CN116446760A - Vehicle trunk opening method and device based on vehicle-mounted water depth detection system - Google Patents

Abstract

The invention provides a vehicle trunk opening method and device based on a vehicle-mounted water depth detection system, which relate to the technical field of vehicle control and are applied to a vehicle comprising the vehicle-mounted water depth detection system, wherein the method comprises the following steps: firstly, acquiring an initial ground distance when a vehicle is flameout; then continuously detecting the current ground distance after the vehicle is flameout; and determining the obstacle distance according to the initial ground distance and the current ground distance, and if the obstacle distance meets the preset starting threshold value, transmitting a control signal by using the domain controller to start the trunk. The method can realize automatic opening of the trunk by using the vehicle-mounted water depth detection system, solves the technical problems of high cost and high failure rate of the induction trunk equipment, and realizes the effects of reducing the cost and false triggering.

Description

Vehicle trunk opening method and device based on vehicle-mounted water depth detection system

Technical Field

The invention relates to the technical field of vehicle control, in particular to a vehicle trunk opening method and device based on a vehicle-mounted water depth detection system.

Background

With the rapid development of intelligent driving systems, various humanized driving assisting tools are also increasingly widely used for various types of vehicles. At present, the opening of the trunk of the vehicle comprises two modes of manual opening and induction opening, wherein the traditional manual opening mode can be used for manually opening the trunk by a user by manually pressing an opening button arranged on the trunk of the vehicle or a trunk opening button on a key of the vehicle; in some vehicles, the automatic induction device below the vehicle trunk can be utilized in a mode of arranging the induction trunk, and the trunk is automatically opened when special actions (such as lifting or sweeping by feet under the bumper) are detected.

Because there are often situations when using vehicles in which a user cannot lift heavy or bulky luggage and other hands, more and more vehicles are provided with an induction trunk, so that the function of automatically opening the trunk without manual keys is realized. But the induction trunk is used for more electronic equipment than the traditional trunk, so that the cost of factory delivery and later maintenance is greatly increased; and due to the increase of electronic equipment, the fault rate and the false triggering rate are higher than those of the traditional trunk. That is, in the existing device for automatically opening the induction trunk, the technical problems of high equipment cost and high failure rate exist.

Disclosure of Invention

The invention aims to provide a vehicle trunk opening method and device based on a vehicle-mounted water depth detection system, so as to solve the technical problems of high equipment cost and high failure rate in the prior art.

In a first aspect, an embodiment of the present invention provides a vehicle trunk opening method based on a vehicle-mounted water depth detection system, which is applied to a vehicle including a vehicle-mounted water depth detection system, where the vehicle-mounted water depth detection system includes: a distance sensor disposed at the bottom of the exterior mirror, and a domain controller disposed inside the vehicle; the distance sensor is used for measuring the distance to the ground and the distance to the obstacle; the domain controller is used for calculating the current wading depth according to the ground distance and the obstacle distance and sending the current wading depth to the display system of the vehicle; the method comprises the following steps:

acquiring an initial ground distance when the vehicle is flameout;

continuously detecting the current ground distance after the vehicle is flamed out;

determining an obstacle distance according to the initial ground-to-ground distance and the current ground-to-ground distance;

and if the obstacle distance meets the preset opening threshold value, sending a control signal by using the domain controller to open the trunk.

In some possible embodiments, the distance sensor is an ultrasonic radar monitoring device that transmits an ultrasonic signal to a ground direction and receives a reflected wave in units of a first period; the step of continuously detecting the current ground distance after the flameout of the vehicle comprises the following steps:

after the vehicle is flameout, the ultrasonic radar monitoring device transmits an ultrasonic signal to the ground direction every second and receives a reflected wave to obtain the current ground distance every second.

In some possible embodiments, the step of determining the obstacle distance according to the initial ground-to-ground distance and the current ground-to-ground distance includes: and if the current ground-to-ground distance is smaller than the initial ground-to-ground distance, determining the current ground-to-ground distance as an obstacle distance.

In some possible embodiments, the condition that the obstacle distance satisfies the preset opening threshold includes: the number of times of determining the obstacle distance is not less than three times during the time of the second period.

In some possible embodiments, the condition that the obstacle distance satisfies the preset opening threshold further includes: the obstacle distance is continuously detected during the third period.

In some possible embodiments, the number of the ultrasonic radar monitoring devices is two, and the ultrasonic radar monitoring devices are respectively disposed at the bottom of the left rearview mirror and the bottom of the right rearview mirror of the vehicle;

the step of continuously detecting the current ground distance after the flameout of the vehicle comprises the following steps: after the vehicle is flameout, the left ultrasonic radar monitoring device transmits an ultrasonic signal to the ground direction every second and receives reflected waves to obtain the current left ground distance every second; the right ultrasonic radar monitoring device transmits an ultrasonic signal to the ground direction every second and receives the reflected wave to obtain the current right ground distance every second.

In some possible embodiments, the step of determining the obstacle distance according to the initial ground-to-ground distance and the current ground-to-ground distance includes: if the current left-side ground-to-ground distance is smaller than the initial ground-to-ground distance, determining the current ground-to-ground distance as a left-side obstacle distance; or if the current right-side ground-to-ground distance is smaller than the initial ground-to-ground distance, determining the current ground-to-ground distance as a right-side obstacle distance.

In some possible embodiments, the condition that the obstacle distance satisfies the preset opening threshold includes: and determining the left obstacle distance or the right obstacle distance in the time of the second period.

In some possible embodiments, the condition that the obstacle distance satisfies the preset opening threshold further includes: and continuously detecting the left obstacle distance or the right obstacle distance in the third period.

In a second aspect, an embodiment of the present invention provides a vehicle trunk opening device based on a vehicle-mounted water depth detection system, which is applied to the method of any one of the first aspects; the device comprises:

the initial ground distance acquisition module is used for acquiring the initial ground distance when the vehicle is flameout;

the current ground distance acquisition module is used for continuously detecting the current ground distance after the vehicle is flameout;

the obstacle distance determining module is used for determining an obstacle distance according to the initial ground distance and the current ground distance;

and the trunk opening module is used for sending a control signal to open the trunk by using the domain controller if the obstacle distance meets a preset opening threshold value.

The invention provides a vehicle trunk opening method and device based on a vehicle-mounted water depth detection system, which are applied to a vehicle comprising the vehicle-mounted water depth detection system, wherein the method comprises the following steps: firstly, acquiring an initial ground distance when a vehicle is flameout; then continuously detecting the current ground distance after the vehicle is flameout; and determining the obstacle distance according to the initial ground distance and the current ground distance, and if the obstacle distance meets the preset starting threshold value, transmitting a control signal by using the domain controller to start the trunk. The method can realize automatic opening of the trunk by using the vehicle-mounted water depth detection system, solves the technical problems of high cost and high failure rate of the induction trunk equipment, and realizes the effects of reducing the cost and false triggering.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a vehicle trunk opening method based on a vehicle-mounted water depth detection system according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a vehicle trunk opening method based on a vehicle-mounted water depth detection system according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a vehicle trunk opening device based on a vehicle-mounted water depth detection system according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

With the rapid development of intelligent driving systems, various humanized auxiliary driving tools are also increasingly and widely applied to various types of vehicles. At present, the opening of the trunk of the vehicle comprises two modes of manual opening and induction opening, wherein the traditional manual opening mode can be used for manually opening the trunk by a user by manually pressing an opening button arranged on the trunk of the vehicle or a trunk opening button on a key of the vehicle; in some vehicles, the automatic induction device below the vehicle trunk can be utilized in a mode of arranging the induction trunk, and the trunk is automatically opened when special actions (such as lifting or sweeping by feet under the bumper) are detected. Because there are often situations when using vehicles in which a user cannot lift heavy or bulky luggage and other hands, more and more vehicles are provided with an induction trunk, so that the function of automatically opening the trunk without manual keys is realized. But the induction trunk is used for more electronic equipment than the traditional trunk, so that the cost of factory delivery and later maintenance is greatly increased; and due to the increase of electronic equipment, the fault rate and the false triggering rate are higher than those of the traditional trunk. That is, in the existing device for automatically opening the induction trunk, the technical problems of high equipment cost and high failure rate exist.

Based on the method and the device, the embodiment of the invention provides a vehicle trunk opening method and device based on a vehicle-mounted water depth detection system, so as to solve the technical problems of high cost and high failure rate of induction trunk equipment.

For the convenience of understanding the present embodiment, first, a vehicle trunk opening method based on a vehicle-mounted water depth detection system disclosed in the present embodiment of the present invention is described in detail, where the method is applied to a vehicle including a vehicle-mounted water depth detection system, and the vehicle-mounted water depth detection system includes: a distance sensor arranged at the bottom of the outer rearview mirror and a domain controller arranged in the vehicle. The distance sensor is used for measuring the distance to the ground and the distance to the obstacle; the domain controller is used for calculating the current wading depth according to the ground distance and the obstacle distance and sending the current wading depth to a display system of the vehicle.

That is, the vehicle-mounted water depth detection system detects the distance of an obstacle by using ultrasonic radars mounted on an exterior mirror and a vehicle chassis, the sensors communicate with a domain controller through IO, and the domain controller judges whether the current vehicle wades or not according to the detection results of the respective sensors. If the vehicle wades, the main domain controller calculates the current wading depth according to the vehicle parameters, displays the current wading state of the vehicle to the user on the liquid crystal screen, and gives an alarm and reminds when the vehicle wades deeply.

In one embodiment, the distance sensor is an ultrasonic radar monitoring device that transmits an ultrasonic signal in a ground direction and receives a reflected wave in units of a first period. The first period may be selected to be a small period of time (e.g., 1 second) to enable real-time monitoring of obstacles under the sensor when the vehicle is turned off.

Referring to fig. 1, a schematic flow chart of a vehicle trunk opening method based on a vehicle-mounted water depth detection system mainly includes the following steps S110 to S140:

s110: acquiring an initial ground distance when a vehicle is flameout;

s120: continuously detecting the current ground distance after the vehicle is flameout;

s130: determining an obstacle distance according to the initial ground-to-ground distance and the current ground-to-ground distance;

s140: and if the obstacle distance meets the preset opening threshold value, a control signal is sent by the domain controller to open the trunk.

The invention provides a vehicle trunk opening method based on a vehicle-mounted water depth detection system, which is applied to a vehicle comprising the vehicle-mounted water depth detection system, and is characterized in that the initial ground distance when the vehicle is flameout is obtained; then continuously detecting the current ground distance after the vehicle is flameout; and determining the obstacle distance according to the initial ground distance and the current ground distance, and if the obstacle distance meets the preset starting threshold value, transmitting a control signal by using the domain controller to start the trunk. The method can realize automatic opening of the trunk by using the vehicle-mounted water depth detection system, solves the technical problems of high cost and high failure rate of the induction trunk equipment, and realizes the effects of reducing the cost and false triggering.

In one embodiment, the ultrasonic radar monitoring device obtains the initial ground distance H0 of the vehicle at the first time when the vehicle is in flameout; the step S120 of continuously detecting the current ground distance after the vehicle is flameout includes: after the vehicle is flameout, the ultrasonic radar monitoring device transmits an ultrasonic signal to the ground direction every second and receives the reflected wave, obtaining the current ground distance Hi every second.

In one embodiment, the step S130 of determining the obstacle distance according to the initial ground-to-ground distance and the current ground-to-ground distance includes: if the current ground-to-ground distance is less than the initial ground-to-ground distance (Hi < H0), then the current ground-to-ground distance Hi is determined to be the obstacle distance H.

In one embodiment, the condition that the obstacle distance satisfies the preset opening threshold includes: the number of times of determining the obstacle distance is not less than three times during the time of the second period. As a specific example, the second period may be one minute or 30 seconds. For example: the user walks to the position of the rearview mirror of the vehicle, kicks the vehicle to the lower part of the rearview mirror by feet, and continuously performs 3 times of kicking actions in a certain time.

In one embodiment, the condition that the obstacle distance satisfies the preset opening threshold further includes: the obstacle distance is continuously detected during the time of the third period. As a specific example, the third period may be 3 seconds or 5 seconds. For example: the user walks to the vehicle mirror position and kicks under the mirror for 3 seconds or 5 seconds.

In one embodiment, the number of the ultrasonic radar monitoring devices is two, and the ultrasonic radar monitoring devices are respectively arranged at the bottom of the left rearview mirror and the bottom of the right rearview mirror of the vehicle; then, correspondingly, step S120 continuously detects the current ground distance after the vehicle is turned off, including: after the vehicle is flameout, the left ultrasonic radar monitoring device transmits an ultrasonic signal to the ground direction every second and receives reflected waves to obtain the current left ground distance every second; the right ultrasonic radar monitoring device transmits an ultrasonic signal to the ground direction every second and receives the reflected wave to obtain the current right ground distance every second.

Because of the randomness of the vehicle parking positions, the current left and right mirror distances may be different, and the current left and right mirror distances (left initial distance to ground and right initial distance to ground) of the vehicle need to be recorded according to the road surface real-time environment, and are recorded as HL and HR respectively.

In one embodiment, the step of determining the obstacle distance from the initial ground-to-ground distance and the current ground-to-ground distance comprises: if the current left-side ground-to-ground distance is smaller than the initial ground-to-ground distance, determining that the current ground-to-ground distance is a left-side obstacle distance; or if the current right-side ground-to-ground distance is smaller than the initial ground-to-ground distance, determining that the current ground-to-ground distance is the right-side obstacle distance.

In one embodiment, the condition that the obstacle distance satisfies the preset opening threshold includes: the number of times of determining the left obstacle distance or the right obstacle distance is not less than three in the time of the second period.

For example: the driver walks to the left side or right side rearview mirror position of the vehicle, kicks to the lower side of the rearview mirror by feet, and continuously performs 3 times of kicking actions. The ultrasonic radar can detect that the current ground clearance changes and obtain obstacle distances H1, H2 and H3 respectively.

The changed distance is detected by the left rearview mirror or the rearview mirror of the vehicle and can be used for judging the skirting position of the driver. If this varying ground clearance is to the left of the car, this distance is compared with the left mirror-to-landmark distance (left initial ground clearance) HL after the current stop. And if the three-time change distance is smaller than the calibration distance, namely (H1 < HL) & & (H2 < HL) & & (H3 < HL), the driver is considered to have skirting motions. The same calculation method is also applied to the kicking operation of the driver on the right mirror of the vehicle, and if (H1 < HR) & & (H2 < HR) & & (H3 < HR) is satisfied, the driver is considered to have the kicking operation.

In one embodiment, the condition that the obstacle distance satisfies the preset opening threshold further includes: the left obstacle distance or the right obstacle distance is continuously detected during the time of the third period.

For example: the driver walks to the left side or the right side rearview mirror of the vehicle, kicks to the lower side of the rearview mirror by feet, and keeps the kicking action for 3-5 seconds, so that the ultrasonic radar can detect that the current ground clearance changes, and the left obstacle distance or the right obstacle distance H4 is obtained. If the changed ground clearance is at the left of the automobile, comparing the distance with the left initial ground clearance HL after the current parking, and meeting H4< HL in a certain time. The driver kicking action is considered to be effective; if the changed ground clearance is to the right of the car, the clearance is compared with the initial ground clearance HR to the right after the current stop, and H4< HR is satisfied for a certain period of time. The driver kicking action is considered to be effective.

The invention provides a vehicle trunk opening method based on a vehicle-mounted water depth detection system, which is applied to a vehicle comprising the vehicle-mounted water depth detection system, wherein the vehicle-mounted water depth detection system not only can detect water depth, but also can be repeatedly used for sensing the action of opening the trunk, and when a driver has a lot of articles on hand and is inconvenient to manually open the trunk, the trunk is opened by sensing leg actions. Referring to the schematic diagram shown in fig. 2, the black part is the detection area of the ultrasonic radar. Under the condition that the vehicle is stationary, the ultrasonic sensor can sense the detection distance change caused by skirting, send a signal to the vehicle domain controller system and automatically open the vehicle trunk. As a specific example, the method comprises the steps of:

(1) The system works after the vehicle stops; after the vehicle is stationary and flameout, the wading ultrasonic radar system continues to work, and an ultrasonic radar arranged below the left and right rearview mirrors of the vehicle continuously transmits ultrasonic signals to the ground in a direct measurement mode and receives ground reflected waves.

(2) Calibrating the detection distance of the current environment; because of the randomness of the parking positions of the vehicles, the distance between the left and right rearview mirrors of the current vehicles to the ground may be different, and the distance between the left and right rearview mirrors of the current vehicles to the ground needs to be recorded according to the real-time environment of the road surface. Recorded as HL and HR, respectively.

(3) Sensing the kicking action of the feet of the driver; the driver walks to the left side or right side rearview mirror position of the vehicle, kicks to the lower side of the rearview mirror by feet, and continuously performs 3 times of kicking actions. The ultrasonic radar can detect that the current ground clearance changes and obtain distances H1, H2 and H3 respectively. The changed distance is detected by the left rearview mirror or the rearview mirror of the vehicle and can be used for judging the skirting position of the driver.

If the varying ground clearance is to the left of the car, the distance is compared to the left mirror-to-landmark distance HL after the current stop. And if the three-time change distance is smaller than the calibration distance, namely (H1 < HL) & & (H2 < HL) & & (H3 < HL), the driver is considered to have skirting motions. The same calculation method is also applied to the kicking operation of the driver on the right mirror of the vehicle, and if (H1 < HR) & & (H2 < HR) & & (H3 < HR) is satisfied, the driver is considered to have the kicking operation.

(4) Identifying the identity of the driver; by combining the RFID wireless radio frequency technology of the keyless entry system and the identification code recognition capability, the intelligent vehicle controller can recognize that the position of a vehicle owner is within 5m around the vehicle body, and then the trunk is allowed to be automatically opened.

(5) Automatically controlling to open the trunk; and (3) and (4) are combined, so that the ultrasonic radar monitoring device detects the skirting motion under the left rearview mirror or under the right rearview mirror of the vehicle, and if the driver is near the vehicle body, the system considers that the driver performs the skirting motion, and the purpose is to open the trunk. The vehicle body domain controller sends a control signal for opening the trunk, and automatically controls the opening of the vehicle trunk.

The method can realize automatic opening of the trunk by using the vehicle-mounted water depth detection system, solves the technical problems of high cost and high failure rate of the induction trunk equipment, and realizes the effects of reducing the cost and false triggering.

In addition, the embodiment of the invention also provides a vehicle trunk opening device based on the vehicle-mounted water depth detection system, and referring to fig. 3, the device comprises:

an initial ground distance acquisition module 310, configured to acquire an initial ground distance when the vehicle is flameout;

the current ground distance obtaining module 320 is configured to continuously detect a current ground distance after the vehicle is flameout;

an obstacle distance determining module 330 for determining an obstacle distance according to the initial ground distance and the current ground distance;

the trunk opening module 340 is configured to send a control signal to open the trunk using the domain controller if the obstacle distance meets a preset opening threshold.

The vehicle trunk opening device based on the vehicle-mounted water depth detection system provided by the embodiment of the application can be specific hardware on equipment or software or firmware installed on the equipment. The device provided in the embodiments of the present application has the same implementation principle and technical effects as those of the foregoing method embodiments, and for a brief description, reference may be made to corresponding matters in the foregoing method embodiments where the device embodiment section is not mentioned. It will be clear to those skilled in the art that, for convenience and brevity, the specific operation of the system, apparatus and unit described above may refer to the corresponding process in the above method embodiment, which is not described in detail herein. The vehicle trunk opening device based on the vehicle-mounted water depth detection system provided by the embodiment of the application has the same technical characteristics as the vehicle trunk opening method based on the vehicle-mounted water depth detection system provided by the embodiment, so that the same technical problems can be solved, and the same technical effects are achieved.

The embodiment of the application also provides electronic equipment, which specifically comprises a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the embodiments described above.

Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device 400 includes: a processor 40, a memory 41, a bus 42 and a communication interface 43, the processor 40, the communication interface 43 and the memory 41 being connected by the bus 42; the processor 40 is arranged to execute executable modules, such as computer programs, stored in the memory 41.

The memory 41 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and the at least one other network element is achieved via at least one communication interface 43 (which may be wired or wireless), which may use the internet, a wide area network, a local network, a metropolitan area network, etc.

Bus 42 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 4, but not only one bus or type of bus.

The memory 41 is configured to store a program, and the processor 40 executes the program after receiving an execution instruction, and the method executed by the apparatus for flow defining disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 40 or implemented by the processor 40.

The processor 40 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in processor 40. The processor 40 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 41 and the processor 40 reads the information in the memory 41 and in combination with its hardware performs the steps of the method described above.

Corresponding to the above method, the embodiments of the present application also provide a computer readable storage medium storing machine executable instructions, which when invoked and executed by a processor, cause the processor to execute the steps of the above method.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments provided in the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

It should be noted that: like reference numerals and letters in the various figures refer to like items and, thus, once an item is defined in one figure, no further definition or explanation of that in the subsequent figure is necessary, and furthermore, the terms "first," "second," "third," etc. are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (10)

1. A vehicle trunk opening method based on a vehicle-mounted water depth detection system, characterized in that the method is applied to a vehicle comprising the vehicle-mounted water depth detection system, and the vehicle-mounted water depth detection system comprises: a distance sensor disposed at the bottom of the exterior mirror, and a domain controller disposed inside the vehicle; the distance sensor is used for measuring the distance to the ground and the distance to the obstacle; the domain controller is used for calculating the current wading depth according to the ground distance and the obstacle distance and sending the current wading depth to a display system of the vehicle; the method comprises the following steps:

acquiring an initial ground distance when the vehicle is flameout;

continuously detecting the current ground distance after the vehicle is flameout;

determining an obstacle distance according to the initial ground-to-ground distance and the current ground-to-ground distance;

and if the obstacle distance meets a preset opening threshold value, sending a control signal by using the domain controller to open the trunk.

2. The vehicle trunk opening method based on the on-vehicle water depth detection system according to claim 1, wherein the distance sensor is an ultrasonic radar monitoring device that transmits an ultrasonic signal to a ground direction and receives a reflected wave in units of a first period;

the step of continuously detecting the current ground distance after the vehicle is flameout comprises the following steps:

after the vehicle is flameout, the ultrasonic radar monitoring device transmits an ultrasonic signal to the ground direction every second and receives a reflected wave to obtain the current ground distance every second.

3. The vehicle trunk opening method based on the on-vehicle water depth detection system according to claim 2, wherein the step of determining the obstacle distance from the initial ground distance and the current ground distance includes:

and if the current ground-to-ground distance is smaller than the initial ground-to-ground distance, determining that the current ground-to-ground distance is an obstacle distance.

4. A vehicle trunk opening method based on an on-vehicle water depth detection system according to claim 3, wherein the condition that the obstacle distance satisfies a preset opening threshold value includes:

and determining the number of times of the obstacle distance is not less than three in the time of the second period.

5. A vehicle trunk opening method based on an on-vehicle water depth detection system according to claim 3, wherein the condition that the obstacle distance satisfies a preset opening threshold further includes:

the obstacle distance is continuously detected during the time of the third period.

6. The vehicle trunk opening method based on the vehicle-mounted water depth detection system according to claim 2, wherein the number of the ultrasonic radar monitoring devices is two, and the ultrasonic radar monitoring devices are respectively arranged at the bottom of a left rearview mirror and the bottom of a right rearview mirror of the vehicle;

the step of continuously detecting the current ground distance after the vehicle is flameout comprises the following steps:

after the vehicle is flameout, the left ultrasonic radar monitoring device transmits an ultrasonic signal to the ground direction every second and receives reflected waves to obtain the current left ground distance every second;

the right ultrasonic radar monitoring device transmits an ultrasonic signal to the ground direction every second and receives the reflected wave to obtain the current right ground distance every second.

7. The vehicle trunk opening method based on the on-vehicle water depth detection system according to claim 6, wherein the step of determining the obstacle distance from the initial ground distance and the current ground distance includes:

if the current left-side ground-to-ground distance is smaller than the initial ground-to-ground distance, determining that the current ground-to-ground distance is a left-side obstacle distance;

or if the current right-side ground-to-ground distance is smaller than the initial ground-to-ground distance, determining the current ground-to-ground distance as a right-side obstacle distance.

8. The vehicle trunk opening method based on an on-vehicle water depth detection system according to claim 7, wherein the condition that the obstacle distance satisfies a preset opening threshold value includes:

and determining that the left obstacle distance or the right obstacle distance is not less than three times in the time of the second period.

9. The vehicle trunk opening method based on the in-vehicle water depth detection system according to claim 7, wherein the condition that the obstacle distance satisfies a preset opening threshold further includes:

the left obstacle distance or the right obstacle distance is continuously detected during the time of the third period.

10. A vehicle trunk opening device based on an on-board water depth detection system, characterized by being applied to the method of any one of the above claims 1 to 9; the device comprises:

the initial ground distance acquisition module is used for acquiring the initial ground distance when the vehicle is flameout;

the current ground distance acquisition module is used for continuously detecting the current ground distance after the vehicle is flameout;

the obstacle distance determining module is used for determining an obstacle distance according to the initial ground distance and the current ground distance;

and the trunk opening module is used for sending a control signal to open the trunk by using the domain controller if the obstacle distance meets a preset opening threshold value.