WO2015049154A1

WO2015049154A1 - Vehicle having wade sensing apparatus and system

Info

Publication number: WO2015049154A1
Application number: PCT/EP2014/070476
Authority: WO
Inventors: Thomas Popham; Jonathan Woodley; Sebastian Paszkowicz; Ian Barlow; Zhou Xu; Edward Hoare
Original assignee: Jaguar Land Rover Limited
Priority date: 2013-10-01
Filing date: 2014-09-25
Publication date: 2015-04-09
Also published as: GB201317402D0; GB2518850A; GB2518850B

Abstract

This invention proposes a system for assisting a driver of the vehicle during wading. The system comprises a first water detection apparatus comprising at least one sensor (30a,... 30d; 32a, 32d) configured to gather data to identify the presence of water about the vehicle, an imaging apparatus (50a; 50b) for gathering image data, and a control means (140) having a processor. The processor is configured to make a determination that the vehicle is wading in water in dependence upon data gathered by said at least one sensor 830,... 32d) and, in dependence upon making said positive determination that the vehicle is wading, select at least one sub-set of image data from the image data gathered by the imaging apparatus (50a; 50b)). The invention also relates to a vehicle having such a system and a method performed by such a system.

Description

VEHICLE HAVING WADE SENSING APPARATUS AND SYSTEM

FIELD OF THE INVENTION

The present invention relates to a method, a system, a program, and a vehicle having the system, for assisting a driver when the vehicle is wading. More specifically, but not exclusively, the invention provides the driver of the vehicle with visual information in response to a determination that the vehicle is wading. The invention also relates to a way in which a positive determination that the vehicle is wading can be effected. BACKGROUND

When vehicles drive through a body of water, it is often referred to as a wading event. Driver caution and judgement is required when navigating a vehicle through a body of water at wading depth. This is because a vehicle driver does not generally know the depth of water the vehicle is about to enter or the nature of the terrain below the water surface. This is particularly so off-road and in low visibility conditions (dirty water, low-light, heavy rain, fog). It is recommended that a survey of the terrain is taken by wading through water on foot, but factors such as the variability of the terrain; low visibility conditions; inconvenience to the driver; and driver impatience may result in a driver attempting to traverse water without knowledge of the water depth and therefore without being able to take appropriate precautions.

In development of vehicle systems intended to aid a driver's control of a vehicle when wading through water, the present applicant has submitted a series of patent applications relating to the detection of a body of water using one or more sensors mounted externally on the vehicle. For example, in WO2012/123555 a vehicle having a system comprising two ultrasonic transducer sensors for determining the water depth, disposed on the left-side and right-side mirrors of the vehicle, operable in conjunction with an under-body mounted contact water sensor, is disclosed. The present applicant has also submitted patent applications relating to the use of an in- vehicle cabin display screen for providing information to the driver of the vehicle. For example, in WO/2012/080435, WO/2012/080437 and WO/2012/080438 each to the present applicant, vehicles having display systems are disclosed in which an elevation of a vehicle is shown along with a sensed water level. Data relating to a maximum wading depth and to an advisory vehicle speed is also disclosed. In determining when to automatically actuate and/or populate an HMI-apparatus, such as a display screen, for providing information to the driver an assessment and interpretation of gathered data must be carried out. It can be appreciated that the more data that is gathered regarding the detection of water and measurements relating to its depth relative to the vehicle, the more confident a determination can be made that the vehicle is actually wading and the more accurate a system for aiding wading may be. However, adding hardware to detect and measure water to a vehicle involves a significant number of considerations, at least including cost, ease of manufacture, reliability, compatibility with existing hardware and vehicle systems, safety and legal compliance and the vehicle design. Furthermore, obtaining more data from more sensors increases the required processing time and processing resources required to analyse the data in real-time and in such a way that a display screen can be populated with useful information presented in a clear and easily understood manner. The provision of too much data or data that changes too rapidly may be difficult to understand and may in fact present a distraction rather than an aid. It is also desirable to provide an efficient system that does not needlessly carry out processing and analysis of gathered data. Furthermore, it is desirable to provide a wade assist system that is compatible with other control systems of the vehicle.

The present invention seeks to provide a further improvement in systems for land-based vehicles for aiding driver control of those vehicles when wading.

SUMMARY

Aspects of the invention relate to a vehicle, to a system and to a method, a controller, and a program as claimed in the appended claims.

According to one aspect of the invention for which protection is sought there is provided a system for assisting a driver of a vehicle during wading. The system comprises a first water detection apparatus comprising at least one sensor configured to gather data to identify the presence of water about the vehicle, an imaging apparatus for gathering image data, and a control means having a processor. The control means is configured to make a positive determination that the vehicle is wading in water in dependence upon data gathered by said at least one sensor. In dependence upon making said positive determination, the control means is further configured to select at least one sub-set of image data from the image data gathered by the imaging apparatus. The imaging apparatus may comprise at least a first imager configured and arranged to, in use, collect a first image data stream of the environment external to and proximate to the vehicle. The imaging apparatus may additionally comprise at least a second imager configured and arranged to, in use, collect a second image data stream of the environment external to and proximate to the vehicle.

The total image data gathered by the first imager optionally comprises a first image data stream relating to a first number of pixels and wherein the at least one sub-set of image data comprises: a first sub-set of image data selected from the first image data stream, and relating to fewer pixels than the total image data gathered by the first imager. In addition, the total image data gathered by the second imager may comprise a second image data stream relating to a second number of pixels and the at least one sub-set of image data may further comprises: a second sub-set of image data selected from the second image data stream, and relating to fewer pixels than the total image data gathered by the second imager.

The first and/or second sub-sets of image data optionally comprise image data of water external to the vehicle in first and/or second regions respectively.

In one arrangement the first imager gathers image data in a first field of view having a centre that is offset from the centre of said first region; and/or wherein the second imager gathers image data in a second field of view having a centre that is offset from the centre of said second region. In this manner the Imagers can be orientated so that their centre of view is aimed in a direction that is beneficial for capturing data streams that may have multiple applications, i.e. it is not directed at the point of interest for the display of water, but may have multiple applications such as assisting in parking a vehicle.

The control means is optionally configured and arranged to manipulate the at least one sub set of data to correct for any distortion of the image. As wide angle lenses enable a large amount of data to be captured and as for the purpose of assisting visually the driver in wading situations a region of the field of view that is required may be offset from the centre of view of the image gathered, the region that is required to be displayed may be visually distorted by the imaging lens by virtue of being offset from the centre of view.

One embodiment of the invention may comprise an HMI apparatus having a display screen and the control means may be configured to, upon making said determination that the vehicle is wading, display an image generated from at least one of said first subset and said second subset on said display screen. According to a further aspect of the invention there is provided a vehicle comprising a system as described herein above.

The imaging apparatus may comprise a first digital camera mounted on a first side mirror of the vehicle and a second digital camera mounted on a second side mirror of the vehicle.

The first sub-set of image data may comprises an area of view substantially beneath the first side mirror and wherein said second sub-set of image data comprises an area of view substantially beneath the second side mirror. The first and/or second sub-sets of image data optionally comprise image data of water external to the vehicle in first and/or second regions respectively, wherein the first and second regions are approximately beneath said first and second side mirror respectively.

The first and second digital camera may be mounted on said side mirrors of the vehicle such that the centre of the field of views of the first and second cameras are offset from the centres of the first and second regions respectively. Optionally the first and second digital camera may be mounted on said side mirrors of the vehicle such that the centre of the field of view of each of the first and second cameras is outside of the first and second regions respectively.

The vehicle may further comprise a water level measurement apparatus comprising two, substantially downwardly focused, side mirror mounted remote water level or water depth detection sensors.

In an embodiment the first water detection apparatus comprises: a first plurality of ultrasonic transducer sensors mounted to a front bumper of the vehicle; and a second plurality of ultrasonic transducer sensors mounted to a rear bumper of the vehicle; and a first control module associated therewith. The system of this embodiment further comprises a water detection apparatus having four electrode sensors depending from the underside of the vehicle and respectively positioned proximate to a front-left, front-right, rear-left and rear-right portion thereof; and having a second control module associated therewith. The first and second control modules are each, separately, communicatively coupled to the control means to transmit data relating to water detection by said electrode sensors and said ultrasonic transducer sensors respectively to said control means. The control means is configured to make a determination that the vehicle is wading in dependence upon said data relating to water detection comprising a positive detection of water from at least two of said electrode sensors simultaneously for a specified period of time or from at least two of said ultrasonic transducer sensors; and in dependence upon the control means making said determination that the vehicle is wading, it is configured to trigger one or more vehicle responses.

The four electrode sensors may each be water-in-fuel sensor type sensors.

According to an embodiment said one or more vehicle responses further includes populating a display screen of the HMI apparatus with a graphical representation of an elevation of a display vehicle superimposed upon which is a display water level line positioned in dependence upon data obtained by the water level measurement apparatus.

According to a further aspect of the invention there is provided a method of assisting a driver of a vehicle during vehicle wading. The method comprises detecting the presence of water and making a determination that a vehicle is wading, gathering image data using imaging apparatus, and selecting at least one sub-set of image data from the image data gathered by the imaging apparatus in dependence upon making a determination that a vehicle is wading.

The method may further comprise displaying said sub-set of image data on an HMI display screen. In an embodiment the method may manipulate the at least one sub-set of data to correct for any distortion of the image on the display screen.

According to a further aspect of the invention for which protection is sought there is provided a method of assisting a driver of a vehicle during vehicle wading, the method comprising :detecting the presence of water about the vehicle using a first water detection apparatus having four electrode sensors depending from the underside of the vehicle and respectively positioned proximate to a front-left, front-right, rear-left and rear-right portion thereof; and having a first control module associated therewith; detecting the presence of water about the vehicle using a second water detection apparatus having a first series of ultrasonic transducer sensors mounted to a front bumper of the vehicle; having a second series of ultrasonic transducer sensors mounted to a rear bumper of the vehicle; and having a second control module associated therewith; transmitting data relating to water detection by said electrode sensors from said first control module to the third control module separately and independently of the second control module; transmitting data relating to water detection by said ultrasonic transducer sensors from said second control module to the third control module separately and independently of the first control module; making a determination that the vehicle is wading in dependence upon said data relating to water detection comprising a positive detection of water from at least two of said electrode sensors simultaneously for a specified period of time; and in dependence upon the third control module making said determination that the vehicle is wading, triggering one or more vehicle responses.

According to a further aspect of the invention for which protection is sought, there is provided a non-transitory, computer-readable storage medium storing instructions thereon that when executed by one or more electronic processors causes the one or more processors to carry out the method described herein.

In one aspect of the invention for which protection is sought there is provided a computer program product executable on a processor so as to implement the method of another aspect of the invention.

According to a yet further aspect of the invention for which protection is sought there is provided a vehicle comprising a system for assisting a driver of the vehicle during wading, the system comprising: a first water detection apparatus having four electrode sensors depending from the underside of the vehicle and respectively positioned proximate to a front- left, front-right, rear-left and rear-right portion thereof; and having a first control module associated therewith; a second water detection apparatus having a first series of ultrasonic transducer sensors mounted to a front bumper of the vehicle; having a second series of ultrasonic transducer sensors mounted to a rear bumper of the vehicle; and having a second control module associated therewith; and a third control module; wherein the first and second control modules are each, separately, communicatively coupled to the third control module for transmitting data relating to water detection by said electrode sensors and said ultrasonic transducer sensors respectively to said third control module; and wherein the third control module is configured to make a determination that the vehicle is wading in dependence upon said data relating to water detection comprising a positive detection of water from at least two of said electrode sensors simultaneously for a specified period of time; and wherein, in dependence upon the third control module making said determination that the vehicle is wading, the third control module is configured to trigger one or more vehicle responses. According to a further aspect of the invention for which protection is sought there is provided an electronic controller for a vehicle having a storage medium associated therewith storing instructions that when executed by the controller causes the selection of at least one sub-set of image data in accordance with the method of: detecting the presence of water and making a determination that a vehicle is wading; gathering image data using imaging apparatus; and selecting at least one sub-set of image data from the image data gathered by the imaging apparatus in dependence upon making a determination that a vehicle is wading.

As used herein the term "off-road vehicle" may be defined as a road vehicle having some off- road capability - such as the provision of all-wheel drive. Whereas the present invention provides particular benefit for off-road vehicles which may travel through bodies of water at wading depth more frequently than non off-road, it will be appreciated that the present invention may be applicable and useful in other types of road vehicle and, indeed, in other types of vehicle.

As used herein, the term "H Ml -apparatus" refers to all manner of suitable devices that facilitate communication between the vehicle systems and a driver of the vehicle and includes Front Control Display Interface Modules (FCDIM). The term "HMI-apparatus" may refer to a single device or more than one device. ΉΜΙ-apparatus" may refer to a device that communicates visually, audibly, or produce a haptic warning or any combination thereof and the like. Visual communications optionally may include: illuminating one or more warning lights, providing symbols, pictures, graphics and/or text which, for example, may be presented on any one or more or a combination of: a dashboard control panel, a display screen; and a heads-up display. Representations provided on display screens may be 2-D representations or 3-D representations. Visual communications may be in grey-scale or colour format. Audible communications optionally may include: warning beeps, alarms and voice-overs and may be output through any one or more or a combination of: any in-cabin speaker (including a driver-side ear-level speaker for communications directed at the driver only); head phones (optionally wireless) or ear-piece (optionally wireless). It will be recognised that with advances in technology, various communication devices may become available that are suitable as an HMI-apparatus.

By "elevation" herein is meant, without limitation, an image, picture or other illustrative and visual representation. Optionally "elevation" refers to a two-dimensional view of an aspect of a vehicle including but not limited to a side view, a front view, a rear view and a top view.

In this specification, the term "wading" relates to travel of a land-based vehicle through water of a depth that is sufficient to require that the vehicle driver take appropriate precautions. To distinguish a wading event from a vehicle driving through a shallow puddle, in some situations wading depth may be defined as water of 150mm or more in depth. In some situations water at a level of the front or rear wheel hubs may be indicative of a vehicle in water at wading depth. In some situations wading depth may be defined as the point at which a water contact sensor is immersed in water. However, the depth at which it is determined that a vehicle is wading (sometimes referred to as a threshold wading depth) may be determined by the vehicle design and it is therefore not possible to define a threshold wading depth that is appropriate for all vehicles in which the present invention can be applied. Similarly, the permissible maximum wading depth of a vehicle is determined by the vehicle design. In some vehicles the position of an engine air intake may limit the depth of water the vehicle can wade in. In some vehicles the maximum wading depth may be variable due to the provision of a deployable snorkel and/or adjustable ride height, for example.

Throughout the specification reference is made to the term "water". It will be understood that in the context of a land-based vehicle driving through water, the term "water" is intended to encompass all liquid media that a land-based vehicle may drive through and is not limited in its interpretation to pure H₂0. For example, as used herein, the terms "water" and "body of water" may mean, but are not limited to: a muddy river bed; sea-water; a ford; and dirty water in off-road terrain.

The methods, algorithms and control processes described herein can be machine- implemented. The methods, algorithms and control processes described herein can be implemented on one or more computational device(s) comprising one or more processors, for example, an electronic microprocessor. Such processor(s) may be configured to perform computational instructions stored in memory or in a storage device accessible by the processor(s). Within the scope of this application it is envisaged that the various aspects, embodiments, examples and alternatives, and in particular the features thereof, set out in the preceding paragraphs, in the claims and/or in the following description and drawings, may be taken independently or in any combination thereof. For example, features described in connection with one embodiment are applicable to all embodiments, unless such features are incompatible.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present invention will now be described, by way of example only, with reference to the accompanying Figures in which: FIGURE 1 is a schematic plan view of a vehicle, having a system comprising a water level measurement apparatus; a first water detection apparatus; first and second imagers; and having an HMI-apparatus according to an embodiment of the disclosure; FIGURE 2 is a schematic illustration of the system of Figure 1 showing: a communication network between a first control module for the first water detection apparatus; and a third control module for the water level measurement apparatus, the HMI-apparatus and optionally the first and second imagers. FIGURE 3 is a schematic plan view of a vehicle, having a system according to a further embodiment of the disclosure, additionally comprising a second water detection apparatus; and

FIGURE 4 is a schematic illustration of the system of Figure 2 showing: a communication network between a first control module for the first water detection apparatus; a second control module for the second water detection apparatus; and a third control module for the water level measurement apparatus, the HMI-apparatus and optionally the first and second imagers. DETAILED DESCRIPTION

Detailed descriptions of specific embodiments of the vehicle, system, method and apparatus of the present invention are disclosed herein. It will be understood that the disclosed embodiments are merely examples of the way in which certain aspects of the invention can be implemented and do not represent an exhaustive list of all of the ways the invention may be embodied. Indeed, it will be understood that the vehicle, system, method and apparatus described herein may be embodied in various and alternative forms. The Figures are not necessarily to scale and some features may be exaggerated or minimized to show details of particular components. Well-known components, materials or methods are not necessarily described in great detail in order to avoid obscuring the present disclosure. Any specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the invention.

Generally, aspects of the present invention relate to a system for a vehicle configured to monitor the environment in which the vehicle is being driven, specifically to determine when the vehicle has entered into a wading situation. In response to making a confident determination that the vehicle has entered into a wading situation, the system is configured to trigger one or more responses which may include selecting and modifying image data and displaying on an in cabin HMI-apparatus images of regions external to the vehicle showing part of the body of water in which the vehicle is wading in order to assist and guide the driver.

As can be seen in Figure 1 , there is shown a schematic plan view of a vehicle 10 comprising a system 90 for assisting a driver when the vehicle 10 is wading. The system 90 (Figure 2) comprises: a first water detection apparatus 301 ; an optional water level measurement apparatus 141 ; an imaging apparatus 151 ; and an HMI-apparatus 152.

The first water detection apparatus 301 comprises a first series of ultrasonic transducer sensors 30a, 30b, 30c, 30d mounted to a front bumper 60 of the vehicle 10; and comprises a second series of ultrasonic transducer sensors 32a, 32b, 32c, 32d mounted to a rear bumper 62 of the vehicle 10. As is known (for example from GB2486579 to the present applicant), an electrical signal generated by an ultrasonic transducer sensor can be indicative of whether that and/or another ultrasonic transducer sensor is submerged in water or not. Such ultrasonic transducer sensors 30a, 30b, 30c, 30d, 32a, 32b, 32c, 32d offer a very sensitive and accurate determination regarding the presence of water. Beneficially, such sensors 30a, 30b, 30c, 30d, 32a, 32b, 32c, 32d do not suffer from any or any significant time delay after submersion or false-positive water detection.

The first and second series of ultrasonic transducer sensors 30a, 30b, 30c, 30d, 32a, 32b, 32c, 32d are mounted to the front and rear bumpers 60, 62 and in the present embodiment also optionally serve as part of an existing parking aid system. As such, a first control module 300 (see Figure 2) associated with the sensors 30a, 30b, 30c, 30d, 32a, 32b, 32c, 32d has optionally been developed by modification of a control module already available for parking aid type sensors. As such processing protocols between these types of sensors 30a, 30b, 30c, 30d, 32a, 32b, 32c, 32d and a control module therefor is established and its purchase and modification in creating a first control module 300 associated with the sensors 30a, 30b, 30c, 30d, 32a, 32b, 32c, 32d of the system 90 as now provided can beneficially be achieved at low cost, quickly and reliably.

Optionally, the height at which the sensors 30a, 30b, 30c, 30d, 32a, 32b, 32c, 32d are mounted relative to the vehicle 10 may be between about 200mm and about 400mm, for example, dependent upon vehicle design and shape. A determination of the presence of water may be made by individual ones of the sensors 30a, 30b, 30c, 30d, 32a, 32b, 32c, 32d or as another, not necessarily limiting example, by pairs of adjacent sensors 30a and 30b; 30c and 30d; 32a and 32b; 32c and 32d respectively. In other embodiments a positive detection of water about the vehicle 10 may be made by the system 90 only if water is detected by two or more of the sensors, of one or more or a specified combination of front bumper 60 mounted sensors 30a, 30b, 30c, 30d; and only if water is simultaneously, for a prescribed period, detected by one or more or a specified combination of rear bumper 62 mounted contact sensors 32a, 32b, 32c, 32d. The positive determination, however made by the system 90, is then used to trigger one or more responses optionally including selection and manipulation of data gathered by the imaging apparatus 151 and optionally including activation of the H Ml -apparatus 152.

The optional water level measurement apparatus 141 optionally comprises two, downwardly focused, side mirror 40a, 40b mounted remote water level and/or water depth detection sensors 14a, 14b. Preferably, the two remote water level sensors 14a, 14b are ultrasonic transducer sensors that may operate as described in GB2489109A and/or GB2502422 (both to the present applicant). The sensors 14a, 14b are, in the presently illustrated arrangement mounted to the left and right side (considered from the driver's point of view) of the vehicle 10 and on the same lateral axis (x-axis). Data gathered by the remote water level/water depth detection sensors 14a, 14b is communicated to a wade assist (third) control module 140 and is used thereby to determine how to populate or operate the HMI-apparatus 152 which is also optionally communicatively associated with the wade assist (third) control module 140 of the system 90.

The imaging apparatus 151 comprises one or more imagers 50a, 50b and the third control module 140 is associated therewith for controlling the imagers 50a, 50b and/or for processing image data streams received therefrom. Optionally, the imagers 50a, 50b are externally mounted cameras 50a, 50b.

A first, optionally digital, camera 50a is mounted to the left-side mirror 40a and a second, optionally digital, camera 50b is mounted to the right-side mirror 40b. The first and second cameras 50a, 50b are each preferably wide angle cameras 50a, 50b and are each operable to collect image data in a first field of view 90a and a second field of view (not shown). In Figure 1 , only the first field of view 90a of the first imager 50a is shown and is depicted by a dotted line denoted by 90a. The first and second cameras 50a, 50b are each oriented and arranged such that the first and second fields of view 90a have a centre 70a that is disposed to the side of the vehicle 10. Additionally, the centre 70a of the field of view 90a of each camera 50a, 50b is optionally positioned at a shorter distance to the front bumper 60 of the vehicle 10 compared to the distance forward of the side mirror to which it is mounted. Alternatively the centre 70a may be positioned rearward of the side mirror to which it is mounted. The first and second cameras 50a, 50b each comprise optical components, such as wide angle fixed lenses to enable each imager 50a, 50b to gather an image data stream of the environment to the side of the vehicle 10 and along a substantial part or all of the longitudinal length of the vehicle 10. As such, each camera 50a, 50b may be able to collect image data of an external region spanning from proximate to the front of the vehicle 10 to proximate to the rear of the vehicle 10 and including an area to the side of the vehicle 10 and part of the vehicle 10 itself, see Figure 1 , wherein the first field of view 90a of the first camera 50a is generally depicted by dashed line 90a. The second field of view is not shown in order to avoid obscuring the illustration; however it will be recognized that the second field of view is optionally a mirror image of the first field of view 90a.

Beneficially, the third control module 140, which in this arrangement is directly associated with the first and second cameras 50a, 50b, comprises a digital image processing engine 145 that is configured to select a sub-set of data from the first and second image data streams gathered by the first and second cameras 50a, 50b respectively. The first and second data streams are digital data streams each containing pixel data of a first range of pixels, which depict the first and second fields of view 90a respectively. In response to a confident and positive determination by the third control module 140 that the vehicle 10 is in a wading scenario, in one embodiment, the third control module 140 is configured to select a sub-set of data from the first and second digital data streams and to effectively extract therefrom first and second subset data streams each comprising only a sub-set of pixels of the first range of pixels (which depict the first and second fields of view 90a in their entirety). The first and second subset data streams are selected such that a first secondary image and a second, secondary image of only the sub-environments 80a, 80b (also referred to herein as first and second regions 80a, 80b) proximate to the vehicle 10 and optionally proximate to the side mirror 40a, 40b mounted remote water level and/or water depth detection sensors 14a, 14b respectively are displayed on a display screen of an HMI apparatus 152.

Optionally in dependence upon one or more or a combination of the following factors:

• the resolution of the first and second cameras 50a, 50b;

• the position of the first and second cameras 50a, 50b; • the absolute positions of the centres 70a of the first and second fields of view 90a;

• the positions of the centres 70a of the first and second fields of view 90a relative to the position of the sub-environments 80a, 80b; and · the angles of the first and second cameras 50a, 50b,

the system 90 is configured to define the first and second sub-set data streams relative to the first and second data streams.

The processing engine 145 of the third control module 140 is configured to digitally manipulate, enhance, correct or otherwise modify the first and second sub-set data streams in order to generate images of the sub-environments 80a, 80b that are not distorted. It will be appreciated that the use of fixed wide angle lenses or other optical components capable of gathering image data in the first and second wide-angled fields of view, will cause the images thereby gathered to be distorted in regions of the image that are off-set from the centres 70a of the first and second fields of view 90a. The amount of distortion in gathered digital image is related to the distance from the centre 70a of the field of view 90a. In the present embodiment, the first and second cameras 50a, 50b may be utilized by other systems of the vehicle 10, for example, a parking aid system, a park-for-you system and a lane assist system of a cruise control system (none of which are shown). As such, the centres 70a, of the first and second fields of view 90a may not be aligned with the sub- environments 80a, 80b of which image data is required by the wade assist system 90 of the present disclosure, but rather may be optimized for gathering image data for one or more of said other control systems. Accordingly, the third control module 140 is configured to select sufficient data in creating the first and second subset data streams and to modify those first and second subset data streams in order to correct for distortion in the gathered image data. Thereby corrected, undistorted, images of the sub-environments 80a, 80b can be displayed on the HMI-apparatus 152.

The HMI apparatus 152 comprises an-in vehicle cabin display screen 52 on which one or more elevations of a display vehicle may be presented along with a superimposed display water level line that is indicative of a level of water about the vehicle 10. Additionally or alternatively, images of one or both of the sub-environments 80a, 80b may be displayed on the display screen 52. The HMI-apparatus 152 is optionally directly associated with the third control module 140 such that the third control module can control the HMI-apparatus 152.

In determining with what to populate a display 52, or what information to convey by the HMI- apparatus 152, the system 90 may obtain additional data. Additional data optionally may be obtained from other systems of the vehicle 10 for example, but not limited to: the selected terrain mode (OFF-ROAD, ON-ROAD); the transmission mode (2WD, 4WD, high or low range); the vehicle driving speed; the vehicle driving direction (forwards, reverse); rain sensor data; GPS and other satellite or other navigation system data; the attitude of the vehicle (roll, yaw and pitch); and ride-height, may be used by the system 90 of the present invention. Information from the vehicle 10 may be transmitted directly to the system 90 of the present invention from the vehicle control system having that data (for example, the suspension system) or may be transmitted via an associated controller via a vehicle CAN- bus or similar vehicle-based data network.

In Figure 2, the system 90 is shown schematically, wherein the vehicle 10 CAN (controller area network) 500 is shown. The first control module 300 is coupled to the CAN 500; and the third control module 140 is coupled to the CAN 500. The first control module 300 can thereby transmit data to the third control module 140, via the CAN 500. The digital image processing engine 145 may be comprised within the first control module 300 for selecting and processing the first and second subset data streams to generate first and second images of the regions 80a, 80b for display on the display screen 52. In other envisaged embodiments the system 90 may be configured to only show a single image on the display screen 52 of the HMI apparatus 152, for example, the left region 80a or the right region 80b. In yet further envisaged arrangements, the system 90 may have the capability to show on the display 52 images of one or both regions 80a, 80b and may select whether to show one or both regions 80a, 80b in dependence upon a lateral gradient of the vehicle 10. In such an arrangement, if the vehicle 10 is on a zero (or close to zero) lateral gradient then images of both regions 80a, 80b are shown on the HMI apparatus 152, display screen 52. When the left-side (considered from the driver's point of view) of the vehicle 10 is lower than the right-side, the actual vehicle 10 position is referred to as a "left-side low" position. If the vehicle 10 is on lateral gradient defined as a "left-side low" gradient, then it is only the image stream relating to the region 80a corresponding to that low left side of the vehicle 10 that is shown on the display screen 52. Similarly, when the right-side (considered from the driver's point of view) of the vehicle 10 is lower than the left-side, the actual vehicle 10 position is referred to as a "right-side low" position. If the vehicle 10 is on lateral gradient defined as a "right-side low" gradient, then it is only the image stream relating to the region 80b corresponding to that low right side of the vehicle 10 that is shown on the display screen 52. A left-side low gradient may be defined as a lateral gradient greater than or equal to 4° and less than 10°. A right- side low gradient may be defined as a lateral gradient less than or equal to -4° (minus four degrees) and greater than -10° (minus ten degrees). It will be understood from reading the foregoing that a negative lateral gradient refers to a lateral gradient when the vehicle 10 is in a right-side low position, whereas a positive lateral gradient refers to a lateral gradient when the vehicle 10 or display vehicle is in a left-side low position.

Optionally the system 90 is configured to select the region 80a and/or 80b such that a region external to the vehicle 10 but in the proximity of the water depth sensors 14a, 14b is shown. Preferably, but nevertheless optionally, each image shown on the display 52 comprises a portion of the vehicle 10 itself. As can be seen in Figure 1 the regions 80a, 80b overlap the vehicle 10 and the first and second fields of view 90a of the two cameras 50a, 50b include at least a portion of the vehicle 10. Beneficially therefore, the image displayed to the driver shows a view of water about the vehicle 10 with an inherent point of reference such that the location of the region 80a, 80b relative to the vehicle is easily understood by the driver.

In Figures 3 and 4 there is shown a further embodiment of the system of the present disclosure. For ease of illustration and referencing of like features, the system is numbered as 900 and all other similar features are denoted by the same reference number as used in the first illustrated embodiment. To avoid repetitious description, only the differences between the system 900 of Figures 3 and 4 compared to the system 90 of Figure 1 and 2 will be described in further detail. In Figure 3, there is shown a schematic plan view of a vehicle 10 comprising the system 900 for assisting a driver when the vehicle 10 is wading. The system 900 comprises: a first water detection apparatus 301 ; a second water detection apparatus 121 ; a water level measurement apparatus 141 ; an imaging apparatus 151 ; and an HMI-apparatus 152. The second water detection apparatus 121 comprises a third series of direct contact water detection sensors 12a, 12b, 12c, 12d. The third series of sensors 12a, 12b, 12c, 12d comprises at least four electrode type sensors 12a, 12b, 12c, 12d. The four electrode sensors are resistive sensors, responsive to a change in resistance between a pair of electrodes provided within each sensor due to the presence of water therebetween. In Figures 3 and 4, the four sensors 12a, 12b, 12c, 12d are only illustrated schematically, and only their approximate lateral and longitudinal position relative to the vehicle 10 and relative to other sensors and components of the vehicle 10 is shown. The plan view of Figure 3 does not illustrate the mounting height of the sensors 12a, 12b, 12c, 12d relative to one another or to the vehicle 10. However it can be seen and understood that the sensors 12a, 12b, 12c, 12d are respectively positioned proximate to a front-right, front-left, rear-right and rear-left portion of the vehicle 10. The sensors 12a, 12b, 12c, 12d are mounted to the underside of the vehicle 10 and depend therefrom preferably such that the pair of electrodes of each sensor 12a, 12b. 12c, 12d is configured to be in contact with water when in use. As such, each sensor 12a, 12b, 12c, 12d is able to detect the presence of water substantially at the same level with respect to the vehicle 10. The sensors 12a, 12b, 12c, 12d are optionally water-in-oil fuel type electrode sensors 12a, 12b, 12c, 12d which each have a pair of electrodes, at least a portion of which are exposed directly to water in use. Preferably, two laterally spaced sensors 12a, 12b depend from the vehicle 10 inboard of the front bumper 60 of the vehicle 10. Preferably, two laterally spaced sensors 12c, 12d depend from the vehicle 10 inboard of the rear bumper 62 of the vehicle 10. As illustrated in Figure 3, the sensors 12a, 12b, 12c, 12d are mounted to the underside of the vehicle 10 at four corners of the vehicle 10. In this way an early detection of the presence of water about the vehicle 10 may be detected whether the vehicle 10 is travelling in a forwards direction or in a reverse direction and if the vehicle is travelling on a lateral incline.

In use data signals from each sensor 12a, 12b, 12c, 12d of the third series of sensors 12a, 12b, 12c, 12d is time averaged to avoid a false determination that the vehicle 10 is in a wading scenario due to the detection of the presence of water due to the splashing of road water that has temporarily contacted a sensor 12a, 12b, 12c, 12d. As such a positive detection of water is only considered to have been made by each sensor 12a, 12b, 12c, 12d if the data signal received therefrom is indicative of a detection of water for a specified period of time.

The use of water-in-fuel type sensors 12a, 12b, 12c, 12d is advantageous because they are available, well tested, rugged and as such suitable for use mounted to the underbody of the vehicle 10 and exposed in use to the environment, which may include cold temperatures, mud, water and minor impacts from road debris. A second control module 120 associated with the sensors 12a, 12b, 12c, 12d has been developed by modification of a control module already available for water-in-fuel type sensors. As such processing protocols between these types of sensor and a control module therefor is established and its purchase and modification in creating the second control module 120 associated with the four sensors 12a, 12b, 12c, 12d as now provided can beneficially be achieved at low cost, quickly and reliably. Disadvantageously, however, the drying time associated with these types of sensors 12a, 12b, 12c, 12d can cause false detection of water. Indeed, a splash of shallow road water can contact the electrodes of a sensor 12a, 12b, 12c, 12d and can cause the sensor 12a, 12b, 12c, 12d to issue a signal indicative of the presence of water at the electrode sensor 12a, 12b, 12c, 12d until such time as the sensor has "dried out". Disadvantageously, therefore, there is a degree of unreliability associated with the use of these sensors. This is overcome in the present disclosure, by the system 90 being configured to only make a determination that the vehicle 10 is in a wading scenario, (which triggers the wade assist HMI-apparatus 152 to be deployed), in dependence upon a positive detection, as defined above, being observed simultaneously for a second specified period from at least two separate sensors 12a, 12b, 12c, 12d.

Additionally the provision of the first water detection apparatus 301 provided in combination with the second water detection apparatus 121 improves tolerance against false positive water detection and provides a degree of redundancy within the system 900. This is described in further detail below with reference to Figure 4. The first water detection apparatus 301 is the same as already described above in relation to the first illustrated embodiment and comprises a first series of ultrasonic transducer sensors 30a, 30b, 30c, 30d mounted to the front bumper 60 of the vehicle 10; and a second series of ultrasonic transducer sensors 32a, 32b, 32c, 32d mounted to the rear bumper 62 of the vehicle 10. Beneficially, such sensors 30a, 30b, 30c, 30d, 32a, 32b, 32c, 32d do not suffer from the same kind of time delay or false-positive detection that may be associated with the electrode sensors 12a, 12b, 12c, 12d, (which, having been immersed or in contact with water, may still issue a signal indicative of water contact when in fact they are not in contact with wading water, but simply need to "dry-out").

In dependence upon vehicle design and size, because the sensors 30a, 30b, 30c, 30d, 32a, 32b, 32c, 32d of the first water detection apparatus 301 are optimally positioned for their operation as parking aid sensors, they may not be optimally positioned to act as first water detection sensors. Indeed, the height at which the sensors 30a, 30b, 30c, 30d, 32a, 32b, 32c, 32d are mounted relative to the vehicle 10 may be about 400mm, for example, and this may be considered as too high to provide an early enough positive determination that the vehicle 10 is in a wading scenario. It is preferred for example that water at about 200 to 300mm in depth is detected confidently and positively by contact water sensors in order to make a positive determination that the vehicle 10 is wading, and then this positive determination can be used to trigger one or more responses optionally including activation of the HMI-apparatus 152 and imaging apparatus 151 . However, the first water detection apparatus 301 , dependent upon vehicle design, may be positioned at a height of about 400mm above ground level. Beneficially however, the first water detection apparatus 301 provides clear and positive data regarding the presence of water about the vehicle 10 which can be used to verify decisions taken by the system 900 in response to data received from the second water detection apparatus 121 and which can be used as a back-up in the event of failure of the second water detection apparatus 121 .

The water level measurement apparatus 141 is as described above.

The imaging apparatus 151 is also as described above and again comprises two imagers 50a, 50b and the third control module 140 associated therewith.

The HMI apparatus 152 is also as already described above.

In Figure 4, the system 900 is shown schematically, wherein the vehicle 10 CAN (controller area network) 500 is shown. The second control module 120 for the second water detection apparatus 121 is coupled to the CAN; the first control module 300 is coupled to the CAN 500; and the third control module 140 is coupled to the CAN 500. The first and second control modules 300, 120 can thereby transmit data to the third control module 140, via the CAN, without direct communication or interaction with each other. By utilising separate and distinct first and second water detection apparatus 301 , 121 , which each have their own separate and independent control module 300, 120 (for communicating with the associated sensors 30a, 30b, 30c, 30d, 32a, 32b, 32c, 32d and 12a, 12b, 12c, 12d respectively), the system 900 is beneficially protected against certain potential system 900 failures. For example, if there is a failure in the data transmission from the second control module 120 to the CAN 500 and yet the first water detection apparatus 301 remains fully functional and able to communicate with the CAN 500, the third control module 140 is in receipt of a data signal indicating failure of the second control module 120; and in receipt of a data signal indicating a positive water detection by one or more of the sensors 30a, 30b, 30c, 30d, 32a, 32b, 32c, 32d, is configured to nevertheless activate the HMI -apparatus 152 and optionally select and process digital image data in order to display a non-distorted image of the region 80a and/or 80b on the HMI-apparatus 152.

In normal use, in a non-failure mode, the (wade assist) third control module 140 receives data relating to water detection by the four electrode sensors 12a, 12b, 12c, 12d from the second control module 120 coupled thereto. The third control module 140 is configured to analyse this data. Optionally, each data signal from each sensor is time averaged in sample periods and for each time averaged sample period a comparison of whether each data signal indicates the presence of water proximate to the sensor is made. Only if two data signals derived from two separate sensors 12a, 12b, 12c, 12d, indicate the presence of water thereabout simultaneously and simultaneously for a specified period, does the third control module 140 make a positive determination that the vehicle is wading. The specified time period may equal an integer number of said sampling periods. It will be recognised that in configuring the system 900 in this way, there are certain scenarios wherein a vehicle 10 may actually enter into a wading scenario, perhaps on a slight lateral and longitudinal incline, such that only one electrode sensor, for example the front-right sensor 12b positively detects the presence of water. The system 900 of the present disclosure is configured not to make a positive detection that the vehicle 10 is wading until two or more of said electrode sensors 12a, 12b, 12c, 12d transmit data signals relating to positive water detection. As such, the system 900 may be "slow" to react to vehicle wading in certain scenarios; however, the low mounted position of the sensors 12a, 12b, 12c, 12d nevertheless means that by the time the vehicle in the described scenario has progressed further into the body of water such that a positive detection is made by two sensors 12a, 12b, 12c, 12d, the wade assist control module 140 nevertheless triggers the activation of the H Ml -apparatus 152 and imaging apparatus 151 in time for it to still be useful. Beneficially, the likelihood of the vehicle actually wading when two of the spaced sensors 12a, 12b, 12c, 12d that are disposed at the corners of the vehicle 10 positively detect water is significantly greater than the likelihood of the vehicle actually wading when only one of the spaced sensors 12a, 12b, 12c, 12d positively detects water.

The system 900 is therefore configured to operate in the manner described notwithstanding the fact that a vehicle may actually be in a wading scenario when only one of the spaced sensors detects water. It can be appreciated that various changes may be made within the scope of the present invention, for example, the first and second cameras may be directly coupled to a further control module which further control module may communicate with the vehicle CAN.

Additionally or alternatively the HMI-apparatus 152 may be coupled to a separate FCDIM Control Module and the third wade assist control module 140 may communicate with the FCDIM control module, optionally via the CAN 500 or other network or other suitable connection. As such the layout of the network illustrated in Figures 2 and 4 is not necessarily limiting. In other envisaged embodiments, said remote sensors may for example include, but are not limited to, one or more or a combination of: acoustic, electromagnetic and optical type sensors to measure reflections from the surface of the water. It will be appreciated that although reference is made to several different controllers throughout the application, it is not necessary that these are physically different components. It will be appreciated that they may comprise different processing functions of a single controller, or different program functions carried out within a single processor. Likewise, where used, the term "control means" may refer to a single physical controller, may refer to a plurality of physical controllers each configured to carry out a control function, or may refer to one or more control functions performed by a controller which also performs other control functions.

In yet further envisaged embodiments said contact sensors may optionally include liquid level measurement sensors, for example including but not limited to sensors measuring a change, due to the presence of water, in: pressure, electrical characteristic (for example capacitance, resistance), electromagnetic (for example optical) and radio frequency time-of- flight).

The following numbered paragraphs contain statements of invention:

1. A system for assisting a driver of the vehicle during wading, the system comprising:

(i) a first water detection apparatus comprising at least one sensor configured to gather data to identify the presence of water about the vehicle;

(ii) an imaging apparatus for gathering image data; and

(iii) a controller having a processor arranged and configured to

make a positive determination that the vehicle is wading in water in dependence upon data gathered by said at least one sensor; and

in dependence upon making said positive determination that the vehicle is wading, select at least one sub-set of image data from the image data gathered by the imaging apparatus.

2. A system according to paragraph 1 wherein the imaging apparatus comprises at least a first imager configured and arranged to, in use, collect a first image data stream of the environment external to and proximate to the vehicle.

3. A system according to paragraph 2 wherein the imaging apparatus comprises at least a second imager configured and arranged to, in use, collect a second image data stream of the environment external to and proximate to the vehicle. A system according to paragraph 2 wherein the total image data gathered by the first imager comprises a first image data stream relating to a first number of pixels, and wherein the at least one sub-set of image data comprises: a first sub-set of image data selected from the first image data stream, and relating to fewer pixels that than the total image data gathered by the first imager. A system according to paragraph 3 wherein the total image data gathered by the first imager comprises a first image data stream relating to a first number of pixels and wherein the at least one sub-set of image data comprises: a first sub-set of image data selected from the first image data stream, and relating to fewer pixels that than the total image data gathered by the first imager; and a wherein the total image data gathered by the second imager comprises a second image data stream relating to a second number of pixels and wherein the at least one sub-set of image data further comprises: a second sub-set of image data selected from the second image data stream, and relating to fewer pixels that than the total image data gathered by the second imager. A system according to paragraph 5 wherein said first and second sub-sets of image data comprise image data of water external to the vehicle in first and second regions respectively. A system according to paragraph 6 wherein the first imager gathers image data in a first field of view having a centre that is offset from the centre of said first region; and wherein the second imager gathers image data in a second field of view having a centre that is offset from the centre of said second region. A system according to paragraph 6 wherein the first imager gathers image data in a first field of view having a centre that is outside of said first region; and/or wherein the second imager gathers image data in a second field of view having a centre that is outside of said second region. A system according to paragraph 5 wherein the system further comprises an HMI apparatus having a display screen and wherein the controller is configured to, upon making said determination that the vehicle is wading, display an image generated from at least one of said first subset and said second subset on said display screen. A system according to paragraph 9 wherein the controller is configured and arranged to manipulate the at least one sub set of data to correct for any distortion of the image. A vehicle comprising a system for assisting a driver of the vehicle during wading, the system comprising:

(ii) an imaging apparatus for gathering image data; and

(iii) a controller having a processor arranged and configured to

in dependence upon making said positive determination that the vehicle is wading, select at least one sub-set of image data from the image data gathered by the imaging apparatus. A vehicle according to paragraph 1 1 wherein the imaging apparatus comprises a first digital camera mounted on a first side mirror of the vehicle and a second digital camera mounted on a second side mirror of the vehicle. A vehicle according to paragraph 12 wherein

the total image data gathered by the first imager comprises a first image data stream relating to a first number of pixels and wherein the at least one sub-set of image data comprises: a first sub-set of image data selected from the first image data stream, and relating to fewer pixels that than the total image data gathered by the first imager; and a wherein the total image data gathered by the second imager comprises a second image data stream relating to a second number of pixels and wherein the at least one sub-set of image data further comprises: a second sub-set of image data selected from the second image data stream, and relating to fewer pixels that than the total image data gathered by the second imager, and

wherein said first sub-set of image data comprises an area of view substantially beneath the first side mirror and wherein said second sub-set of image data comprises an area of view substantially beneath the second side mirror. A vehicle according to paragraph 1 1 further comprising a water level measurement apparatus comprising two, substantially downwardly focused, side mirror mounted remote water level, or water depth, detection sensors. A vehicle according to paragraph 1 1 wherein the first water detection apparatus comprises: a first plurality of ultrasonic transducer sensors mounted to a front bumper of the vehicle; and a second plurality of ultrasonic transducer sensors mounted to a rear bumper of the vehicle; and a first control module associated therewith;

wherein the system further comprises a water detection apparatus having four electrode sensors depending from the underside of the vehicle and respectively positioned proximate to a front-left, front-right, rear-left and rear-right portion thereof; and having a second control module associated therewith;

wherein the first and second control modules are each, separately, communicatively coupled to the control means to transmit data relating to water detection by said electrode sensors and said ultrasonic transducer sensors respectively to said control means;

wherein the controller is configured to make a determination that the vehicle is wading in dependence upon said data relating to water detection comprising a positive detection of water from at least two of said electrode sensors simultaneously for a specified period of time or from at least two of said ultrasonic transducer sensors; and

wherein, in dependence upon the controller making said determination that the vehicle is wading, it is configured to trigger one or more vehicle responses. A vehicle according to paragraph 15 wherein said one or more vehicle responses includes populating a display screen of the HMI apparatus with a graphical representation of an elevation of a display vehicle superimposed upon which is a display water level line positioned in dependence upon data obtained by the water level measurement apparatus. A method of assisting a driver of a vehicle during vehicle wading, the method comprising:

(i) detecting the presence of water and making a determination that a vehicle is wading;

(ii) gathering image data using imaging apparatus; and

(iii) selecting at least one sub-set of image data from the image data gathered by the imaging apparatus in dependence upon making a determination that a vehicle is wading. A method according to paragraph 17 further comprising displaying said sub-set of image data on an HMI display screen. A method of assisting a driver of a vehicle during vehicle wading, the method comprising:

(i) detecting the presence of water about the vehicle using a first water detection apparatus having four electrode sensors depending from the underside of the vehicle and respectively positioned proximate to a front-left, front-right, rear- left and rear-right portion thereof; and having a first control module associated therewith;

(ii) detecting the presence of water about the vehicle using a second water detection apparatus having a first series of ultrasonic transducer sensors mounted to a front bumper of the vehicle; having a second series of ultrasonic transducer sensors mounted to a rear bumper of the vehicle; and having a second control module associated therewith;

(iii) transmitting data relating to water detection by said electrode sensors from said first control module to the third control module separately and independently of the second control module;

(iv) transmitting data relating to water detection by said ultrasonic transducer sensors from said second control module to the third control module separately and independently of the first control module;

(v) making a determination that the vehicle is wading in dependence upon said data relating to water detection comprising a positive detection of water from at least two of said electrode sensors simultaneously for a specified period of time; and

(vi) in dependence upon the third control module making said determination that the vehicle is wading, triggering one or more vehicle responses. A vehicle comprising a system for assisting a driver of the vehicle during wading, the system comprising:

(i) a first water detection apparatus having four electrode sensors depending from the underside of the vehicle and respectively positioned proximate to a front-left, front-right, rear-left and rear-right portion thereof; and having a first control module associated therewith;

(ii) a second water detection apparatus having a first series of ultrasonic transducer sensors mounted to a front bumper of the vehicle; having a second series of ultrasonic transducer sensors mounted to a rear bumper of the vehicle; and having a second control module associated therewith; and

(iii) a third control module; wherein the first and second control modules are each, separately, communicatively coupled to the third control module for transmitting data relating to water detection by said electrode sensors and said ultrasonic transducer sensors respectively to said third control module; and

wherein the third control module is configured to make a determination that the vehicle is wading in dependence upon said data relating to water detection comprising a positive detection of water from at least two of said electrode sensors simultaneously for a specified period of time; and

wherein, in dependence upon the third control module making said determination that the vehicle is wading, the third control module is configured to trigger one or more vehicle responses.

Claims

1. A system for assisting a driver of a vehicle during wading, the system comprising:

a first water detection apparatus comprising at least one sensor configured to gather data to identify the presence of water about the vehicle; an imaging apparatus for gathering image data; and

a control means having a processor and configured to

2. A system according to claim 1 wherein the imaging apparatus comprises at least a first imager configured and arranged to, in use, collect a first image data stream of the environment external to and proximate to the vehicle.

3. A system according to claim 2 wherein the imaging apparatus comprises at least a second imager configured and arranged to, in use, collect a second image data stream of the environment external to and proximate to the vehicle.

4. A system according to claim 2 or claim 3 wherein the total image data gathered by the first imager comprises a first image data stream relating to a first number of pixels, and wherein the at least one sub-set of image data comprises: a first sub-set of image data selected from the first image data stream, and relating to fewer pixels than the total image data gathered by the first imager.

5. A system according to claim 3 wherein the total image data gathered by the first imager comprises a first image data stream relating to a first number of pixels and wherein the at least one sub-set of image data comprises: a first sub-set of image data selected from the first image data stream, and relating to fewer pixels that than the total image data gathered by the first imager; and wherein the total image data gathered by the second imager comprises a second image data stream relating to a second number of pixels and wherein the at least one sub-set of image data further comprises: a second sub-set of image data selected from the second image data stream, and relating to fewer pixels than the total image data gathered by the second imager.

6. A system according to claim 4 or claim 5 wherein said first and/or second sub-sets of image data comprise image data of water external to the vehicle in first and/or second regions respectively.

7. A system according to claim 6 wherein the first imager gathers image data in a first field of view having a centre that is offset from the centre of said first region; and/or wherein the second imager gathers image data in a second field of view having a centre that is offset from the centre of said second region.

8. A system according to claim 7 wherein the first imager gathers image data in a first field of view having a centre that is outside of said first region; and/or wherein the second imager gathers image data in a second field of view having a centre that is outside of said second region.

9. A system according to any one of claims 5 to 8 wherein the system further comprises an HMI apparatus having a display screen and wherein the control means is configured to, upon making said determination that the vehicle is wading, display an image generated from at least one of said first subset and said second subset on said display screen.

10. A system according to claim 9 wherein the control means is configured and arranged to manipulate the at least one sub set of data to correct for any distortion of the image.

1 1 . A vehicle comprising a system according to any one of the preceding claims.

12. A vehicle according to claim 1 1 wherein the imaging apparatus comprises a first digital camera mounted on a first side mirror of the vehicle and a second digital camera mounted on a second side mirror of the vehicle.

13. A vehicle according to claim 12 depending through claim 5, wherein said first sub-set of image data comprises an area of view substantially beneath the first side mirror and wherein said second sub-set of image data comprises an area of view substantially beneath the second side mirror.

14. A vehicle according to any one of claims 1 1 to 13 further comprising a water level measurement apparatus comprising two, substantially downwardly focused, side mirror mounted remote water level, or water depth, detection sensors.

15. A vehicle according to claim 12 depending through claim 6 wherein the first and second regions are approximately beneath said first and second side mirror respectively.

16. A vehicle according to any one of claims 1 1 to 15 wherein the first water detection apparatus comprises: a first plurality of ultrasonic transducer sensors mounted to a front bumper of the vehicle; and a second plurality of ultrasonic transducer sensors mounted to a rear bumper of the vehicle; and a first control module associated therewith;

wherein the control means is configured to make a determination that the vehicle is wading in dependence upon said data relating to water detection comprising a positive detection of water from at least two of said electrode sensors simultaneously for a specified period of time or from at least two of said ultrasonic transducer sensors; and

wherein, in dependence upon the control means making said determination that the vehicle is wading, it is configured to trigger one or more vehicle responses.

17. A vehicle according to claim 16 wherein said four electrode sensors are each water- in-fuel sensor type sensors.

18. A vehicle according to claim 16 or 17 wherein said one or more vehicle responses includes populating a display screen of the HMI apparatus with a graphical representation of an elevation of a display vehicle superimposed upon which is a display water level line positioned in dependence upon data obtained by the water level measurement apparatus.

19. A method of assisting a driver of a vehicle during vehicle wading, the method comprising: detecting the presence of water and making a determination that a vehicle is wading;

gathering image data using imaging apparatus; and

selecting at least one sub-set of image data from the image data gathered by the imaging apparatus in dependence upon making a determination that a vehicle is wading.

20. A method according to claim 19 further comprising displaying said sub-set of image data on an HMI display screen.

21 . A method according to claim 20 further comprising manipulating the at least one subset of data to correct for any distortion of the image on the display screen.

22. A method of assisting a driver of a vehicle during vehicle wading, the method comprising:

detecting the presence of water about the vehicle using a first water detection apparatus having four electrode sensors depending from the underside of the vehicle and respectively positioned proximate to a front-left, front-right, rear- left and rear-right portion thereof; and having a first control module associated therewith;

detecting the presence of water about the vehicle using a second water detection apparatus having a first series of ultrasonic transducer sensors mounted to a front bumper of the vehicle; having a second series of ultrasonic transducer sensors mounted to a rear bumper of the vehicle; and having a second control module associated therewith;

transmitting data relating to water detection by said electrode sensors from said first control module to the third control module separately and independently of the second control module;

transmitting data relating to water detection by said ultrasonic transducer sensors from said second control module to the third control module separately and independently of the first control module;

making a determination that the vehicle is wading in dependence upon said data relating to water detection comprising a positive detection of water from at least two of said electrode sensors simultaneously for a specified period of time; and

in dependence upon the third control module making said determination that the vehicle is wading, triggering one or more vehicle responses.

23. A vehicle comprising a system for assisting a driver of the vehicle during wading, the system comprising:

a first water detection apparatus having four electrode sensors depending from the underside of the vehicle and respectively positioned proximate to a front-left, front-right, rear-left and rear-right portion thereof; and having a first control module associated therewith;

a second water detection apparatus having a first series of ultrasonic transducer sensors mounted to a front bumper of the vehicle; having a second series of ultrasonic transducer sensors mounted to a rear bumper of the vehicle; and having a second control module associated therewith; and a third control module;

wherein the first and second control modules are each, separately, communicatively coupled to the third control module for transmitting data relating to water detection by said electrode sensors and said ultrasonic transducer sensors respectively to said third control module; and

24. A non-transitory, computer-readable storage medium storing instructions thereon that when executed by one or more electronic processors causes the one or more processors to carry out the method according to any one of claims 19 to 22.

25. a computer program product executable on a processor so as to implement the method according to any one of claims 19 to 22.

26. An electronic controller for a vehicle having a storage medium associated therewith storing instructions that when executed by the controller causes the selection of at least one sub-set of image data in accordance with the method of:

detecting the presence of water and making a determination that a vehicle is wading; gathering image data using imaging apparatus; and

27. A method, system, vehicle or program substantially as herein described with reference to and/or as illustrated by the accompanying drawings.