CN116448210A - Vehicle bubble detection method and device, electronic equipment and storage medium - Google Patents
Vehicle bubble detection method and device, electronic equipment and storage medium Download PDFInfo
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- CN116448210A CN116448210A CN202211735763.1A CN202211735763A CN116448210A CN 116448210 A CN116448210 A CN 116448210A CN 202211735763 A CN202211735763 A CN 202211735763A CN 116448210 A CN116448210 A CN 116448210A
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- 238000001514 detection method Methods 0.000 title claims abstract description 27
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 185
- 238000002791 soaking Methods 0.000 claims abstract description 46
- 238000000034 method Methods 0.000 claims abstract description 45
- 238000009825 accumulation Methods 0.000 claims description 49
- 238000012544 monitoring process Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000004422 calculation algorithm Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 4
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 3
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- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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- 230000032683 aging Effects 0.000 description 2
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- 230000007903 penetration ability Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
- G01F23/292—Light, e.g. infrared or ultraviolet
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/14—Rainfall or precipitation gauges
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- Thermal Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Atmospheric Sciences (AREA)
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Abstract
The application provides a vehicle soaking detection method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: under the condition that the target vehicle is in a camping mode, acquiring rainwater quantity data in an environment where the target vehicle is located, detecting the water level depth at the bottom of the target vehicle under the condition that the rainwater quantity data meets a first set requirement, and determining whether the target vehicle has a water soaking risk according to the water level depth and gesture feature data of the vehicle. The method and the device can timely and accurately detect the water soaking condition of the vehicle in the camping mode, so that personnel can timely avoid danger.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a vehicle water detection method, a device, an electronic device, and a storage medium.
Background
With the development of technology, vehicles are more and more intelligent, and the demands of people on the vehicles are also continuously improved, and particularly, the demands on the use comfort of the vehicles are higher and higher. For example, a camping mode is arranged on the vehicle, the camping mode can keep air flow and proper temperature in the vehicle, and can also keep lighting, music playing, surfing, game playing, charging and the like in the vehicle, so that the device is suitable for the situation that people stay in the vehicle for rest.
However, with the arrival of rainy season, the water level in some areas can rise rapidly, if the personnel in camping meet rainy condition during sleep, can lead to the vehicle to soak because of the water level that rises rapidly, can cause the potential safety hazards such as circuit ageing, fracture, engine are fragile after intaking after the vehicle is soaked, still can cause the personal danger simultaneously.
In the prior art, in order to avoid the vehicle from soaking, the vehicle is mainly prevented from soaking according to personal experience judgment of a vehicle owner or reminding by other experienced persons, but in the camping period, the vehicle owner or other experienced persons can not judge in time, so that objective and timely risk avoiding treatment can not be realized, and unnecessary loss is easy to cause.
Disclosure of Invention
In view of the foregoing, an object of the present application is to provide a method, an apparatus, an electronic device, and a storage medium for detecting a vehicle soaking water, which can timely and accurately detect a vehicle soaking water condition in a camping mode, so that personnel can timely perform risk avoidance processing.
In a first aspect, an embodiment of the present application provides a method for detecting a vehicle soaking water, where the method includes:
acquiring rainwater volume data in an environment where a target vehicle is located under the condition that the target vehicle is in a camping mode;
detecting the water level depth of the bottom of the target vehicle under the condition that the rainwater amount data meets a first set requirement;
and determining whether the target vehicle has a risk of soaking water according to the water level depth and the gesture characteristic data of the vehicle.
In an alternative embodiment of the application, a laser radar is arranged at the bottom of the target vehicle, and a first millimeter wave radar and a second millimeter wave radar are respectively arranged in front of and behind the target vehicle;
a step of detecting a water level depth of the bottom of the target vehicle, comprising:
monitoring a first ponding depth of a road surface where the target vehicle is located through the laser radar;
monitoring a second water accumulation depth and a third water accumulation depth in the environment where the target vehicle is located through the first millimeter wave radar and the second millimeter wave radar;
fitting out the water level depth of the bottom of the target vehicle according to the first water accumulation depth, the second water accumulation depth and the third water accumulation depth.
In an alternative embodiment of the present application, a camera is provided at the bottom of the target vehicle;
the step of detecting the water level depth of the bottom of the target vehicle further includes:
acquiring an image of the vehicle bottom shot by a camera at the bottom of the target vehicle;
obtaining the water level height according to the vehicle bottom image and the wheel height of the vehicle;
and carrying out mean value calculation on the fitted water level depth of the bottom of the target vehicle and the water level height to obtain the water level depth of the bottom of the target vehicle.
In an optional embodiment of the present application, the step of determining whether the target vehicle has a risk of soaking in water according to the water level depth and the gesture feature data of the vehicle includes:
determining a chassis height, a pitch angle and a roll angle of the target vehicle;
performing algorithm analysis on the chassis height, pitch angle and roll angle of the target vehicle and the water level depth to obtain the nearest distance between the water level depth and the chassis of the target vehicle;
and if the nearest distance between the water level depth and the chassis of the target vehicle is smaller than a preset distance threshold value, determining that the target vehicle has a water soaking risk.
In an alternative embodiment of the present application, the method further comprises:
and when the target vehicle is determined to have the risk of soaking, vehicle soaking early warning information is sent.
In an alternative embodiment of the present application, the method further comprises:
and stopping detecting the water level depth of the bottom of the target vehicle if the rainwater amount data meets a second setting requirement.
In an alternative embodiment of the present application, the first setting requirement includes the stormwater volume data being greater than a preset stormwater volume threshold;
the second setting requirement comprises that the rainwater amount data has no rising change trend in a preset time period.
In a second aspect, an embodiment of the present application provides a vehicle water detection device, including:
the system comprises a data acquisition module, a storage module and a storage module, wherein the data acquisition module is used for acquiring rainwater volume data in an environment where a target vehicle is located under the condition that the target vehicle is in a camping mode;
the water level detection module is used for detecting the water level depth of the bottom of the target vehicle under the condition that the rainwater amount data meet a first set requirement;
and the water soaking determining module is used for determining whether the target vehicle has a water soaking risk according to the water level depth and the gesture characteristic data of the vehicle.
In a third aspect, embodiments of the present application further provide an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication over the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the steps of the method as described above.
In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method as described above.
The embodiment of the application provides a vehicle soaking detection method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: under the condition that the target vehicle is in a camping mode, acquiring rainwater quantity data in an environment where the target vehicle is located, detecting the water level depth at the bottom of the target vehicle under the condition that the rainwater quantity data meets a first set requirement, and determining whether the target vehicle has a water soaking risk according to the water level depth and gesture feature data of the vehicle. The method and the device can timely and accurately detect the water soaking condition of the vehicle in the camping mode, so that personnel can timely avoid danger.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for detecting a vehicle soaking water according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a vehicle water detection device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of another vehicle water detection device according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, 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 apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are 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 present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments of the present application, every other embodiment that a person skilled in the art would obtain without making any inventive effort is within the scope of protection of the present application.
With the development of technology, vehicles are more and more intelligent, and the demands of people on the vehicles are also continuously improved, and particularly, the demands on the use comfort of the vehicles are higher and higher. For example, a camping mode is arranged on the vehicle, the camping mode can keep air flow and proper temperature in the vehicle, and can also keep lighting, music playing, surfing, game playing, charging and the like in the vehicle, so that the device is suitable for the situation that people stay in the vehicle for rest. However, with the arrival of rainy season, the water level in some areas can rise rapidly, if the personnel in camping meet rainy condition during sleep, can lead to the vehicle to soak because of the water level that rises rapidly, can cause the potential safety hazards such as circuit ageing, fracture, engine are fragile after intaking after the vehicle is soaked, still can cause the personal danger simultaneously.
In the prior art, in order to avoid the vehicle from soaking, the vehicle is mainly prevented from soaking according to personal experience judgment of a vehicle owner or reminding by other experienced persons, but in the camping period, the vehicle owner or other experienced persons can not judge in time, so that objective and timely risk avoiding treatment can not be realized, and unnecessary loss is easy to cause.
Based on the above, the embodiment of the application provides a vehicle water soaking detection method, a device, electronic equipment and a storage medium, which can timely and accurately detect the water soaking condition of a vehicle in a camping mode so as to enable personnel to timely avoid danger.
Referring to fig. 1, fig. 1 is a vehicle water detection method provided in an embodiment of the present application, where the method includes:
s101, under the condition that the target vehicle is in a camping mode, acquiring rainwater quantity data in the environment where the target vehicle is located.
Here, the vehicle may be provided with a plurality of application modes such as an energy saving mode, a normal mode, a sport mode, a camping mode, a resting mode, a car washing mode, a dog mode, and the like in advance. The camping mode is a mode capable of keeping air flow and proper temperature in a vehicle, keeping lighting, playing music, surfing the internet, playing games, charging and the like in the vehicle, and is suitable for people to rest in the vehicle. The target vehicle refers to a vehicle that is currently in a camping mode.
In step S101, in the case where the target vehicle is in the camping mode, the rain amount data in the environment where the target vehicle is located may be acquired by the rain amount sensor. The rain sensor can be arranged behind the front windshield, and the rain sensor on the vehicle belongs to an electronic sensor and is used for measuring the rain quantity, and has good sensitivity and practicality.
S102, detecting the water level depth of the bottom of the target vehicle when the rainwater amount data meets the first setting requirement.
In one embodiment, the condition that the rain amount data meets the first set requirement includes the rain amount sensor detecting that there is rain amount in an environment where the target vehicle is located; in another embodiment, the condition that the rainwater amount data meets the first set requirement includes the rainwater amount data acquired by the rainwater amount sensor being greater than a preset rainwater amount threshold.
In the case where the rainwater amount data satisfies the first setting requirement, the manner of detecting the water level depth of the bottom of the target vehicle includes the following aspects:
the method comprises the following steps: a laser radar is arranged at the bottom of the target vehicle, and a first millimeter wave radar and a second millimeter wave radar are respectively arranged in front of and behind the target vehicle; the step S102 specifically includes:
step 10211, monitoring a first ponding depth of a road surface where a target vehicle is located through a laser radar;
10221, monitoring a second water accumulation depth and a third water accumulation depth in the environment where the target vehicle is located through a first millimeter wave radar and a second millimeter wave radar;
step 10231, fitting the water level depth of the bottom of the target vehicle according to the first water accumulation depth, the second water accumulation depth and the third water accumulation depth.
In steps 10211 to 10231, since the accuracy of the lidar is high, the lidar is directly mounted at the bottom of the target vehicle and directly used to monitor the first water accumulation depth of the road surface on which the target vehicle is located. Because millimeter wave radar penetration ability is strong, be difficult for receiving weather environment influence, so install first millimeter wave radar and second millimeter wave radar in the place ahead and the rear of target vehicle respectively for second ponding degree of depth and the third ponding degree of depth in the environment that the monitoring target vehicle was located.
In one embodiment, the step of fitting the water level depth of the bottom of the target vehicle according to the first water accumulation depth, the second water accumulation depth and the third water accumulation depth specifically includes: determining a plurality of highest water accumulation points corresponding to the first water accumulation depth, the second water accumulation depth and the third water accumulation depth respectively; determining the relative position coordinates of each water accumulation point and the vehicle; determining coordinates of each water accumulation point in the map based on the relative position coordinates and the position coordinates of the vehicle in the map, and further acquiring the points included in the water accumulation area formed by the water accumulation points and the height information of the water accumulation points; obtaining depth distribution information of each point of the water accumulation area according to the height coordinate difference of each water accumulation point and each point of the water accumulation area; drawing a water accumulation depth map of the water accumulation area based on the depth distribution information; and analyzing the water level depth of the bottom of the target vehicle according to the water accumulation depth map.
The method can accurately fit the water level depth at the bottom of the target vehicle according to the first water accumulation depth, the second water accumulation depth and the third water accumulation depth, and the accuracy is high.
And two,: a camera is arranged at the bottom of the target vehicle; the step S102 specifically includes:
step 10212, acquiring an image of the vehicle bottom shot by a camera at the bottom of the target vehicle.
In step 10212, a camera mounted at the bottom of the vehicle may be mounted at a middle position at the bottom of the vehicle, so as to achieve 360 ° omnidirectional shooting. The vehicle bottom image refers to an image or a video shot by the camera, and the image content comprises ground, water surface, wheels, part of chassis and other objects within the shooting range of the camera. The time interval for capturing the images may be continuous or one round of capturing at fixed time intervals.
Step 10222, obtaining the water level depth according to the vehicle bottom image and the wheel height of the vehicle.
In step 10222, the water level depth refers to the water accumulation height obtained under the current environment with respect to the ground and with respect to the water accumulation at the target vehicle parking place. Because the accumulated water on the ground is not always in a static state, but is in a waveform which is suddenly high and suddenly low, when the water level of the specific accumulated water is determined, the highest point is selected as the water level.
Illustratively, the highest point of the accumulated water is taken as the water level. The method comprises the steps of firstly identifying the position of a wheel according to a vehicle bottom image shot by a camera, determining the height of the wheel exposed out of the water surface from the vehicle bottom image, assuming that the current accumulated water is in fluctuation, the water level line has two intersection points with the wheel, assuming that the image shot at the current moment shows that the intersection point of the image on the right is higher than the intersection point of the image on the left, and considering the lower part of the intersection point of the image on the right as the accumulated water, so that the height of the wheel exposed out of the water surface at the moment can be calculated by subtracting the height of the wheel exposed out of the water surface at the moment from the height of the wheel.
And thirdly,: the method comprises the steps that a laser radar is arranged at the bottom of a target vehicle, a first millimeter wave radar and a second millimeter wave radar are respectively arranged in front of and behind the target vehicle, and a camera is arranged at the bottom of the target vehicle; the step S102 specifically includes:
step 10213, monitoring a first ponding depth of a road surface where a target vehicle is located through a laser radar;
step 10223, monitoring a second water accumulation depth and a third water accumulation depth in the environment where the target vehicle is located through a first millimeter wave radar and a second millimeter wave radar;
step 10233, fitting the water level depth of the bottom of the target vehicle according to the first water accumulation depth, the second water accumulation depth and the third water accumulation depth;
10243, acquiring an image of the vehicle bottom shot by a camera at the bottom of a target vehicle;
step 10253, obtaining the water level height according to the vehicle bottom image and the wheel height of the vehicle;
step 10263, performing mean value calculation on the fitted water level depth and water level height of the bottom of the target vehicle to obtain the water level depth of the bottom of the target vehicle.
The descriptions of steps 10213 to 10233 may refer to the descriptions of steps 10211 to 10231, and the descriptions of steps 10243 to 10253 may refer to the descriptions of steps 10212 to 10222, which are not repeated herein.
In step 10263, the fitted water level depth and water level height of the bottom of the target vehicle are subjected to mean value calculation to obtain the water level depth of the bottom of the target vehicle. Thus, the calculated water level depth of the bottom of the target vehicle can be more accurate.
S103, determining whether the target vehicle has a risk of soaking water according to the water level depth and the gesture feature data of the vehicle.
In this embodiment, step S103 specifically includes:
step 1031, determining the chassis height, pitch angle and roll angle of the target vehicle;
here, a vehicle dynamics model conforming to the running characteristics of the target vehicle is established, the real-time and accurate estimation of the roll angle and the pitch angle of the vehicle is realized by a recursive least square (RecursiveLeastSquares, RLS) method with forgetting factors, and the vehicle dynamics model can be realized only by a low-cost vehicle-mounted sensor, and the cost is low. Wherein the chassis height of the target vehicle is a well-established value when the vehicle leaves the factory.
Step 1032, performing algorithm analysis on the chassis height, pitch angle, roll angle and water level depth of the target vehicle to obtain the nearest distance between the water level depth and the chassis of the target vehicle;
and calculating the minimum distance between the chassis of the target vehicle and the ground through the chassis height, the pitch angle and the roll angle of the target vehicle, and performing difference between the minimum distance and the water level depth to obtain the nearest distance between the water level depth and the chassis of the target vehicle.
Step 1033, if the closest distance between the water level depth and the chassis of the target vehicle is smaller than the preset distance threshold, determining that the target vehicle has a risk of soaking water.
In an alternative embodiment, the method further comprises: and when the target vehicle is determined to have the risk of soaking, sending vehicle soaking early warning information.
Here, can be with the vehicle bubble early warning information display on the display screen in the car, through lighting the display screen with suggestion personnel in the car target vehicle has the bubble risk, perhaps through voice prompt information suggestion personnel in the car target vehicle has the bubble risk to make personnel in the car in time move target vehicle, and then make personnel in time carry out the danger avoiding and handle.
In an alternative embodiment, the method in the embodiment of the present application further includes: and stopping detecting the water level depth of the bottom of the target vehicle if the rainwater amount data meets the second setting requirement.
Here, the second setting requirement includes that the rainwater amount data does not have an increasing trend of change for a preset period of time. That is, if the rain sensor detects that the rain is stopped, the detection function of the rain sensor is turned off.
The embodiment of the application provides a vehicle soaking detection method, which comprises the following steps: under the condition that the target vehicle is in a camping mode, acquiring rainwater quantity data in an environment where the target vehicle is located, detecting the water level depth at the bottom of the target vehicle under the condition that the rainwater quantity data meets a first set requirement, and determining whether the target vehicle has a water soaking risk according to the water level depth and gesture feature data of the vehicle. The method and the device can timely and accurately detect the water soaking condition of the vehicle in the camping mode, so that personnel can timely avoid danger.
Based on the same inventive concept, the embodiment of the application also provides a vehicle water soaking detection device corresponding to the vehicle water soaking detection method, and because the principle of solving the problem of the device in the embodiment of the application is similar to that of the vehicle water soaking detection method in the embodiment of the application, the implementation of the device can be referred to the implementation of the method, and the repetition is omitted.
Referring to fig. 2 and fig. 3, fig. 2 is a schematic structural diagram of a vehicle water detection device according to an embodiment of the present application, and fig. 3 is a schematic structural diagram of a vehicle water detection device according to an embodiment of the present application. As shown in fig. 2, the apparatus 200 includes:
a data acquisition module 201, configured to acquire rainwater volume data in an environment where a target vehicle is located, when the target vehicle is in a camping mode;
a water level detection module 202, configured to detect a water level depth of the bottom of the target vehicle if the rainwater amount data meets a first set requirement;
and the soaking determining module 203 is configured to determine whether the target vehicle has a risk of soaking according to the water level depth and the gesture feature data of the vehicle.
In an alternative embodiment of the application, a laser radar is arranged at the bottom of the target vehicle, and a first millimeter wave radar and a second millimeter wave radar are respectively arranged in front of and behind the target vehicle;
the water level detection module 202 is specifically configured to:
monitoring a first ponding depth of a road surface where the target vehicle is located through the laser radar;
monitoring a second water accumulation depth and a third water accumulation depth in the environment where the target vehicle is located through the first millimeter wave radar and the second millimeter wave radar;
fitting out the water level depth of the bottom of the target vehicle according to the first water accumulation depth, the second water accumulation depth and the third water accumulation depth.
In an alternative embodiment of the present application, a camera is provided at the bottom of the target vehicle;
the water level detection module 202 is specifically further configured to:
acquiring an image of the vehicle bottom shot by a camera at the bottom of the target vehicle;
obtaining the water level height according to the vehicle bottom image and the wheel height of the vehicle;
and carrying out mean value calculation on the fitted water level depth of the bottom of the target vehicle and the water level height to obtain the water level depth of the bottom of the target vehicle.
In an alternative embodiment of the present application, the bubble determination module 203 is specifically configured to:
determining a chassis height, a pitch angle and a roll angle of the target vehicle;
performing algorithm analysis on the chassis height, pitch angle and roll angle of the target vehicle and the water level depth to obtain the nearest distance between the water level depth and the chassis of the target vehicle;
and if the nearest distance between the water level depth and the chassis of the target vehicle is smaller than a preset distance threshold value, determining that the target vehicle has a water soaking risk.
Further, as shown in fig. 3, the apparatus 200 further includes an information sending module 204, where the information sending module 204 is configured to:
and when the target vehicle is determined to have the risk of soaking, vehicle soaking early warning information is sent.
In an alternative embodiment of the present application, the apparatus 200 further includes a stop detection module 205, where the stop detection module 205 is configured to:
and stopping detecting the water level depth of the bottom of the target vehicle if the rainwater amount data meets a second setting requirement.
In an alternative embodiment of the present application, the first setting requirement includes the stormwater volume data being greater than a preset stormwater volume threshold;
the second setting requirement comprises that the rainwater amount data has no rising change trend in a preset time period.
The embodiment of the application provides a vehicle bubble detection device, under the condition that a target vehicle is in a camping mode, rainwater volume data in an environment where the target vehicle is located is obtained, under the condition that the rainwater volume data meets a first setting requirement, the water level depth at the bottom of the target vehicle is detected, and whether the target vehicle has a bubble risk is determined according to the water level depth and gesture feature data of the vehicle. The method and the device can timely and accurately detect the water soaking condition of the vehicle in the camping mode, so that personnel can timely avoid danger.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 4, the electronic device 400 includes a processor 401, a memory 402, and a bus 403.
The memory 402 stores machine-readable instructions executable by the processor 401, when the electronic device 400 is running, the processor 401 communicates with the memory 402 through the bus 403, and when the machine-readable instructions are executed by the processor 401, the steps of the vehicle water detection method in the method embodiment shown in fig. 1 may be executed, and the specific implementation may refer to the method embodiment and will not be described herein.
The embodiment of the present application further provides a computer readable storage medium, where a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the method for detecting water in a vehicle in the embodiment of the method shown in fig. 1 may be executed, and a specific implementation manner may refer to the embodiment of the method and will not be described herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods 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 each embodiment of 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 non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application 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, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present application, and are not intended to limit the scope of the present application, but the present application is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, the present application is not limited thereto. Any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method for detecting water soaking in a vehicle, the method comprising:
acquiring rainwater volume data in an environment where a target vehicle is located under the condition that the target vehicle is in a camping mode;
detecting the water level depth of the bottom of the target vehicle under the condition that the rainwater amount data meets a first set requirement;
and determining whether the target vehicle has a risk of soaking water according to the water level depth and the gesture characteristic data of the vehicle.
2. The method according to claim 1, characterized in that a laser radar is provided at the bottom of the target vehicle, and a first millimeter wave radar and a second millimeter wave radar are provided in front of and behind the target vehicle, respectively;
a step of detecting a water level depth of the bottom of the target vehicle, comprising:
monitoring a first ponding depth of a road surface where the target vehicle is located through the laser radar;
monitoring a second water accumulation depth and a third water accumulation depth in the environment where the target vehicle is located through the first millimeter wave radar and the second millimeter wave radar;
fitting out the water level depth of the bottom of the target vehicle according to the first water accumulation depth, the second water accumulation depth and the third water accumulation depth.
3. The method of claim 2, wherein a camera is provided at the bottom of the target vehicle;
the step of detecting the water level depth of the bottom of the target vehicle further includes:
acquiring an image of the vehicle bottom shot by a camera at the bottom of the target vehicle;
obtaining the water level height according to the vehicle bottom image and the wheel height of the vehicle;
and carrying out mean value calculation on the fitted water level depth of the bottom of the target vehicle and the water level height to obtain the water level depth of the bottom of the target vehicle.
4. The method of claim 1, wherein the step of determining whether the target vehicle is at risk of flooding based on the water level depth and vehicle pose characteristics data comprises:
determining a chassis height, a pitch angle and a roll angle of the target vehicle;
performing algorithm analysis on the chassis height, pitch angle and roll angle of the target vehicle and the water level depth to obtain the nearest distance between the water level depth and the chassis of the target vehicle;
and if the nearest distance between the water level depth and the chassis of the target vehicle is smaller than a preset distance threshold value, determining that the target vehicle has a water soaking risk.
5. The method according to claim 1, wherein the method further comprises:
and when the target vehicle is determined to have the risk of soaking, vehicle soaking early warning information is sent.
6. The method according to claim 1, wherein the method further comprises:
and stopping detecting the water level depth of the bottom of the target vehicle if the rainwater amount data meets a second setting requirement.
7. The method of claim 6, wherein the first set requirement includes the stormwater volume data being greater than a preset stormwater volume threshold;
the second setting requirement comprises that the rainwater amount data has no rising change trend in a preset time period.
8. A vehicle water detection apparatus, the apparatus comprising:
the system comprises a data acquisition module, a storage module and a storage module, wherein the data acquisition module is used for acquiring rainwater volume data in an environment where a target vehicle is located under the condition that the target vehicle is in a camping mode;
the water level detection module is used for detecting the water level depth of the bottom of the target vehicle under the condition that the rainwater amount data meet a first set requirement;
and the water soaking determining module is used for determining whether the target vehicle has a water soaking risk according to the water level depth and the gesture characteristic data of the vehicle.
9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication over the bus when the electronic device is running, the processor executing the machine-readable instructions to perform the steps of the method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211735763.1A CN116448210A (en) | 2022-12-30 | 2022-12-30 | Vehicle bubble detection method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211735763.1A CN116448210A (en) | 2022-12-30 | 2022-12-30 | Vehicle bubble detection method and device, electronic equipment and storage medium |
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| CN116448210A true CN116448210A (en) | 2023-07-18 |
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| CN202211735763.1A Pending CN116448210A (en) | 2022-12-30 | 2022-12-30 | Vehicle bubble detection method and device, electronic equipment and storage medium |
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| CN (1) | CN116448210A (en) |
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