技术领域technical field
本发明属于汽车技术领域，尤其涉及一种车辆涉水告警方法及系统。The invention belongs to the technical field of automobiles, in particular to a vehicle wading warning method and system.
背景技术Background technique
在雨天或突发漏水事故时，地下停车场或地势低洼场所停车区域容易产生积水，由于驾驶员停车前未能提前识别积水事件的发生，在驾驶员离开不知情的情况下发生车辆涉水事件，导致车辆泡水并造成财物损失、影响车辆的正常使用。In rainy days or sudden water leakage accidents, underground parking lots or parking areas in low-lying places are prone to water accumulation. Since the driver failed to recognize the occurrence of water accumulation events in advance before parking, vehicle accidents occurred when the driver left without knowing. Water incidents will cause the vehicle to soak in water, cause property damage, and affect the normal use of the vehicle.
当前，车辆的涉水检测多是针对动态行驶中的车辆，通常是在检测到车辆涉水后进行报警提示，阻止驾驶员继续前进发生危险，但针对静态停放的车辆，由于车辆处于下电状态，无法避免车辆涉水。At present, vehicle wading detection is mostly aimed at dynamic driving vehicles. Usually, an alarm is issued after the vehicle is detected to prevent the driver from moving forward and causing danger. However, for static parked vehicles, since the vehicle is in a power-off state , can not avoid the vehicle wading.
发明内容Contents of the invention
有鉴于此，本发明实施例提供了一种车辆涉水告警方法及系统，用于解决现有车辆涉水检测方案无法对静态停放的车辆进行告警的问题。In view of this, an embodiment of the present invention provides a vehicle wading warning method and system, which are used to solve the problem that existing vehicle wading detection schemes cannot give warnings to statically parked vehicles.
在本发明实施例的第一方面，提供了一种车辆涉水告警方法，包括：In the first aspect of the embodiments of the present invention, a vehicle wading warning method is provided, including:
通过车轮上的温湿度传感器实时监测环境温湿度变化，当温湿度超过预定值，则通过车辆上的预定传感器检测车辆周围水位深度；The environmental temperature and humidity changes are monitored in real time through the temperature and humidity sensors on the wheels. When the temperature and humidity exceed the predetermined value, the predetermined sensors on the vehicle are used to detect the depth of the water level around the vehicle;
当车辆周围水位深度超过预设深度，则向车主发送告警信息，并开启车辆环视摄像头录制视频；When the water level around the vehicle exceeds the preset depth, a warning message will be sent to the owner, and the vehicle's surround-view camera will be turned on to record video;
车辆根据车主选择的避险方式，控制车辆驶离涉水区域或保持原地不动。The vehicle controls the vehicle to leave the wading area or stay in place according to the avoidance method selected by the owner.
在本发明实施例的第二方面，提供了一种车辆涉水告警系统，至少包括涉水检测模块、环境感知模块、IMU传感器、整车中央域控制器和车载通信模块；In the second aspect of the embodiments of the present invention, a vehicle wading warning system is provided, including at least a wading detection module, an environment perception module, an IMU sensor, a vehicle central domain controller, and a vehicle communication module;
其中，所述涉水检测模块用于通过车轮上的温湿度传感器实时监测环境温湿度变化，当温湿度超过预定值，则通过车辆上的预定传感器检测车辆周围水位深度；Wherein, the wading detection module is used to monitor the change of environmental temperature and humidity in real time through the temperature and humidity sensor on the wheel, and when the temperature and humidity exceed a predetermined value, the predetermined sensor on the vehicle is used to detect the depth of the water level around the vehicle;
所述整车中央域控制器用于根据车主选择的避险方式，控制车辆驶离涉水区域或保持原地不动，以及在控制车辆行驶中，根据环境感知模块感知信息，引导车辆行驶；The vehicle central domain controller is used to control the vehicle to leave the wading area or keep it in place according to the risk avoidance mode selected by the vehicle owner, and guide the vehicle to drive according to the information sensed by the environment perception module during the control of the vehicle;
所述车载通信模块，用于当车辆周围水位深度超过预设深度，则向云平台发送提示信息，以及接收云平台转发的避险控制指令。在本发明实施例的第三方面，提供了一种电子设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器运行的计算机程序，所述处理器执行所述计算机程序时实现如本发明实施例第一方面所述方法的步骤。The on-vehicle communication module is used for sending prompt information to the cloud platform when the depth of the water level around the vehicle exceeds the preset depth, and receiving the risk avoidance control instruction forwarded by the cloud platform. In a third aspect of the embodiments of the present invention, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program When implementing the steps of the method described in the first aspect of the embodiment of the present invention.
在本发明实施例的第四方面，提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本发明实施例第一方面提供的所述方法的步骤。In a fourth aspect of the embodiments of the present invention, there is provided a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the method provided in the first aspect of the embodiments of the present invention. The steps of said method.
本发明实施例中，通过静态停放车辆周围温湿度、涉水深度进行检测，当涉水深度超过一定值，则对车主进行告警，并根据车主指令控制车辆驶离涉水区域或保持不动，从而不仅能及时提醒车主，避免车辆因浸水造成财产损失，而且可以遥控车辆驶离涉水区域，有效避免车辆长时间泡水。In the embodiment of the present invention, the temperature and humidity around the statically parked vehicle and the wading depth are detected. When the wading depth exceeds a certain value, an alarm is given to the owner, and the vehicle is controlled to leave the wading area or keep still according to the owner's instruction. In this way, not only can the car owner be reminded in time to avoid property loss caused by the vehicle being immersed in water, but also the vehicle can be driven away from the wading area by remote control, effectively preventing the vehicle from being soaked in water for a long time.
附图说明Description of drawings
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单介绍，显而易见地，下面描述的附图仅仅是本发明的一些实施例，对本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获取其他附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the descriptions of the embodiments or prior art. Obviously, the accompanying drawings described below are only some implementations of the present invention For example, those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.
图1为本发明一个实施例提供的一种车辆涉水告警方法的流程示意图；Fig. 1 is a schematic flow chart of a vehicle wading warning method provided by an embodiment of the present invention;
图2为本发明一个实施例提供的一种车辆涉水告警方法另一流程示意图；Fig. 2 is another schematic flowchart of a vehicle wading warning method provided by an embodiment of the present invention;
图3为本发明一个实施例提供的一种车辆涉水告警系统的结构示意图；Fig. 3 is a schematic structural diagram of a vehicle wading warning system provided by an embodiment of the present invention;
图4为本发明一个实施例提供的一种车辆涉水告警系统的另一结构示意图；Fig. 4 is another structural schematic diagram of a vehicle wading warning system provided by an embodiment of the present invention;
图5为本发明一个实施例提供的一种电子设备的结构示意图。Fig. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.
具体实施方式Detailed ways
为使得本发明的发明目的、特征、优点能够更加的明显和易懂，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，下面所描述的实施例仅仅是本发明一部分实施例，而非全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
应当理解，当在本说明书和所附权利要求书中使用时，术语“包括”指示所描述特征、整体、步骤、操作、元素和/或组件的存储，但并不排除一个或多个其他特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。It should be understood that when used in this specification and the appended claims, the term "comprises" indicates a set of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other features. , whole, step, operation, element, component and/or the presence or addition of a collection thereof.
在此本申请说明书中所使用的的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明和所附权利要求书中所使用的那样，除非上下文清楚地指明其他情况，否则单数形式的“一”“一个”及“该”意在包括复数形式。The terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise.
本发明的说明书或权利要求书及上述附图中的术语“包括”以及其他相近意思表述，意指覆盖不排他的包含，如包含一系列步骤或单元的过程、方法或系统、设备没有限定于已列出的步骤或单元。此外，“第一”“第二”用于区分不同对象，并非用于描述特定顺序。The term "comprising" and other expressions with similar meanings in the description or claims of the present invention and the above drawings mean that the coverage is not exclusive, such as the process, method or system or equipment comprising a series of steps or units is not limited to Steps or units listed. In addition, "first" and "second" are used to distinguish different objects, and are not used to describe a specific order.
请参阅图1，本发明实施例提供的一种车辆涉水告警方法的流程示意图，包括：Please refer to FIG. 1 , a schematic flowchart of a vehicle wading warning method provided by an embodiment of the present invention, including:
S101、通过车轮上的温湿度传感器实时监测环境温湿度变化，当温湿度超过预定值，则通过车辆上的预定传感器检测车辆周围水位深度；S101. Monitor changes in ambient temperature and humidity in real time through the temperature and humidity sensors on the wheels. When the temperature and humidity exceed a predetermined value, detect the depth of the water level around the vehicle through predetermined sensors on the vehicle;
所述温湿度传感器可以安装在车轮轮毂上，用于监测环境温湿度。由于车辆在涉水情况下，车轮附近温湿度较大，可以以此判断车辆是否涉水。The temperature and humidity sensor can be installed on the hub of the wheel for monitoring the temperature and humidity of the environment. Since the vehicle is wading, the temperature and humidity near the wheels are relatively high, which can be used to determine whether the vehicle is wading.
车辆低功耗开启涉水监测，通过四个车轮周边的温湿度传感器实时监测周围环境温湿度变化，当检测判定停放车辆下方有水渍开始浸没车辆时，开始唤醒车辆涉水告警系统，即启用车辆涉水告警功能。The low power consumption of the vehicle turns on the wading monitoring, and the temperature and humidity changes in the surrounding environment are monitored in real time through the temperature and humidity sensors around the four wheels. When the detection determines that there is water stains under the parked vehicle and the vehicle begins to immerse the vehicle, the vehicle wading alarm system starts to wake up, that is, it is activated. Vehicle wading warning function.
所述预定传感器为可以用于水位深度检测的传感器，其安装在车辆相应位置，当判定车辆周围温湿度超过预定值后，会启用所述预定传感器进行深度检测。The predetermined sensor is a sensor that can be used for water level depth detection, and it is installed at a corresponding position of the vehicle. When it is determined that the temperature and humidity around the vehicle exceed a predetermined value, the predetermined sensor will be activated for depth detection.
在一些实施例中，通过水压传感器、红外传感器和超声波传感器中的任意一种传感器实时检测水位高度。In some embodiments, the water level is detected in real time by any one of a water pressure sensor, an infrared sensor and an ultrasonic sensor.
红外信号和超声波信号均能根据水面反射测得水面高度，压力传感器可以根据浸水处的水压以及压力传感器安装位置，测得水面高度。Both the infrared signal and the ultrasonic signal can measure the height of the water surface according to the reflection of the water surface, and the pressure sensor can measure the height of the water surface according to the water pressure at the place where the water is immersed and the installation position of the pressure sensor.
示例性的，以布置在车辆上的红外传感器为例，检测水位高度变化，根据红外信号与地面反射计算涉水前探测装置距离地面的高度H1，当有水开始准备浸没车辆时，通过红外探测信号与水面反射信息计算，得出涉水探测装置距离水面的高度H2，计算得出车辆涉水深度H＝H1－H2。Exemplarily, take the infrared sensor arranged on the vehicle as an example to detect the change of the water level, calculate the height H1 of the detection device from the ground before wading according to the infrared signal and the ground reflection, and when there is water ready to submerge the vehicle, the infrared detection The signal and water surface reflection information are calculated to obtain the height H2 of the wading detection device from the water surface, and the vehicle wading depth H=H1-H2 is calculated.
S102、当车辆周围水位深度超过预设深度，则向车主发送告警信息，并开启车辆环视摄像头录制视频；S102. When the depth of the water level around the vehicle exceeds the preset depth, an alarm message is sent to the owner, and the vehicle's surround-view camera is turned on to record a video;
将获取的涉水高度信息与预设的车辆涉水深度进行比较，判定当前车辆危险等级，确定是否需要进行告警提示。Compare the obtained wading height information with the preset vehicle wading depth to determine the current vehicle danger level and determine whether an alarm is required.
在一些实施例中，车辆涉水预设深度H4可以依据车辆设计的最大涉水深度H5进行定义，此处定义H4＝H5＊40％；In some embodiments, the preset vehicle wading depth H4 can be defined according to the maximum wading depth H5 designed for the vehicle, where H4=H5*40% is defined;
当H≤H4时，认定车辆涉水危险等级度低，不足以达到报警条件，不进行下一步动作，继续实时监控涉水深度；When H≤H4, it is determined that the vehicle wading danger level is low, not enough to meet the alarm conditions, and the next step is not taken, and the real-time monitoring of the wading depth is continued;
当H＞H4时，认定车辆涉水危险等级度高，此时则需要触发危险告警信号，向车主告警提示。When H>H4, it is determined that the vehicle wading danger level is high, and at this time, a danger warning signal needs to be triggered to warn the vehicle owner.
判定车辆涉水超过预设深度后，开启车辆前后左右四路环视摄像头、展开外后视镜，打开车灯，利用四路环视摄像头录制一定时长(如10S)的视频保存在控制器内备份。After judging that the wading of the vehicle exceeds the preset depth, turn on the front, rear, left, and right four-way surround view cameras of the vehicle, unfold the exterior rearview mirrors, turn on the lights, and use the four-way surround view cameras to record a video of a certain duration (such as 10 seconds) and save it in the controller for backup.
优选的，若车辆装配有空气悬架，则自动将车辆姿态调整至最高离地间隙。判定车辆涉水危险等级高时，可以基于车辆装配的空气悬架来调整车辆底盘高度，减少涉水对车辆的影响。Preferably, if the vehicle is equipped with an air suspension, the vehicle attitude is automatically adjusted to the highest ground clearance. When it is judged that the vehicle wading risk level is high, the height of the vehicle chassis can be adjusted based on the air suspension equipped on the vehicle to reduce the impact of wading on the vehicle.
S103、车辆根据车主选择的避险方式，控制车辆驶离涉水区域或保持原地不动。S103. The vehicle controls the vehicle to leave the wading area or keep in place according to the avoidance method selected by the vehicle owner.
车端产生的告警信息、车辆录制的视频影像以及车辆位置等，可以通过车载通讯终端发送至云平台，云平台转发告警信息至车主终端，车主终端通过访问云平台获取涉水视频影像及车辆位置等信息。The alarm information generated by the vehicle, the video image recorded by the vehicle, and the vehicle location can be sent to the cloud platform through the vehicle communication terminal, and the cloud platform forwards the alarm information to the vehicle owner terminal, and the vehicle owner terminal obtains the wading video image and vehicle location by accessing the cloud platform and other information.
车端生成的告警信息通过云平台转发至车主终端后，车主可以根据车辆周边情况，在终端上选择相应的避险方式，即保持原地不动或遥控车辆驶离涉水区域。After the alarm information generated by the car terminal is forwarded to the car owner's terminal through the cloud platform, the car owner can choose the corresponding avoidance method on the terminal according to the surrounding conditions of the vehicle, that is, keep still or drive the car away from the wading area by remote control.
默认状态下，车主未选择避险方式或选择车辆原地不动时，涉水车辆不进行任何处理，保持不动，一定时间后车辆整车下电，并低功耗持续监测水位深度。By default, when the car owner does not choose a risk avoidance method or chooses to keep the vehicle in place, the wading vehicle will not perform any treatment and will remain still. After a certain period of time, the vehicle will be powered off and the water level will be continuously monitored with low power consumption.
当车主选择控制车辆驶离涉水区域时，通过云平台将车主指令转发给车端，车辆收到指令后将整车上电，同时唤醒整车网络，当车辆无法上电时，系统发送信息通知车主。When the owner chooses to control the vehicle to leave the wading area, the owner's instruction is forwarded to the vehicle through the cloud platform. After receiving the instruction, the vehicle will power on the vehicle and wake up the vehicle network at the same time. When the vehicle cannot be powered on, the system will send a message Notify the owner.
车辆通过自动驾驶控制车辆驶向目标区域，并可以借助高精度地图进行路径规划。The vehicle controls the vehicle to drive to the target area through automatic driving, and can use high-precision maps for path planning.
本实施例中，通过低功耗监测车辆车轮附近温湿度，在温湿度超标时检测水位深度，根据水位深度对车主进行告警，并能控制车辆及时驶离涉水区域，可以有效避免停放车辆泡水导致的财产损失。In this embodiment, the temperature and humidity near the vehicle wheels are monitored through low power consumption, and the water level and depth are detected when the temperature and humidity exceed the standard, and the vehicle owner is given an alarm according to the water level and depth, and the vehicle can be controlled to leave the wading area in time, which can effectively avoid parking vehicles. Property damage due to water.
在一个实施例中，如图2所示，若车主选择遥控车辆驶离涉水区域，则在车辆接收到云平台转发的控制指令后，整车上电，系统开始自检；In one embodiment, as shown in Figure 2, if the owner chooses to drive the remote control vehicle away from the wading area, after the vehicle receives the control command forwarded by the cloud platform, the vehicle is powered on and the system starts self-inspection;
自检完成后，车辆通过前后左右环视摄像头获取的车辆周边影像数据，并通过车载通讯终端将影像数据实时传送到云平台，以便车主终端通过云平台获取实时影像。After the self-inspection is completed, the vehicle obtains the image data around the vehicle through the front, rear, left, and right cameras, and transmits the image data to the cloud platform in real time through the vehicle communication terminal, so that the owner's terminal can obtain real-time images through the cloud platform.
整车上电后，驾驶控制系统开始自检，检查关联系统如动力能源、制动、转向等状态，车辆电源状态，油量状态，车门、前舱盖、后背门开启状态，空气悬架系统状态，IMU惯性测量单元状态，车上所有摄像头，雷达状态。若存在一个自检条目不满足要求，则系统判定不具备激活条件，系统发送相应信息提示给车主。After the vehicle is powered on, the driving control system starts self-inspection, checking the status of related systems such as power energy, braking, steering, etc., vehicle power status, fuel status, opening status of doors, front hatch, rear door, air suspension System status, IMU inertial measurement unit status, all cameras on the car, radar status. If there is a self-test item that does not meet the requirements, the system will determine that the activation conditions are not met, and the system will send a corresponding message to the owner.
驾驶控制系统激活后，通过车辆前后左右环视摄像头获取的车辆周围视频影像，并利用车载通讯终端将视频影像实时传送到云平台，经云平台转发至车主移动终端，车主基于云平台能够实时查看车辆周边涉水图像。当音视频流中途因某种原因中断，可以暂时退出该功能。After the driving control system is activated, the video images around the vehicle are captured by the front, rear, left, and right cameras of the vehicle, and the video images are transmitted to the cloud platform in real time through the vehicle communication terminal, and forwarded to the mobile terminal of the car owner through the cloud platform. The car owner can view the vehicle in real time based on the cloud platform Surrounding wading images. When the audio and video stream is interrupted for some reason, you can temporarily exit this function.
进一步的，基于车辆停放空间位置判断车辆是否具有移动条件；Further, it is judged whether the vehicle has a moving condition based on the position of the vehicle parking space;
当车辆具备移动条件，则判断后台是否有当前位置的停车场高精度地图，若有高精度地图则基于系统推荐选择目标停车位置后，控制车辆行驶至目标停车位置，若没有高精度地图，则控制车辆行驶至高于当前位置的安全停车区域。When the vehicle is able to move, it is judged whether there is a high-precision map of the current parking lot in the background. If there is a high-precision map, the target parking position is selected based on the system recommendation, and the vehicle is controlled to drive to the target parking position. If there is no high-precision map, then Control the vehicle to drive to a safe parking area higher than the current position.
示例性的，对于车辆的移动条件可以包括：Exemplarily, the moving conditions for the vehicle may include:
(1)水平车位，车辆前后距离障碍物总长度要求1米以上，左侧或右侧距离障碍物2米以上；垂直车位或斜车位，车辆前端或后端距离障碍物2米以上，车辆两侧距离障碍物总长度0.5米以上；(1) For horizontal parking spaces, the distance between the front and rear of the vehicle should be more than 1 meter, and the distance between the left and right sides should be more than 2 meters; The side distance from the total length of obstacles is more than 0.5 meters;
(2)车辆停放位置地面坡度倾角小于20°；(2) The slope angle of the ground where the vehicle is parked is less than 20°;
(3)车辆直线行驶空间宽度车宽+80cm。(3) The width of the straight-line driving space of the vehicle is +80cm.
基于当前车辆的地理位置，判定系统内部是否有当前位置的高精度地图可用，若有，则系统调出该停车区域的高精度地图，根据当前车辆位置信息，在地图上推荐安全停车目的地给车主选择，该目的地水平面位置应高于当前车辆涉水位置0.5m以上。若没有停车区域的高精度地图可用，则可以基于车辆自带的IMU惯导寻找水平面位置高于当前车辆涉水位置的安全停车区。Based on the current location of the vehicle, it is determined whether there is a high-precision map of the current location available in the system. If so, the system calls out the high-precision map of the parking area, and recommends a safe parking destination on the map based on the current vehicle location information. The car owner chooses that the horizontal position of the destination should be 0.5m higher than the current wading position of the vehicle. If no high-precision map of the parking area is available, a safe parking area with a horizontal plane position higher than the current vehicle wading position can be found based on the IMU inertial navigation that comes with the vehicle.
具体的，若存在车辆当前位置的高精度地图时，车辆基于高精度地图进行路径规划，并通过车辆的传感器进行感知融合，对涉水区域和障碍物进行识别与避让，基于高精度地图的实时路径规划引导车辆到达停车区域；Specifically, if there is a high-precision map of the current position of the vehicle, the vehicle performs path planning based on the high-precision map, and performs sensory fusion through the vehicle's sensors to identify and avoid wading areas and obstacles. Path planning guides the vehicle to the parking area;
若没车辆当前位置的高精度地图时，车辆基于自身的传感器进行感知融合，获取停车区域地面标识和交通指示牌对车辆行驶路径进行规划与引导，基于雷达和车载摄像头对车辆周边障碍物进行识别避让，当车辆通过IMU惯导判定车辆当前水平面位置高于车辆涉水位置预定值时，则判定车辆当前处于安全停车区。If there is no high-precision map of the current location of the vehicle, the vehicle performs perception fusion based on its own sensors, obtains the parking area ground signs and traffic signs to plan and guide the vehicle's driving path, and identifies obstacles around the vehicle based on radar and on-board cameras Avoidance, when the vehicle determines through the IMU inertial navigation that the current horizontal position of the vehicle is higher than the predetermined value of the vehicle's wading position, it is determined that the vehicle is currently in a safe parking area.
若车辆当前位置有相应的高精度地图，车辆可以依赖高精度地图进行路径规划，并借助车辆的摄像头、雷达等传感器进行融合感知，对涉水区域和障碍物进行识别与避让，从而引导车辆到达目标停车区域；若没有当前位置的高精度地图，车辆则依靠自身摄像头、雷达等传感器进行融合感知，并根据摄像头识别的停车区域地面引导线、交通标识、车位边缘线、路沿、墙壁等对车辆行驶路径进行规划与引导，基于雷达对周边障碍物进行识别避让，当车辆系统通过内部IMU惯导判定当前车辆水平面位置高于车辆涉水位置0.5m以上时，即可判定车辆此时处于安全停车区。If the current location of the vehicle has a corresponding high-precision map, the vehicle can rely on the high-precision map for path planning, and use the vehicle's camera, radar and other sensors for fusion perception to identify and avoid wading areas and obstacles, so as to guide the vehicle to arrive Target parking area; if there is no high-precision map of the current location, the vehicle relies on its own camera, radar and other sensors for fusion perception, and according to the ground guide lines, traffic signs, parking space edge lines, roadsides, walls, etc. of the parking area identified by the camera The vehicle's driving path is planned and guided, and the surrounding obstacles are identified and avoided based on the radar. When the vehicle system determines through the internal IMU inertial navigation that the current vehicle level position is 0.5m higher than the vehicle's wading position, it can be determined that the vehicle is safe at this time. parking lot.
其中，当控制车辆驶离涉水区域达到安全停车区域后，车辆通过车载摄像头和雷达自动搜索停车位进行泊车。Among them, when the vehicle is controlled to leave the wading area and reach a safe parking area, the vehicle automatically searches for a parking space through the on-board camera and radar for parking.
当车辆行驶到安全停车区后，依托系统摄像头视觉和雷达感知技术，车辆开始搜索车位。车位可分为地面线车位和空间车位，当车辆前行搜索到车位时，车辆进行自动泊车动作。若超过一定时间仍未搜索到车位，车辆依靠摄像头和雷达获取的感知信息识别将车辆引导停靠到安全区域，不影响其他车辆正常通行。车主也可以在移动设备上自选车位，将车辆停靠在自选车位中。When the vehicle reaches the safe parking area, relying on the system's camera vision and radar perception technology, the vehicle starts to search for a parking space. Parking spaces can be divided into ground line parking spaces and space parking spaces. When the vehicle searches for a parking space, the vehicle will automatically park. If no parking space is found after a certain period of time, the vehicle will rely on the sensory information acquired by the camera and radar to identify and guide the vehicle to a safe area without affecting the normal passage of other vehicles. The car owner can also select a parking space on the mobile device and park the vehicle in the self-selected parking space.
应理解，上述实施例中各步骤的序号大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its functions and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present invention.
图3为本发明实施例提供的一种车辆涉水告警系统的结构示意图，至少包括涉水检测模块310、环境感知模块320、IMU传感器330、整车中央域控制器340和车载通信模块350；3 is a schematic structural diagram of a vehicle wading warning system provided by an embodiment of the present invention, which at least includes a wading detection module 310, an environment perception module 320, an IMU sensor 330, a vehicle central domain controller 340, and a vehicle communication module 350;
其中，所述涉水检测模块310用于通过车轮上的温湿度传感器实时监测环境温湿度变化，当温湿度超过预定值，则通过车辆上的预定传感器检测车辆周围水位深度；Wherein, the wading detection module 310 is used to monitor the change of environmental temperature and humidity in real time through the temperature and humidity sensors on the wheels, and when the temperature and humidity exceed a predetermined value, the predetermined sensor on the vehicle is used to detect the depth of the water level around the vehicle;
所述整车中央域控制器340用于根据车主选择的避险方式，控制车辆驶离涉水区域或保持原地不动，以及在控制车辆行驶中，根据环境感知模块320感知信息，引导车辆行驶；The vehicle central domain controller 340 is used to control the vehicle to leave the wading area or keep it in place according to the risk avoidance mode selected by the vehicle owner, and to guide the vehicle according to the information sensed by the environment perception module 320 during the driving of the vehicle. driving;
所述车载通信模块350，用于当车辆周围水位深度超过预设深度，则向云平台发送提示信息，以及接收云平台转发的避险控制指令。The on-vehicle communication module 350 is used for sending prompt information to the cloud platform when the depth of the water level around the vehicle exceeds the preset depth, and receiving the risk avoidance control instruction forwarded by the cloud platform.
所述环境感知模块320用于基于车载相机和雷达对车辆周围环境进行感知融合。所述IMU传感器330用于感知车辆的水平面高度信息。The environment perception module 320 is used for performing perception fusion on the surrounding environment of the vehicle based on the vehicle camera and radar. The IMU sensor 330 is used to sense the level information of the vehicle.
具体的，所述通过车辆上的预定传感器检测车辆周围水位深度包括：Specifically, the detection of the depth of the water level around the vehicle through a predetermined sensor on the vehicle includes:
通过水压传感器、红外传感器和超声波传感器中的任意一种传感器实时检测水位高度。The water level is detected in real time by any one of the water pressure sensor, infrared sensor and ultrasonic sensor.
其中，所述整车中央域控制器还包括：Wherein, the vehicle central domain controller also includes:
当车辆周围水位深度超过预设深度，若车辆装配有空气悬架，则自动将车辆姿态调整至最高离地间隙。When the water level around the vehicle exceeds the preset depth, if the vehicle is equipped with an air suspension, the vehicle attitude will be automatically adjusted to the highest ground clearance.
在一个实施例中，所述车辆根据车主选择的避险方式，控制车辆驶离涉水区域或保持原地不动包括：In one embodiment, according to the avoidance mode selected by the vehicle owner, controlling the vehicle to leave the wading area or keep still includes:
若车主选择遥控车辆驶离涉水区域，则在车辆接收到云平台转发的控制指令后，整车上电，系统开始自检；If the owner chooses to drive the remote control vehicle away from the wading area, after the vehicle receives the control command forwarded by the cloud platform, the vehicle will be powered on and the system will start self-inspection;
自检完成后，车辆通过前后左右环视摄像头获取的车辆周边影像数据，并通过车载通讯终端将影像数据实时传送到云平台，以便车主终端通过云平台获取实时影像。After the self-inspection is completed, the vehicle obtains the image data around the vehicle through the front, rear, left, and right cameras, and transmits the image data to the cloud platform in real time through the vehicle communication terminal, so that the owner's terminal can obtain real-time images through the cloud platform.
进一步的，基于车辆停放空间位置判断车辆是否具有移动条件；Further, it is judged whether the vehicle has a moving condition based on the position of the vehicle parking space;
当车辆具备移动条件，则判断后台是否有当前位置的停车场高精度地图，若有高精度地图则基于系统推荐选择目标停车位置后，控制车辆行驶至目标停车位置，若没有高精度地图，则控制车辆行驶至高于当前位置的安全停车区域。When the vehicle is able to move, it is judged whether there is a high-precision map of the current parking lot in the background. If there is a high-precision map, the target parking position is selected based on the system recommendation, and the vehicle is controlled to drive to the target parking position. If there is no high-precision map, then Control the vehicle to drive to a safe parking area higher than the current location.
具体的，若存在车辆当前位置的高精度地图时，车辆基于高精度地图进行路径规划，并通过车辆的传感器进行感知融合，对涉水区域和障碍物进行识别与避让，基于高精度地图的实时路径规划引导车辆到达停车区域；Specifically, if there is a high-precision map of the current position of the vehicle, the vehicle performs path planning based on the high-precision map, and performs sensory fusion through the vehicle's sensors to identify and avoid wading areas and obstacles. Path planning guides the vehicle to the parking area;
若没车辆当前位置的高精度地图时，车辆基于自身的传感器进行感知融合，获取停车区域地面标识和交通指示牌对车辆行驶路径进行规划与引导，基于雷达和车载摄像头对车辆周边障碍物进行识别避让，当车辆通过IMU惯导判定车辆当前水平面位置高于车辆涉水位置预定值时，则判定车辆当前处于安全停车区。If there is no high-precision map of the current location of the vehicle, the vehicle performs perception fusion based on its own sensors, obtains the parking area ground signs and traffic signs to plan and guide the vehicle's driving path, and identifies obstacles around the vehicle based on radar and on-board cameras Avoidance, when the vehicle determines through the IMU inertial navigation that the current horizontal position of the vehicle is higher than the predetermined value of the vehicle's wading position, it is determined that the vehicle is currently in a safe parking area.
可选的，当控制车辆驶离涉水区域达到安全停车区域后，车辆通过车载摄像头和雷达自动搜索停车位进行泊车。Optionally, after the vehicle is controlled to leave the wading area and reach a safe parking area, the vehicle automatically searches for a parking space through the on-board camera and radar for parking.
在另一实施例中，如图4所示，所述车辆涉水告警系统包括涉水检测模块310、环境感知模块320、IMU传感器330、整车中央域控制器340、车载通信模块350、能源与动力控制系统、制动系统、转向系统、换挡系统、座舱域控系统、电子电器系统、域控制器、云平台和移动终端。In another embodiment, as shown in FIG. 4, the vehicle wading warning system includes a wading detection module 310, an environment perception module 320, an IMU sensor 330, a vehicle central domain controller 340, a vehicle communication module 350, an energy source And power control system, braking system, steering system, shifting system, cockpit domain control system, electronic and electrical system, domain controller, cloud platform and mobile terminal.
所述环境感知模块320包括环视摄像头、侧视摄像头、前视摄像头、超声波雷达、毫米波雷达和激光雷达等，所述域控制器包括智能驾驶域控系统、智能座舱域控系统等。The environment perception module 320 includes a surround-view camera, a side-view camera, a front-view camera, ultrasonic radar, millimeter-wave radar, and lidar, etc., and the domain controller includes an intelligent driving domain control system, an intelligent cockpit domain control system, and the like.
其中，前环视摄像头布置在车辆前格栅或前保总成上，用于获取车辆前方周边图像信息；后环视摄像头布置在车辆后背门或后保总成上，用于获取车辆后方周边图像信息；左环视摄像头布置在车辆左侧外后视镜下端，用于获取车辆左侧周边图像信息；右环视摄像头布置在车辆右侧外后视镜下端，用于获取车辆右侧周边图像信息；前超声波雷达布置在车辆前格栅或总成上，用于获取车辆前方周边障碍物信息，雷达数量6颗；后超声波雷达布置在车辆后背门或后保总成上，用于获取车辆后方周边障碍物信息，雷达数量6颗。Among them, the front surround view camera is arranged on the front grille or the front protection assembly of the vehicle to obtain the image information of the surrounding area in front of the vehicle; the rear view camera is arranged on the rear door or the rear protection assembly of the vehicle to obtain the image information of the surrounding area behind the vehicle information; the left surround-view camera is arranged at the lower end of the left exterior rearview mirror of the vehicle, and is used to obtain the image information of the left periphery of the vehicle; the right surround-view camera is arranged at the lower end of the right exterior rearview mirror of the vehicle, and is used to obtain the image information of the surrounding image of the right side of the vehicle; The front ultrasonic radar is arranged on the front grille or assembly of the vehicle to obtain the information of the surrounding obstacles in front of the vehicle. The number of radars is 6; Surrounding obstacle information, the number of radars is 6.
侧视摄像头分为侧前摄像头和侧后摄像头：侧前摄像头在车辆左右侧外后视镜下端各布置1颗，用于获取车辆左前方周边图像信息和右前方周边图像信息；侧后摄像头在车辆左右侧前轮翼子板周边各布置1颗，用于获取车辆左后方周边图像信息和右后方周边图像信息。The side-view cameras are divided into side front cameras and side rear cameras: one side front camera is arranged at the lower end of the left and right side exterior rearview mirrors of the vehicle, and is used to obtain the left and right front peripheral image information of the vehicle; One is arranged around the left and right front wheel fenders of the vehicle, which are used to obtain the peripheral image information of the left rear and right rear peripheral of the vehicle.
前视摄像头布置在前挡风玻璃内侧，用于获取车辆前方图像信息；前毫米波雷达布置在车辆前方，用于获取车辆前方障碍物信息；角毫米波雷达布置在车辆四角处周边位置，用于获取车辆左前、右前、左后、右后障碍物信息；激光雷达布置在车辆前后方、侧方或车顶四周，用于激光点云扫描，特征物识别。The front-view camera is arranged on the inside of the front windshield to obtain image information in front of the vehicle; the front millimeter-wave radar is arranged in front of the vehicle to obtain information on obstacles in front of the vehicle; the angular millimeter-wave radar is arranged around the four corners of the vehicle to Obtain information on obstacles in the left front, right front, left rear, and right rear of the vehicle; the laser radar is arranged on the front, rear, side or around the roof of the vehicle for laser point cloud scanning and feature recognition.
智能驾驶域控制器布置在车内副驾脚踏下方、中控扶手、仪表台下方或A柱周边等利于操作与散热的位置，用于对雷达和摄像头图像感知数据接收、处理、融合、存储、决策判定，路径规划、运动控制，显示输出等。The intelligent driving domain controller is placed under the co-driver's pedals, under the central control armrest, under the instrument panel or around the A-pillar in the car, where it is convenient for operation and heat dissipation, and is used for receiving, processing, fusing, storing, Decision making, path planning, motion control, display output, etc.
所述涉水检测模块310包括水压传感器、红外传感器或超声波传感器中的一种，用于车辆涉水信号检测。The water wading detection module 310 includes one of a water pressure sensor, an infrared sensor or an ultrasonic sensor, and is used for vehicle wading signal detection.
在一些实施例中，当选用红外探测器进行涉水检测时，可以将传感器布置在前后保险杆或车轮周边靠近地面位置。In some embodiments, when infrared detectors are selected for wading detection, the sensors can be arranged on the front and rear bumpers or around the wheels close to the ground.
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，所述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，实现步骤S101至S103中部分或全部过程，所述的存储介质包括如ROM/RAM等。Those of ordinary skill in the art can understand that all or part of the steps in the method of the above-mentioned embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the program can be executed during execution In this case, part or all of the processes in steps S101 to S103 are implemented, and the storage medium includes, for example, ROM/RAM.
在一个实施例中，如图5所示，图5是本发明一实施例提供的一种用于车辆涉水时进行告警提示的电子设备结构示意图。所述电子设备可以为车辆中控设备。如图5所示，该实施例的电子设备5至少包括：存储器510、处理器420以及系统总线530，所述存储器510包括存储其上的可运行的程序5101，本领域技术人员可以理解，图5中示出的电子设备结构并不构成对电子设备的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。In one embodiment, as shown in FIG. 5 , FIG. 5 is a schematic structural diagram of an electronic device for warning when a vehicle is wading through water according to an embodiment of the present invention. The electronic device may be a vehicle central control device. As shown in FIG. 5 , the electronic device 5 of this embodiment includes at least: a memory 510, a processor 420, and a system bus 530, and the memory 510 includes an executable program 5101 stored thereon. Those skilled in the art can understand that FIG. The structure of the electronic device shown in 5 does not constitute a limitation to the electronic device, and may include more or less components than shown in the figure, or combine some components, or arrange different components.
下面结合图5对电子设备的各个构成部件进行具体的介绍：The following is a specific introduction to each component of the electronic device in conjunction with FIG. 5 :
存储器510可用于存储软件程序以及模块，处理器520通过运行存储在存储器510的软件程序以及模块，从而执行电子设备的各种功能应用以及数据处理。存储器510可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据电子设备的使用所创建的数据(比如缓存数据)等。此外，存储器510可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。The memory 510 can be used to store software programs and modules, and the processor 520 executes various functional applications and data processing of the electronic device by running the software programs and modules stored in the memory 510 . The memory 510 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playback function, an image playback function, etc.); Data created by the use of electronic devices (such as cached data), etc. In addition, the memory 510 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices.
在存储器510上包含网络请求方法的可运行程序5101，所述可运行程序5101可以被分割成一个或多个模块/单元，所述一个或多个模块/单元被存储在所述存储器510中，并由处理器520执行，以实现车辆涉水告警等，所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序5101在所述电子设备5中的执行过程。例如，所述计算机程序5101可以被分割为涉水检测模块、环境感知模块、车载通信模块、和整车中央域控制器等。The executable program 5101 of the network request method is included on the memory 510, and the executable program 5101 can be divided into one or more modules/units, and the one or more modules/units are stored in the memory 510, And be executed by the processor 520 to realize vehicle wading warning, etc., the one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the computer program 5101 in Execution process in the electronic device 5 . For example, the computer program 5101 can be divided into a wading detection module, an environment perception module, a vehicle communication module, and a vehicle central domain controller.
处理器520是电子设备的控制中心，利用各种接口和线路连接整个电子设备的各个部分，通过运行或执行存储在存储器510内的软件程序和/或模块，以及调用存储在存储器510内的数据，执行电子设备的各种功能和处理数据，从而对电子设备进行整体状态监控。可选的，处理器520可包括一个或多个处理单元；优选的，处理器520可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、应用程序等，调制解调处理器主要处理无线通信。可以理解的是，上述调制解调处理器也可以不集成到处理器520中。The processor 520 is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire electronic device, by running or executing software programs and/or modules stored in the memory 510, and calling data stored in the memory 510 , to perform various functions of electronic equipment and process data, so as to monitor the overall status of electronic equipment. Optionally, the processor 520 may include one or more processing units; preferably, the processor 520 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, application programs, etc., and the modem The tuner processor mainly handles wireless communication. It can be understood that the foregoing modem processor may not be integrated into the processor 520 .
系统总线530是用来连接计算机内部各功能部件，可以传送数据信息、地址信息、控制信息，其种类可以是例如PCI总线、ISA总线、CAN总线等。处理器520的指令通过总线传递至存储器510，存储器510反馈数据给处理器520，系统总线530负责处理器520与存储器510之间的数据、指令交互。当然系统总线530还可以接入其他设备，例如网络接口、显示设备等。The system bus 530 is used to connect various functional components inside the computer, and can transmit data information, address information, and control information, and its type can be, for example, PCI bus, ISA bus, CAN bus, etc. The instructions of the processor 520 are transmitted to the memory 510 through the bus, and the memory 510 feeds back data to the processor 520 , and the system bus 530 is responsible for data and instruction interaction between the processor 520 and the memory 510 . Of course, the system bus 530 can also be connected to other devices, such as a network interface, a display device, and the like.
在本发明实施例中，该电子设备所包括的处理520执行的可运行程序包括：In the embodiment of the present invention, the executable programs executed by the processing 520 included in the electronic device include:
通过车轮上的温湿度传感器实时监测环境温湿度变化，当温湿度超过预定值，则通过车辆上的预定传感器检测车辆周围水位深度；The environmental temperature and humidity changes are monitored in real time through the temperature and humidity sensors on the wheels. When the temperature and humidity exceed the predetermined value, the predetermined sensors on the vehicle are used to detect the depth of the water level around the vehicle;
当车辆周围水位深度超过预设深度，则向车主发送告警信息，并开启车辆环视摄像头录制视频；When the water level around the vehicle exceeds the preset depth, a warning message will be sent to the owner, and the vehicle's surround-view camera will be turned on to record video;
车辆根据车主选择的避险方式，控制车辆驶离涉水区域或保持原地不动。The vehicle controls the vehicle to leave the wading area or stay in place according to the avoidance method selected by the owner.
在一个实施例中，还提供了一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，该可读存储介质可以是车辆上的可读存储器，如ROM，所述计算机程序可以被处理器执行，当车机系统执行所述计算程序时，接收车载激光补盲雷达和毫米波雷达感知输入的目标车辆信息，输出对应的指令至音箱、制动模块或悬架控制模块，从而实现侧向来车预警。In one embodiment, a computer-readable storage medium is also provided, and a computer program is stored on the computer-readable storage medium. The readable storage medium may be a readable memory on a vehicle, such as a ROM. The computer The program can be executed by the processor. When the vehicle-machine system executes the calculation program, it receives the target vehicle information input by the vehicle-mounted laser blindness compensation radar and the millimeter-wave radar, and outputs corresponding instructions to the speaker, brake module or suspension control module. , so as to realize the side vehicle warning.
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.
应理解，本发明说明书中，已说明了大量技术细节，其实施例可以在没有说明其他细节情况下，结合公知常识进行实践。在一些实施例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。类似地，可以理解，为了精简本发明公开并帮助理解各个发明方面中的一个或多个，在上面对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释呈反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。本发明并不局限于任何单一的方面，也不局限于任何单一的实施例，也不局限于这些方面和/或实施例的任意组合和/或置换。而且，可以单独使用本发明的每个方面和/或实施例或者与一个或更多其他方面和/或其实施例结合使用。It should be understood that a lot of technical details have been described in the description of the present invention, and the embodiments thereof can be practiced in combination with common knowledge without describing other details. In some embodiments, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it will be appreciated that in the above description of exemplary embodiments of the invention, in order to streamline the present disclosure and to facilitate understanding of one or more of the various inventive aspects, various features of the invention are sometimes grouped together into a single embodiment , figure, or description of it. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention is not limited to any single aspect, nor to any single embodiment, nor to any combination and/or permutation of these aspects and/or embodiments. Furthermore, each aspect and/or embodiment of the invention may be used alone or in combination with one or more other aspects and/or embodiments thereof.
以上所述，以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still understand the foregoing The technical solutions recorded in each embodiment are modified, or some of the technical features are replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.
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| CN202310644130.8ACN116691682A (en) | 2023-05-31 | 2023-05-31 | Vehicle wading alarm method and system |
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| CN202310644130.8ACN116691682A (en) | 2023-05-31 | 2023-05-31 | Vehicle wading alarm method and system |
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| CN116691682Atrue CN116691682A (en) | 2023-09-05 |
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| CN202310644130.8APendingCN116691682A (en) | 2023-05-31 | 2023-05-31 | Vehicle wading alarm method and system |
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| US20240300488A1 (en)* | 2023-03-10 | 2024-09-12 | Fca Us Llc | Vehicle underwater detection system |
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| US20240300488A1 (en)* | 2023-03-10 | 2024-09-12 | Fca Us Llc | Vehicle underwater detection system |
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