vehicle wading alarm method and device based on radar detection - Google Patents

Vehicle wading alarm method and device based on radar detection Download PDF

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Publication number
CN114954232A
CN114954232A CN202210614983.2A CN202210614983A CN114954232A CN 114954232 A CN114954232 A CN 114954232A CN 202210614983 A CN202210614983 A CN 202210614983A CN 114954232 A CN114954232 A CN 114954232A
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vehicle
wading
depth
height
radar
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CN114954232B (en
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宋升弘
涂宁宁
赵根根
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Lantu Automobile Technology Co Ltd
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Lantu Automobile Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The application discloses a vehicle wading alarm method and device based on radar detection, wherein the hanging height from a radar mounting position collected by a radar to the ground or the water surface is obtained; determining whether the vehicle wades into the water or not according to the acquired change rate of the flying height; after wading is determined, determining the maximum wading depth of the vehicle; judging whether the maximum wading depth exceeds a preset depth threshold value; judging whether the vehicle is in a wading misjudgment state or not; according to the two judgment results, whether a wading alarm is sent or not is determined, whether the vehicle wades or not can be judged when foreign matter interference occurs on the water surface, the condition of the wading error alarm is avoided by combining the wading depth misjudgment condition and the comprehensive analysis of the wading depth, the accuracy of the vehicle wading alarm is improved, the intelligent degree of detection and alarm when the vehicle wades is improved, the condition that the user wades deeply to cause danger during driving is avoided, and more guarantees are provided for safe traveling.

Description

Vehicle wading alarm method and device based on radar detection
Technical Field
The application relates to the technical field of vehicle wading detection, in particular to a vehicle wading alarm method and device based on radar detection.
Background
With the widespread use of automobiles, the application scenarios of vehicles have become diverse, and in the application scenarios of vehicles, the vehicle wading scenarios have become more normalized. The vehicle wading scene mainly comprises water accumulation road sections formed when vehicles drive into low-lying positions of roads, such as tunnels, underpass of overpasses and water pits formed on non-hardened road surfaces. When the vehicle wades, often can't discern the depth of wading of vehicle through the naked eye, if wading the water level too high can lead to the inside into water of vehicle, cause inside electronic system of vehicle and spare part to damage.
In the related art, a laser range finder is additionally arranged on a vehicle roof, and the distance from the vehicle roof to the water surface is measured and calculated through the laser range finder to determine the wading depth of a vehicle, but the laser range finder has high data sampling frequency and large data volume, so that the energy consumption is too high during ranging, and the data processing load is too high. When the vehicle travels on uneven road surface, the measuring error of laser range finder can obviously increase to there is the foreign matter when the surface of water appears, when the surface of water refraction or the condition of surface of water reflection, also can lead to the measuring error increase of laser range finder.
Therefore, how to accurately determine the wading condition of the vehicle when the vehicle wades into the water and send the wading prompt to the driver is an urgent technical problem to be solved.
Disclosure of Invention
The main purpose of the application is to provide a vehicle wading warning method, device and equipment based on radar detection, and the method, device and equipment aim to solve the technical problems that the wading condition of a vehicle is accurately determined when the vehicle wades, and wading reminding is sent to a driver.
In a first aspect, the present application provides a method for vehicle wading warning based on radar detection, the method comprising the steps of:
acquiring the suspended height from the radar mounting position collected by the radar to the ground or the water surface;
determining whether the vehicle wades into the water or not according to the acquired change rate of the flying height;
after wading is determined, determining the maximum wading depth of the vehicle;
judging whether the maximum wading depth exceeds a preset depth threshold value;
judging whether the vehicle is in a wading misjudgment state or not;
and determining whether to send out a wading alarm or not according to the two judgment results.
In some embodiments, the acquiring the flying height of the radar installation position collected by the vehicle-mounted radar to the ground or the water surface further includes the following steps:
filtering a suspension height which is larger than a preset highest height threshold value and is between a preset lowest height threshold value and a calibrated height, wherein the highest height threshold value is the height from a radar to the ground when a vehicle tire is just off the ground, the lowest height threshold value is the height from the radar to the ground when the vehicle is fully loaded, the calibrated height is the height from the radar to the ground when the vehicle is unloaded, and the calibrated height is smaller than the highest height threshold value and larger than the lowest height threshold value;
carrying out PID adjustment on the filtered suspension height to obtain a real suspension height;
determining the confidence coefficient of the real flying height according to the mapping relation between the acceleration of the vehicle in the vertical direction corresponding to the filtered flying height and the confidence coefficient of the corresponding real flying height, wherein the acceleration is negatively related to the confidence coefficient of the real flying height;
and filtering the real flying height with the confidence coefficient lower than a preset confidence coefficient threshold value to obtain the credible flying height.
In some embodiments, the determining whether the vehicle is wading according to the obtained change rate of the flying height specifically includes the following steps:
determining the change rate of the flying height acquired in a plurality of different time intervals;
judging whether the absolute value of the change rate of the previous time interval in any two adjacent time intervals is greater than or equal to the absolute value of the change rate of the next time interval;
and if the probability greater than or equal to the sum is higher than the set probability threshold value in the judgment result, determining that the vehicle wades, otherwise, determining that the vehicle does not wade.
In some embodiments, if the vehicle is in the wading misjudgment state and the vehicle is in a pit passing state, the step of judging whether the vehicle is in the wading misjudgment state specifically includes the following steps:
and determining whether the product of the change rates of the suspended heights in the three continuous time intervals is smaller than a preset value, if so, determining that the vehicle is in a state of passing through the pothole, otherwise, determining that the vehicle is not in a state of passing through the pothole.
In some embodiments, if the vehicle is in the wading misjudgment state and includes that the vehicle is in a wading road state, the step of determining whether the vehicle is in the wading misjudgment state specifically includes the following steps:
if the wading alarm is stopped after the vehicle sends the wading alarm, determining whether the duration of stopping the wading alarm is longer than or equal to the preset time;
if so, the vehicle is in the state of leaving the wading road, and if not, the vehicle is not in the state of leaving the wading road.
In some embodiments, the determining whether to issue the wading alarm according to the two determination results specifically includes the following steps;
if the maximum wading depth does not exceed a preset depth threshold value, no wading alarm is sent out;
if the maximum wading depth exceeds a preset depth threshold value and the vehicle is in a wading misjudgment state, no wading alarm is sent out;
and if the maximum wading depth exceeds a preset depth threshold value and the vehicle is not in a wading misjudgment state, sending a wading alarm.
In some embodiments, the depth threshold includes a first depth threshold and a second depth threshold, and if the maximum wading depth exceeds a preset depth threshold and the vehicle is not in a wading misjudgment state, the sending of the wading alarm specifically includes the following steps:
when the maximum wading depth exceeds the first depth threshold and does not exceed the second depth threshold, and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to flash;
when the maximum wading depth exceeds the second depth threshold value and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to be normally on and controlling the vehicle to send out voice alarm reminding;
wherein the first depth threshold is a height of a vehicle tire thickness and the second depth threshold is a height of a vehicle tire axial center.
In some embodiments of the present invention, the first and second,
when the vehicle wades forwards or backwards, the specific step of determining the maximum wading depth of the vehicle comprises:
determining a first detection wading depth according to the calibration height and the obtained suspension height;
establishing a first right-angle triangular model according to the first detection water-involved depth and a vehicle front-angle or back-angle to obtain a first reference distance, wherein the first reference distance comprises a side length between the vehicle front-angle or back-angle and a right angle in the first right-angle triangular model;
adding the first reference distance and the distance from the front end of the vehicle head to the radar to obtain a first added distance;
establishing a second right-angle triangular model according to the first addition distance and the front rake angle or the back rake angle of the vehicle to obtain a determined second reference distance, wherein the second reference distance is the side, opposite to the front rake angle or the back rake angle of the vehicle, in the second right-angle triangular model;
and calculating the maximum wading depth of the front and the rear of the vehicle through a first trigonometric function according to the front rake angle or the rear rake angle of the vehicle, the first reference distance and the second reference distance.
In some embodiments of the present invention, the first and second,
when the vehicle wades left or right, the specific step of determining the maximum wading depth of the vehicle includes:
determining a second detection wading depth according to the calibration height and the acquired suspension height;
establishing a third right-angle triangular model according to the second detection wading depth and the left dip angle or the right dip angle of the vehicle to determine a second addition distance, wherein the second addition distance is the addition distance of a third reference distance and the distance between the radar and the vehicle body, and the second addition distance is the side length between the left dip angle or the right dip angle of the vehicle and the right angle in the third right-angle triangular model;
establishing a fourth right-angle triangular model according to the third reference distance and the left inclination angle or the right inclination angle of the vehicle to obtain a fourth reference distance, wherein the fourth reference distance is the side, opposite to the left inclination angle or the right inclination angle of the vehicle, in the fourth right-angle triangular model;
and determining the left and right maximum wading depth of the vehicle through a second trigonometric function according to the left or right inclination angle of the vehicle, the third reference distance and the fourth reference distance.
In a second aspect, the present application also provides a vehicle wading warning device based on radar detection, the device including:
the acquisition module is used for acquiring the suspension height from the radar mounting position collected by the radar to the ground or the water surface; the first determining module is used for determining whether the vehicle wades into water according to the acquired change rate of the flying height;
the second determination module is used for determining the maximum wading depth of the vehicle after wading is determined;
the first judgment module is used for judging whether the maximum wading depth exceeds a preset depth threshold value or not;
the second judgment module is used for judging whether the vehicle is in a wading misjudgment state or not;
and the third determining module is used for determining whether to send out a wading alarm or not according to the two judgment results.
The application provides a vehicle wading alarm method and device based on radar detection, wherein the hanging height from a radar mounting position collected by a radar to the ground or the water surface is obtained; determining whether the vehicle wades into the water or not according to the acquired change rate of the flying height; after wading is determined, determining the maximum wading depth of the vehicle; judging whether the maximum wading depth exceeds a preset depth threshold value; judging whether the vehicle is in a wading misjudgment state or not; according to the two judgment results, whether a wading alarm is sent or not is determined, whether the vehicle wades or not can be judged when foreign matter interference occurs on the water surface, the condition of the wading error alarm is avoided by combining the wading depth misjudgment condition and the wading depth comprehensive analysis, the accuracy of the vehicle wading alarm is improved, the intelligent degree of detection and alarm when the vehicle wades is improved, the condition that danger occurs due to deep wading when a user drives the vehicle is avoided, and more guarantees are provided for safe traveling.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a vehicle wading warning method based on radar detection according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a radar installation location;
FIG. 3 is a schematic illustration of flying height filtration;
FIG. 4 is a schematic diagram illustrating changes in flying height of a vehicle during wading;
figure 5 is a schematic illustration of a vehicle wading forward;
FIG. 6 is a schematic diagram of a right-angled triangle model when the vehicle is wading forward;
FIG. 7 is a schematic illustration of a vehicle wading right;
FIG. 8 is a schematic diagram of a right triangle model when the vehicle wades right;
FIG. 9 is a schematic diagram illustrating the change of the flying height of the vehicle in the state of passing through the pothole;
FIG. 10 is a schematic diagram showing the change of the flying height of a vehicle when the vehicle leaves a wading road;
FIG. 11 is a schematic block diagram of a vehicle water-strike warning system based on radar detection;
fig. 12 is a schematic block diagram of a vehicle wading warning device based on radar detection according to an embodiment of the present application;
the implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 application.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
The embodiment of the application provides a vehicle wading alarm method and device based on radar detection
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a vehicle wading warning method based on radar detection according to an embodiment of the present disclosure.
As shown in fig. 1, the method includes steps S1 through S6.
And step S1, acquiring the suspended height from the radar mounting position collected by the radar to the ground or the water surface.
It should be noted that, as shown in fig. 2, the radar in the present application is two ultrasonic radars respectively installed at two rear-view mirrors of a vehicle, and the radar may be composed of a radar bracket and a radar wire harness, and a radar probe of the radar bracket is installed in a forward direction, that is, the radar probe is perpendicular to the ground. The height between the radar installation position and the ground is the calibration height acquired by the radar; when the vehicle does not wade, the distance collected by the radar is the suspended height from the radar mounting position to the ground; when the vehicle wades, the distance collected by the radar is the suspended height from the radar mounting position to the water surface.
As a preferred embodiment, as shown in fig. 3, after the flying height collected by the radar is obtained, the flying height is filtered and PID-adjusted to obtain a true and credible flying height, which is closer to the true situation.
Specifically, a maximum height threshold value hind Distance High and a minimum height threshold value hind Distance Low are preset. The highest height threshold value is the height of the radar from the ground when the vehicle tire is just off the ground, and the lowest height threshold value is the height of the radar from the ground when the vehicle is fully loaded (generally-0.1 m of the calibrated height).
The unsettled height that is greater than preset highest altitude threshold value is filtered, because in theory when the vehicle normally travels, the unsettled height that the radar gathered can not be greater than the height of radar distance ground when the vehicle tire just liftoff, and the unsettled height that is greater than the highest altitude threshold value when gathering then indicates that the radar probably breaks down, and the data of gathering appear wrongly, consequently will be greater than the unsettled height of preset highest altitude threshold value and filter, guarantee the authenticity of the unsettled height of gathering.
Optionally, can also filter the unsettled height between predetermined minimum altitude threshold value and demarcation height, because when the vehicle was fully loaded, the height of vehicle reduced and lead to the distance of radar and ground to shrink, and the unsettled height numerical value of nature radar collection can diminish, so filter the unsettled height between minimum altitude threshold value and the demarcation height for when judging the wading depth according to the unsettled height of collection, judge more accurately.
Furthermore, when PID adjustment is carried out on the filtered suspended height, the P coefficient in the PID is set to be 0, and the I coefficient and the D coefficient are set according to a certain proportion, so that the output suspended height is real and can be attached to the real situation.
In some embodiments, the flying height collected by the radar is obtained, and at the same time, the acceleration in the vertical direction of the vehicle (Z-axis acceleration) is obtained, which can reflect the bumping degree of the vehicle, and each flying height has the acceleration in the vertical direction of the vehicle corresponding to the flying height. The filtered flying height and the acceleration of the vehicle in the vertical direction have a corresponding relation, and the real flying height after PID adjustment and the filtered flying height also have a corresponding relation, so that the mapping relation between the acceleration of the vehicle in the vertical direction and the confidence coefficient of the real flying height can be set, and the speed is inversely related to the confidence coefficient of the real flying height. Because the acceleration of vehicle vertical direction is big, it indicates probably that the vehicle is gone on uneven road surface, and the unsettled height that leads to the radar collection changes, and not because wade, consequently need filter the data of gathering when the vehicle jolts. And determining the confidence coefficient of the real suspension height according to the mapping relation between the acceleration of the vehicle in the vertical direction corresponding to the filtered suspension height and the confidence coefficient of the corresponding real suspension height, and filtering the real suspension height with the confidence coefficient lower than a preset set confidence coefficient threshold value to obtain the real and credible suspension height.
And step S2, determining whether the vehicle wades into the water according to the acquired change rate of the flying height.
Specifically, the change rate of the flying height acquired in a plurality of different time intervals is determined, and then whether the absolute value of the change rate of the previous time interval in any two adjacent time intervals is greater than or equal to the absolute value of the change rate of the next time interval is judged. Judging multiple groups of data, and if the probability of more than or equal to the multiple groups of judgment results is higher than a set probability threshold value, determining that the vehicle wades; and if the probability of more than or equal to the set probability threshold value in the plurality of groups of judgment results is lower than the set probability threshold value, determining that the vehicle is not wading.
In a preferred embodiment, the change of the flying height collected by the radar with time can be regarded as a curve as shown in fig. 4, and the vehicle speed v 1 And the non-static state of the vehicle is ensured to take values for a plurality of positions only once. The vehicle itself may be shaken when actually wading, or cause the water surface to wave, and the flying height detected by the radar is shown in fig. 4. Determining a plurality of time intervals Δ t in each case 1 、Δt 2 ……Δt i The flying height k. Comparison of Deltat 1 Absolute value of rate of change | k 1 I and Δ t 2 Absolute value of rate of change | k 2 Whether | is | k 1 |≥|k 2 The same way for several sets of comparisons, e.g. | k 2 I and I k 3 |、|k 3 I and I k 4 |……|k i -1| and | k i L. And if the comparison result of more than 80% of the adjacent two time intervals in the plurality of groups is that the absolute value of the change rate of the previous time interval is larger than the absolute value of the change rate of the next time interval, namely the result expectation ξ is more than or equal to 0.8, the vehicle is considered to wade, otherwise, the vehicle is determined not to wade.
And step S3, after wading is determined, determining the maximum wading depth of the vehicle.
And when the vehicle inclines like water, subtracting the acquired flying height from the calibrated height to obtain the detected wading depth. Because the detection wading depth is the wading depth of the vehicle at the radar mounting position, the maximum wading depth can far exceed the detection wading depth when the vehicle inclines, and the maximum wading depth also needs to be calculated.
As shown in fig. 5 and 6, the present embodiment describes a method for determining the maximum wading depth when the vehicle is tilted forward, and the method for determining the maximum wading depth when the vehicle is tilted forward is the same as the method for determining the maximum wading depth when the vehicle is tilted backward. When the vehicle wades forward, the step of determining the maximum wading depth of the vehicle specifically comprises the following steps:
and subtracting the acquired suspended height from the calibration height to obtain a first detection wading depth: Hs-Ha is Dd1, wherein Hs is the calibrated height, Ha is the suspended height, and Dd1 is the first detected wading depth.
And establishing a first right-angle triangular model according to the first detection wading depth Dd1 and the front rake angle alpha of the vehicle. In the first right-angle triangular model, the first detection wading depth Dd1 and the first reference distance X1 are taken as two right-angle sides, and the first reference distance X1 is the side length between the front angle and the right angle of the vehicle in the first right-angle triangular model. The first reference distance X1 is Dd1/tan α, which can be derived from the trigonometric function tan α Dd 1/X1.
And adding the first reference distance X1 and the distance Lv1 from the front end of the vehicle head to the radar to obtain a first added distance.
And establishing a second right-angle triangular model according to the first addition distance and the vehicle front rake angle alpha. The first added distance and the second reference distance Y1 are used as right-angled sides in the second triangular right-angle model, wherein the second reference distance Y1 is the side of the second right-angle triangular model opposite to the vehicle front rake angle α.
The second reference distance is obtained according to the trigonometric function tan α ═ Y1/(Lv1+ X1):
Y1＝(Lv+Dd1/tanα)*tanα。
then, the maximum wading depth Dw1 can be calculated according to the maximum wading depth formula Dw1 ═ ((Lv1+ Dd1/tan α) × cos α.
Further, as shown in fig. 7 and 8, the method for determining the maximum wading depth of the vehicle when the vehicle wades leftwards is deepest, the method for determining the maximum wading depth of the vehicle when the vehicle leans rightwards is deepest, and the method for determining the maximum wading depth of the vehicle when the vehicle wades leftwards and rightwards is the same is explained in the present application, and the method for determining the maximum wading depth of the vehicle specifically includes the following steps:
subtracting the acquired suspended height from the calibration height to obtain a second detection wading depth when the vehicle inclines rightwards: Hs-Ha ═ Dd2, where Dd2 is the second detection height.
And establishing a third right-angle triangular model according to the second detected wading depth Dd2 and the right inclination angle beta of the vehicle.
And in the third right-angle triangular model, the second detected wading depth Dd2 and the second addition distance are used as right-angle sides, wherein the second addition distance is the addition distance between the third reference distance X2 and the distance between the radar and the vehicle body (namely the distance of the extension of the radar probe) Lv2, and the second addition distance is the side length between the right inclination angle beta and the right angle of the vehicle in the second right-angle triangular model. The third reference distance X2 is calculated according to the trigonometric function formula tan β -Dd 2/(X + Lv2) X as Dd2/tan β -Lv 2.
And establishing a fourth right-angle triangular model according to the third reference distance X2 and the right inclination angle beta of the vehicle. The third reference distance X2 and the fourth reference distance Y2 are used as right-angled sides in the fourth right-angled triangle model, wherein the fourth reference distance Y2 is the side of the fourth right-angled triangle model opposite to the right inclination angle of the vehicle. The fourth reference distance Y2 ═ (Dd2/tan β -Lv2) × (tan β) was calculated according to trigonometric function corporation.
Then, calculating the maximum wading depth when the vehicle inclines right according to a second trigonometric function formula: and Dw2 ═(Dd2/tan beta-Lv 2) tan beta) cos alpha, wherein Dw2 is the maximum wading depth of the vehicle at right-leaning.
And step S4, judging whether the maximum wading depth exceeds a preset depth threshold value.
In some embodiments, two wading depth thresholds are preset, the first wading depth threshold being the height of the vehicle tyre thickness, which indicates that the vehicle is slightly wading; the second wading depth threshold is the height of the vehicle tire axle center, which indicates that the vehicle wades deeper. The wading depth threshold value can be preset according to the structural model of the vehicle and the like, and can also be preset by a driver, and the wading depth threshold value is not specifically limited by the application.
And step S5, judging whether the vehicle is in a wading misjudgment state.
The wading misjudgment state mainly comprises two states, namely a state that the vehicle passes through a pit hole and a state that the vehicle leaves a wading road.
When the vehicle is in a state of passing through a pothole, the flying height collected by the radar is as shown in fig. 9. The concrete steps of determining whether the vehicle is in the state of passing through the pothole include: and multiplying the change rates of the suspended heights in any three continuous time intervals, judging whether the multiplication result is smaller than a preset value, if so, determining that the vehicle is in a pit-passing state, and otherwise, determining that the vehicle is not in the pit-passing state.
In one embodiment, three consecutive intervals Δ t i1 、Δt i2 And Δ t i3 The change rate of the suspension height is K 1 、K 2 And K 3 If K is 1 *K 2 *K 3 If the number is less than 0, determining that the vehicle passes through the pit, and if K is 1 *K 2 *K 3 And if the vehicle speed is more than or equal to 0, determining that the vehicle does not pass through the tunnel.
The maximum wading depth of the vehicle can be suddenly and temporarily deepened when the vehicle passes through the pot hole, when the vehicle leaves water, the front wheels move upwards, the tail of the vehicle can be inclined backwards, the maximum wading depth of the tail of the vehicle is suddenly and temporarily deepened, and under the conditions, wading of the vehicle exceeds a threshold value, but the actual wading state of the vehicle cannot be represented. Therefore, these states are regarded as misjudgment states and excluded when a wading alarm is performed.
When the vehicle leaves the road, the flying height collected by the radar is shown in figure 10, and the vehicle speed v 1 And the non-static state of the vehicle is ensured to take values for a plurality of positions only once. The concrete steps of determining whether the vehicle is in the state of leaving the wading road comprise:
if the vehicle stops wading after sending the wading alarm, determining whether the duration of stopping the wading alarm is greater than or equal to the preset time; if the duration of stopping wading alarm is longer than the preset time, the vehicle is considered to be in the state of leaving the wading road, and if not, the vehicle is not in the state of leaving the wading road.
It is worth mentioning that when the vehicle leaves the wading road section, the front wheels go upwards, the increase of the backward tilt angle of the vehicle may cause the wading depth at the tail of the vehicle to exceed the preset wading depth threshold, so that after the vehicle enters the non-alarm interval, the effective non-alarm duration reaches the preset time Δ t valid And then, the user is regarded as leaving the wading road. These states are regarded as misjudgment states, and are excluded when a wading alarm is performed.
And step S6, determining whether to send out a wading alarm according to the two judgment results.
Specifically, whether the wading alarm is sent out is determined according to the judgment result of whether the maximum wading depth of the vehicle exceeds the preset threshold value and the judgment result of whether the vehicle is in the wading misjudgment state. If the maximum wading depth does not exceed the preset depth threshold, no wading alarm is sent out; if the maximum wading depth exceeds a preset depth threshold value and the vehicle is in a wading misjudgment state, the maximum wading depth of the vehicle is not the actual wading depth of the vehicle at the moment, and possibly the maximum wading depth caused by a pit hole and the fact that the vehicle leaves a wading road section exceeds the threshold value, no wading alarm is sent out; and if the maximum wading depth exceeds the preset depth threshold value and the vehicle is not in the wading misjudgment state, indicating that the real maximum wading depth of the vehicle at the moment exceeds the threshold value, and sending a wading alarm.
As a preferred embodiment, the depth threshold includes a first depth threshold and a second depth threshold, and if the maximum wading depth exceeds a preset depth threshold and the vehicle is not in the wading misjudgment state, the step of issuing the wading alarm specifically includes the following steps:
when the maximum wading depth exceeds the first depth threshold and does not exceed the second depth threshold, and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to flash; and when the maximum wading depth exceeds the second depth threshold value and the vehicle is not in the wading misjudgment state, controlling the vehicle instrument indicator lamp to be normally on, and controlling the vehicle to send out voice alarm reminding so as to remind a driver of too deep wading. Wherein the first depth threshold is a height of a vehicle tire thickness and the second depth threshold is a height of a vehicle tire axial center.
The method comprises the steps that a central unit receives ground detection information from a radar and dip angle information of vehicle inertial navigation, calculates the depth of wading in the front or at the last relative to a vehicle body based on a detection point, gives an alarm according to the depth of wading invading the vehicle, and gives an alarm step by step in three levels according to the difference of wading depths; the intelligent degree of low-speed wading is promoted, and the condition that the user wades deeply and is dangerous when driving is avoided. In addition, a filtering algorithm is used for eliminating false alarm scenes based on the height detection change of the radar and the change of the vertical axis (Z direction) inertial navigation acceleration; the maximum wading depth of the current edge part of the vehicle can be accurately detected under the complex working condition that foreign matters interfere with the water surface state when the water surface is shielded. In conclusion, the scheme effectively improves the effective judgment of the wading scene and provides more guarantees for safe travel.
Referring to fig. 12, fig. 12 is a schematic block diagram of a vehicle water-intrusion warning device based on radar detection according to an embodiment of the present application. The device can be applied to a central controller.
As shown in fig. 12, the apparatus includes: the device comprises an acquisition module, a first determination module, a second determination module, a first judgment module, a second judgment module and a third judgment module.
The acquisition module is used for acquiring the suspension height from the radar mounting position collected by the radar to the ground or the water surface;
the first determining module is used for determining whether the vehicle wades in water according to the acquired change rate of the flying height;
the second determination module is used for determining the maximum wading depth of the vehicle after wading is determined;
the first judging module is used for judging whether the maximum wading depth exceeds a preset depth threshold value;
the second judgment module is used for judging whether the vehicle is in a wading misjudgment state or not;
and the third determining module is used for determining whether to send out a wading alarm or not according to the two judgment results.
The acquisition module is further configured to: filtering a suspension height which is larger than a preset highest height threshold value and is between a preset lowest height threshold value and a calibrated height, wherein the highest height threshold value is the height from a radar to the ground when a vehicle tire is just off the ground, the lowest height threshold value is the height from the radar to the ground when the vehicle is fully loaded, the calibrated height is the height from the radar to the ground when the vehicle is unloaded, and the calibrated height is smaller than the highest height threshold value and larger than the lowest height threshold value;
carrying out PID adjustment on the filtered suspension height to obtain a real suspension height;
determining the confidence coefficient of the real flying height according to the mapping relation between the acceleration of the vehicle in the vertical direction corresponding to the filtered flying height and the confidence coefficient of the corresponding real flying height, wherein the acceleration is negatively related to the confidence coefficient of the real flying height;
and filtering the real flying height with the confidence coefficient lower than a preset confidence coefficient threshold value to obtain the credible flying height.
The first determination module is further to: determining the change rate of the flying height acquired in a plurality of different time intervals;
judging whether the absolute value of the change rate of the previous time interval in any two adjacent time intervals is greater than or equal to the absolute value of the change rate of the next time interval;
and if the probability greater than or equal to the sum is higher than the set probability threshold value in the judgment result, determining that the vehicle wades, otherwise, determining that the vehicle does not wade.
The second judging module is further configured to: and determining whether the product of the change rates of the suspended heights in the three continuous time intervals is smaller than a preset value, if so, determining that the vehicle is in a state of passing through the pothole, otherwise, determining that the vehicle is not in a state of passing through the pothole.
The second judging module is further configured to: if the wading alarm is stopped after the vehicle sends the wading alarm, determining whether the duration of stopping the wading alarm is longer than or equal to the preset time;
if so, the vehicle is in the state of leaving the wading road, and if not, the vehicle is not in the state of leaving the wading road.
The third determining module is further configured to: if the maximum wading depth does not exceed a preset depth threshold value, no wading alarm is sent out;
if the maximum wading depth exceeds a preset depth threshold value and the vehicle is in a wading misjudgment state, no wading alarm is sent out;
and if the maximum wading depth exceeds a preset depth threshold value and the vehicle is not in a wading misjudgment state, sending a wading alarm.
The third determining module is further configured to: when the maximum wading depth exceeds the first depth threshold and does not exceed the second depth threshold, and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to flash;
when the maximum wading depth exceeds the second depth threshold value and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to be normally on and controlling the vehicle to send out voice alarm reminding;
wherein the first depth threshold is a height of a vehicle tire thickness and the second depth threshold is a height of a vehicle tire axial center.
The second determination module is further to: determining a first detection wading depth according to the calibration height and the acquired suspension height;
establishing a first right-angle triangular model according to the first detection water-involved depth and a vehicle front-angle or back-angle to obtain a first reference distance, wherein the first reference distance comprises a side length between the vehicle front-angle or back-angle and a right angle in the first right-angle triangular model;
adding the first reference distance and the distance from the front end of the vehicle head to the radar to obtain a first added distance;
establishing a second right-angle triangular model according to the first addition distance and the front rake angle or the back rake angle of the vehicle to obtain a determined second reference distance, wherein the second reference distance is the side, opposite to the front rake angle or the back rake angle of the vehicle, in the second right-angle triangular model;
and calculating the maximum wading depth of the front and the back of the vehicle through a first trigonometric function according to the front rake angle or the back rake angle of the vehicle, the first reference distance and the second reference distance.
The second determination module is further to: determining a second detection wading depth according to the calibration height and the obtained suspension height;
establishing a third right-angle triangular model according to the second detection wading depth and the left dip angle or the right dip angle of the vehicle to determine a second addition distance, wherein the second addition distance is the addition distance of a third reference distance and the distance between the radar and the vehicle body, and the second addition distance is the side length between the left dip angle or the right dip angle of the vehicle and the right angle in the third right-angle triangular model;
establishing a fourth right-angle triangular model according to the third reference distance and the left inclination angle or the right inclination angle of the vehicle to obtain a fourth reference distance, wherein the fourth reference distance is the side, opposite to the left inclination angle or the right inclination angle of the vehicle, in the fourth right-angle triangular model;
and determining the left and right maximum wading depth of the vehicle through a second trigonometric function according to the left or right inclination angle of the vehicle, the third reference distance and the fourth reference distance.
It should be noted that, for convenience and simplicity of description, specific working processes of the above-described apparatus and each module and unit may refer to corresponding processes in the foregoing embodiments, and details are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments. While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A vehicle wading alarm method based on radar detection is characterized by comprising the following steps:
acquiring the suspended height from the radar mounting position collected by the radar to the ground or the water surface;
determining whether the vehicle wades into the water or not according to the acquired change rate of the flying height;
after wading is determined, determining the maximum wading depth of the vehicle;
judging whether the maximum wading depth exceeds a preset depth threshold value;
judging whether the vehicle is in a wading misjudgment state or not;
and determining whether to send out a wading alarm or not according to the two judgment results.
2. The vehicle wading warning method based on radar detection according to claim 1, wherein the step of acquiring the flying height of the radar installation position collected by the vehicle-mounted radar to the ground or the water surface further comprises the following steps:
filtering a suspension height which is larger than a preset highest height threshold value and is between a preset lowest height threshold value and a calibrated height, wherein the highest height threshold value is the height from a radar to the ground when a vehicle tire is just off the ground, the lowest height threshold value is the height from the radar to the ground when the vehicle is fully loaded, the calibrated height is the height from the radar to the ground when the vehicle is unloaded, and the calibrated height is smaller than the highest height threshold value and larger than the lowest height threshold value;
carrying out PID adjustment on the filtered suspension height to obtain a real suspension height;
determining the confidence coefficient of the real flying height according to the mapping relation between the acceleration of the vehicle in the vertical direction corresponding to the filtered flying height and the confidence coefficient of the corresponding real flying height, wherein the acceleration is negatively related to the confidence coefficient of the real flying height;
and filtering the real flying height with the confidence coefficient lower than a preset confidence coefficient threshold value to obtain the credible flying height.
3. The radar detection-based vehicle wading warning method according to claim 1, wherein the step of determining whether the vehicle is wading according to the obtained change rate of the flying height specifically comprises the steps of:
determining the change rate of the flying height acquired in a plurality of different time intervals;
judging whether the absolute value of the change rate of the previous time interval in any two adjacent time intervals is greater than or equal to the absolute value of the change rate of the next time interval;
and if the probability greater than or equal to the sum is higher than the set probability threshold value in the judgment result, determining that the vehicle wades, otherwise, determining that the vehicle does not wade.
4. The radar detection-based vehicle wading alarm method according to claim 1, wherein if the vehicle is in the wading misjudgment state and the vehicle is in a pit-hole passing state, the step of judging whether the vehicle is in the wading misjudgment state specifically comprises the following steps:
and determining whether the product of the change rates of the suspended heights in the three continuous time intervals is smaller than a preset value, if so, determining that the vehicle is in a state of passing through the pothole, otherwise, determining that the vehicle is not in a state of passing through the pothole.
5. The radar detection-based vehicle wading warning method according to claim 1, wherein if the vehicle is in the wading misjudgment state and the vehicle is in the state of leaving the wading road, the step of determining whether the vehicle is in the wading misjudgment state specifically comprises the following steps:
if the wading alarm is stopped after the vehicle sends the wading alarm, determining whether the duration of stopping the wading alarm is longer than or equal to the preset time;
if so, the vehicle is in the state of leaving the wading road, and if not, the vehicle is not in the state of leaving the wading road.
6. The radar detection-based vehicle wading warning method according to claim 1, wherein the step of determining whether to issue a wading warning according to the two determination results specifically comprises the following steps;
if the maximum wading depth does not exceed a preset depth threshold value, no wading alarm is sent out;
if the maximum wading depth exceeds a preset depth threshold value and the vehicle is in a wading misjudgment state, no wading alarm is sent out;
and if the maximum wading depth exceeds a preset depth threshold value and the vehicle is not in a wading misjudgment state, sending a wading alarm.
7. The radar detection-based vehicle wading warning method according to claim 6, wherein the depth thresholds include a first depth threshold and a second depth threshold, and if the maximum wading depth exceeds a preset depth threshold and the vehicle is not in a wading misjudgment state, the method for issuing the wading warning specifically includes the following steps:
when the maximum wading depth exceeds the first depth threshold and does not exceed the second depth threshold, and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to flash;
when the maximum wading depth exceeds the second depth threshold value and the vehicle is not in a wading misjudgment state, controlling a vehicle instrument indicator lamp to be normally on and controlling the vehicle to send out voice alarm reminding;
wherein the first depth threshold is a height of a vehicle tire thickness and the second depth threshold is a height of a vehicle tire axial center.
8. The radar detection-based vehicle wading warning method of claim 1, wherein when the vehicle wades forward or backward, the step of determining the maximum wading depth of the vehicle comprises:
determining a first detection wading depth according to the calibration height and the acquired suspension height;
establishing a first right-angle triangular model according to the first detection water-involved depth and a vehicle front-angle or back-angle to obtain a first reference distance, wherein the first reference distance comprises a side length between the vehicle front-angle or back-angle and a right angle in the first right-angle triangular model;
adding the first reference distance and the distance from the front end of the vehicle head to the radar to obtain a first added distance;
establishing a second right-angle triangular model according to the first addition distance and the front rake angle or the back rake angle of the vehicle to obtain a determined second reference distance, wherein the second reference distance is the side, opposite to the front rake angle or the back rake angle of the vehicle, in the second right-angle triangular model;
and calculating the maximum wading depth of the front and the back of the vehicle through a first trigonometric function according to the front rake angle or the back rake angle of the vehicle, the first reference distance and the second reference distance.
9. The radar detection-based vehicle wading warning method of claim 1, wherein when the vehicle is wading left or right, the step of determining the maximum wading depth of the vehicle comprises:
determining a second detection wading depth according to the calibration height and the acquired suspension height;
establishing a third right-angle triangular model according to the second detection wading depth and the left dip angle or the right dip angle of the vehicle to determine a second addition distance, wherein the second addition distance is the addition distance of a third reference distance and the distance between the radar and the vehicle body, and the second addition distance is the side length between the left dip angle or the right dip angle of the vehicle and the right angle in the third right-angle triangular model;
establishing a fourth right-angle triangular model according to the third reference distance and the left inclination angle or the right inclination angle of the vehicle to obtain a fourth reference distance, wherein the fourth reference distance is the side, opposite to the left inclination angle or the right inclination angle of the vehicle, in the fourth right-angle triangular model;
and determining the left and right maximum wading depth of the vehicle through a second trigonometric function according to the left or right inclination angle of the vehicle, the third reference distance and the fourth reference distance.
10. A vehicle wading warning device based on radar detection, comprising:
the acquisition module is used for acquiring the suspension height from the radar mounting position collected by the radar to the ground or the water surface;
the first determining module is used for determining whether the vehicle wades into water according to the acquired change rate of the flying height;
the second determination module is used for determining the maximum wading depth of the vehicle after wading is determined;
the first judgment module is used for judging whether the maximum wading depth exceeds a preset depth threshold value or not;
the second judgment module is used for judging whether the vehicle is in a wading misjudgment state or not;
and the third determining module is used for determining whether to send out a wading alarm or not according to the two judgment results.
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