CN114279525A - A kind of vehicle wading detection method, electronic device and storage medium - Google Patents

Abstract

The present application discloses a vehicle wading detection method, which includes the following steps: monitoring the current road surface condition through a millimeter-wave radar, comparing the echo information received by the millimeter-wave radar with threshold information, and switching if it exceeds the threshold range. to the water depth monitoring state; when in the water depth monitoring state, the millimeter-wave radar transmits ranging electromagnetic waves to the water surface and the ground, and the millimeter-wave radar detects the height between the millimeter-wave radar and the water surface and the millimeter-wave radar The height between the wave radar and the ground; the water level depth is calculated according to the height between the millimeter-wave radar and the water surface and the height between the millimeter-wave radar and the ground. When the water level depth exceeds the safety threshold, an early warning alarm is triggered . The present application can use the existing millimeter-wave radar on the vehicle to monitor and warn the wading depth in advance, with low design cost and high safety.

Description

A kind of vehicle wading detection method, electronic device and storage medium

technical field

The present application relates to the technical field of automobiles, and in particular, to an automobile water wading detection method, electronic equipment and storage medium.

Background technique

With the development of cities, waterlogging occurs frequently, and more and more safety accidents are caused by vehicles wading in water. Usually, when a vehicle is wading through water, the water surface is turbid and the perspective effect is poor. The driver cannot clearly observe the underwater road conditions, and it is difficult to avoid danger in advance. If the vehicle wades too deep, it is easy to cause the engine to stall, the door cannot be opened, and the battery is powered off, which threatens the personal safety of drivers and passengers and the safety of the vehicle itself.

The current vehicle wading detection method needs to install a special water level sensing device, which increases the vehicle cost and system complexity, and the measurement range and accuracy are limited, and advance warning cannot be given before the vehicle wading.

Therefore, it is necessary to design a vehicle wading detection method with low design cost and early warning of wading depth.

SUMMARY OF THE INVENTION

The purpose of the present application is to overcome the deficiencies of the prior art, and provide a vehicle wading detection method, which can use the existing millimeter-wave radar on the vehicle to monitor and warn the wading depth in advance, with low design cost and high safety.

The technical solution of the present application provides a vehicle wading detection method, comprising the following steps:

Monitor the current road surface condition through the millimeter-wave radar, compare the echo information received by the millimeter-wave radar with the threshold information, and switch to the water depth monitoring state if it exceeds the threshold range;

When in the water depth monitoring state, the millimeter-wave radar transmits ranging electromagnetic waves to the water surface and the ground, and the millimeter-wave radar detects the height between the millimeter-wave radar and the water surface and the distance between the millimeter-wave radar and the ground. height between

The water level depth is calculated according to the height between the millimeter-wave radar and the water surface and the height between the millimeter-wave radar and the ground, and when the water level depth exceeds a safety threshold, an early warning alarm is triggered.

Preferably, the millimeter-wave radar includes a first millimeter-wave radar connected to the vehicle through a rotating mechanism;

When in the water depth monitoring state, the millimeter-wave radar transmits ranging electromagnetic waves to the water surface and the ground, and the millimeter-wave radar detects the height between the millimeter-wave radar and the water surface and the distance between the millimeter-wave radar and the water surface. The height between the ground, including:

When in the water depth monitoring state, the rotating mechanism drives the first millimeter-wave radar to rotate until the normal of the first millimeter-wave radar is perpendicular to the traveling direction of the vehicle;

The first millimeter-wave radar transmits a ranging electromagnetic wave toward the ground, the ranging electromagnetic wave is reflected by the water surface to obtain a first reflected signal, and the first millimeter-wave radar calculates the first millimeter wave according to the first transmitted signal. a first height H ₁ between the wave radar and the water surface;

The ranging electromagnetic wave is reflected on the ground to obtain a second reflected signal, and the first millimeter-wave radar calculates a second height H ₂ between the first millimeter-wave radar and the ground according to the second reflected signal;

The water level depth is calculated according to the height between the millimeter-wave radar and the water surface and the height between the radar and the ground, and when the water level depth exceeds a safety threshold, an early warning alarm is triggered, specifically including:

According to the first height and the second height, calculate the water level depth H _{water depth} =H ₂ −H ₁ ;

It is judged whether the water level depth exceeds the safety threshold, and if it exceeds, an early warning alarm is triggered.

Preferably, the millimeter-wave radar includes a second millimeter-wave radar disposed at the front end of the vehicle, and the normal of the second millimeter-wave radar is parallel to the traveling direction of the vehicle;

When in the water depth monitoring state, the millimeter-wave radar transmits ranging electromagnetic waves to the water surface and the ground, and the millimeter-wave radar detects the height between the millimeter-wave radar and the water surface and the distance between the millimeter-wave radar and the water surface. The height between the ground, including:

When in the water depth monitoring state, the third height H ₃ between the water surface target point and the horizontal plane where the center point of the second millimeter wave radar is located is measured and calculated by the second millimeter-wave radar, The second millimeter-wave radar calculates a fourth height H ₄ between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar is located;

The water level depth is calculated according to the height between the millimeter-wave radar and the water surface and the height between the radar and the ground, and when the water level depth exceeds a safety threshold, an early warning alarm is triggered, specifically including:

When the water surface is below the second millimeter-wave radar, calculate the water level depth Hwater _depth =H ₄ -H ₃ ;

When the water surface is above the second millimeter-wave radar, the water level depth H _{water depth} =H ₃ +H ₄ .

It is judged whether the water level depth exceeds the safety threshold, and if it exceeds, an early warning alarm is triggered.

Preferably, the third height H ₃ between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar is located is measured and calculated by the second millimeter-wave radar, and the second millimeter-wave radar The radar calculates the fourth height H ₄ between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar is located, which specifically includes:

Obtaining the angle α between the normal of the second millimeter-wave radar and the horizontal plane where the center point of the second millimeter-wave radar is located when measuring the i-th water surface target point;

Obtain the distance D _Wi between the second millimeter-wave radar and the _i - _th surface target point Wi, and obtain the connection between the second millimeter-wave radar and the water surface target point Wi and the The included angle β _i between the normals of the two-millimeter wave radar;

Obtain the distance D _Gi between the second millimeter-wave radar and the _i -th ground target point Gi, and obtain the connection between the second millimeter-wave radar and the ground target point _Gi and the The included angle γ _i between the normals of the two-millimeter wave radar;

where i=1～n, n≥2;

When the water surface is below the second millimeter-wave radar:

Calculate the height H _Wi =D _Wi *sin(α-β _i ) between the ith water surface target point and the horizontal plane where the center point of the second millimeter-wave radar is located;

Calculate the height H _Gi =D _Gi *sin(α-γ _i ) between the ith ground target point and the horizontal plane where the center point of the second millimeter-wave radar is located;

According to the height H _Wi between a plurality of water surface target points and the horizontal plane where the center point of the second millimeter-wave radar is located, the distance between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar is located is calculated. the third height H ₃ of ;

According to the height H _Gi between a plurality of ground target points and the horizontal plane where the center point of the second millimeter-wave radar is located, the distance between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar is located is calculated. the fourth height H ₄ of ;

The third height H ₃ between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar is located is measured and calculated by the second millimeter-wave radar, and the third height H 3 is measured and calculated by the second millimeter-wave radar The fourth height H ₄ between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar is located, specifically includes:

Obtaining the angle α between the normal of the second millimeter-wave radar and the horizontal plane where the center point of the second millimeter-wave radar is located when measuring the i-th water surface target point;

Obtain the distance D _Wi between the second millimeter-wave radar and the _i -th surface target point Wi, and obtain the connection between the second millimeter-wave radar and the _i -th surface target point Wi and the the included angle β _i between the normals of the second millimeter-wave radar;

Obtain the distance D _Gi between the second millimeter-wave radar and the _ith ground target point Gi, and obtain the connection between the second millimeter-wave radar and the _ith ground target point Gi and the The included angle γ _i between the normals of the second millimeter-wave radar;

where i=1～n, n≥2;

When the water surface is above the second millimeter-wave radar:

Calculate the height H _Wi =D _Wi *sin(β _i -α) between the ith water surface target point and the horizontal plane where the center point of the second millimeter-wave radar is located;

Calculate the height H _Gi =D _Gi *sin(α-γ _i ) between the ith ground target point and the horizontal plane where the center point of the second millimeter-wave radar is located;

According to the height H _Wi between a plurality of water surface target points and the horizontal plane where the center point of the second millimeter-wave radar is located, the distance between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar is located is calculated. the third height H ₃ of ;

According to the height H _Gi between a plurality of ground target points and the horizontal plane where the center point of the second millimeter-wave radar is located, the distance between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar is located is calculated. the fourth height H ₄ between.

Preferably, the second millimeter-wave radar is connected to the front end of the vehicle through a rotating mechanism;

In a normal state, the long axis of the beam envelope of the second millimeter-wave radar is parallel to the ground;

When switching to the water depth monitoring state, the rotation mechanism drives the second millimeter-wave radar to rotate, so that the long axis of the beam envelope of the second millimeter-wave radar is perpendicular to the ground.

Preferably, when switching to the water depth monitoring state, the resolution of the millimeter wave radar is improved.

Preferably, the improving the resolution of the millimeter-wave radar specifically includes:

The swept bandwidth of the millimeter-wave radar is adjusted to 3.5-5 GHz.

Preferably, the echo information received by the millimeter-wave radar is compared with the threshold information, and if it exceeds the threshold range, the state is switched to a water depth monitoring state to compare the echo information received by the millimeter-wave radar with the threshold information. Yes, if it exceeds the threshold range, switching to the water depth monitoring state includes:

Controlling the millimeter-wave radar to transmit electromagnetic waves to the current road surface and to receive echo information reflected by the current road surface, where the echo information includes one of echo signal-to-noise ratio, echo reflection intensity, reflection cross-sectional area and echo distribution characteristics or a combination of several, and compare the echo information with the threshold range obtained by testing and calibrating the wading road conditions, and if the echo information conforms to the threshold range, switch to the water depth monitoring state.

Preferably, the method further includes:

The millimeter-wave radar is switched to water depth monitoring state information and sent to a remote terminal, and when it is detected that the water level depth exceeds a safety threshold, early warning information is sent to the remote terminal.

The present invention provides an electronic device, comprising:

at least one processor; and,

a memory communicatively coupled to at least one of the processors; wherein,

The memory stores instructions executable by at least one of the processors, the instructions being executed by the at least one of the processors to enable the at least one of the processors to perform the vehicle wading detection method as previously described.

The present invention provides a storage medium, which stores computer instructions, and when the computer executes the computer instructions, it is used to execute all steps of the aforementioned method for vehicle wading detection.

After adopting the above-mentioned technical scheme, it has the following beneficial effects:

The present application can monitor the road surface and switch to the water depth monitoring state by using the millimeter wave radar mounted on the existing vehicle, and can monitor the water depth of the accumulated water through the millimeter wave radar, so as to realize the water depth early warning, and has a high Detection accuracy and sensitivity to improve vehicle safety. Moreover, the present application does not need to add a dedicated water level sensor to monitor the water level depth, thereby reducing the design cost.

Description of drawings

The disclosure of the present application will become more readily understood with reference to the accompanying drawings. It should be understood that these drawings are only for the purpose of illustration and are not intended to limit the protection scope of the present application. In the picture:

Fig. 1 is the flow chart of the vehicle wading detection method in one embodiment of the present invention;

2 is a schematic diagram of the present invention when a millimeter-wave radar detects water depth in one embodiment;

3 is a schematic side view of the first millimeter-wave radar switching from a normal state to a water depth monitoring state in one embodiment of the present invention;

4 is a schematic front view of the first millimeter-wave radar switching from a normal state to a water depth monitoring state in one embodiment of the present invention;

5 is a schematic diagram of detecting water depth when the millimeter-wave radar is not wading in water in one embodiment of the present invention;

FIG. 6 is a schematic diagram of detecting water depth when a millimeter-wave radar is wading in water in one embodiment of the present invention;

7 is a schematic side view of the second millimeter-wave radar switching from a normal state to a water depth monitoring state in one embodiment of the present invention;

8 is a schematic front view of the second millimeter-wave radar switching from a normal state to a water depth monitoring state in one embodiment of the present invention;

FIG. 9 is a schematic diagram of a hardware structure of an electronic device in one embodiment of the present invention.

Reference number comparison table:

The first millimeter-wave radar 10 , the rotating mechanism 20 , and the second millimeter-wave radar 30 .

Detailed ways

The specific embodiments of the present application will be further described below with reference to the accompanying drawings.

It is easy to understand that, according to the technical solutions of the present application, without changing the essential spirit of the present application, those of ordinary skill in the art can interchange various structural modes and implementation modes. Therefore, the following specific embodiments and accompanying drawings are only exemplary descriptions of the technical solutions of the present application, and should not be regarded as the whole of the present application or as limitations or restrictions on the technical solutions of the application.

Orientation terms such as up, down, left, right, front, rear, front, back, top, bottom, etc. mentioned or possibly mentioned in this specification are defined relative to the configurations shown in the respective drawings, which are It is a relative concept, so it may change accordingly according to its different locations and different usage states. Therefore, these and other terms of orientation should not be construed as limiting. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of the two components. For those of ordinary skill in the art, the above-mentioned specific meanings in the present application can be understood according to specific circumstances.

In one embodiment of the present invention, a vehicle wading detection method is disclosed, as shown in FIG. 1 , which includes the following steps:

S1: Monitor the current road conditions through the millimeter-wave radar, compare the echo information received by the millimeter-wave radar with the threshold information, and switch to the water depth monitoring state if it exceeds the threshold range;

S2: When in the water depth monitoring state, the millimeter-wave radar transmits ranging electromagnetic waves to the water surface and the ground, and the millimeter-wave radar detects the height between the millimeter-wave radar and the water surface and the height between the millimeter-wave radar and the ground;

S3: Calculate the water level depth according to the height between the millimeter-wave radar and the water surface and the height between the millimeter-wave radar and the ground. When the water level depth exceeds the safety threshold, an early warning alarm is triggered.

Among them, the millimeter-wave radar is originally installed in the driving assistance system on the existing vehicle. The millimeter-wave radar is used for the millimeter-wave radar to transmit electromagnetic waves to the forward direction of the car and receive the echo information reflected by the road surface. When the received echo When the information does not exceed the threshold range of the threshold information, the millimeter-wave radar maintains normal working conditions, that is, it is used to monitor the driving trajectory of the vehicle and provide collision warning. When the received echo information exceeds the threshold range of the threshold information, it means that there is water on the road ahead, and the millimeter-wave radar switches to the water depth monitoring state and monitors the water depth of the water-filled road. When in the state of water depth monitoring, the millimeter-wave radar emits electromagnetic waves to the water surface. The height between the millimeter-wave radar and the water surface can be measured through the reflection of the electromagnetic waves through the water surface, and the height between the millimeter-wave radar and the ground can be measured through the reflection of the electromagnetic waves through the ground. and the height between the millimeter-wave radar and the water surface and the height between the millimeter-wave radar and the ground can measure the water depth of the stagnant road surface, and compare the measured water depth with the preset safety threshold. , if the water depth does not exceed the safety threshold, the car will not trigger an early warning alarm, and if the water depth exceeds the safety threshold, the car will trigger an early warning alarm. That is, when the water depth is higher than the height of the sensitive parts of the car from the ground, the car triggers an early warning alarm to prompt the driver to stop or proceed cautiously.

Among them, when the warning is triggered, the warning information can be displayed through the center console or instrument panel of the vehicle, or prompted through the warning lights in the car or the audio system in the car.

With this method, there is no need to add additional water level sensors on the vehicle, so the design cost of the vehicle can be effectively reduced. At the same time, by using the original millimeter-wave radar of the vehicle, the present application can sensitively identify whether there is water accumulation on the road surface and switch to the water depth monitoring state, and can accurately monitor the water depth through the millimeter-wave radar, thereby realizing early warning of the water depth.

In some of the embodiments of the present invention, as shown in FIG. 2 , the millimeter-wave radar includes a first millimeter-wave radar connected to the vehicle through a rotating mechanism 20;

When in the water depth monitoring state, the millimeter-wave radar transmits ranging electromagnetic waves to the water surface and the ground, and the millimeter-wave radar detects the height between the millimeter-wave radar and the water surface and the height between the millimeter-wave radar and the ground, including:

When in the water depth monitoring state, the rotating mechanism 20 drives the first millimeter-wave radar to rotate until the normal of the millimeter-wave radar is perpendicular to the traveling direction of the vehicle;

The millimeter-wave radar transmits a ranging electromagnetic wave toward the ground, and the ranging electromagnetic wave is reflected by the water surface to obtain a first reflected signal, and the millimeter-wave radar calculates a first height H ₁ between the millimeter-wave radar and the water surface according to the first transmitted signal;

The ranging electromagnetic wave is reflected on the ground to obtain a second reflected signal, and the millimeter-wave radar calculates the second height H ₂ between the millimeter-wave radar and the ground according to the second reflected signal;

Calculate the water level depth according to the height between the millimeter-wave radar and the water surface and the height between the radar and the ground. When the water level depth exceeds the safety threshold, an early warning alarm is triggered, including:

According to the first height and the second height, the water level depth H _{water depth} H ₂ -H ₁ is obtained by calculation;

Determine whether the water level depth exceeds the safety threshold, and if it exceeds, an early warning alarm will be triggered.

As shown in FIGS. 3 and 4 , the front-rear direction of the vehicle body is the X-axis, the vertical direction of the vehicle body is the Z-axis, the left-right direction of the vehicle body is the Y-axis, the i-axis of the first millimeter-wave radar 10 is the normal direction, and the first millimeter-wave radar 10 is the normal direction. The j-axis of the radar 10 is the long-axis direction of the beam envelope of the first millimeter-wave radar 10 , and the k-axis of the first millimeter-wave radar 10 is the short-axis direction of the beam envelope of the first millimeter-wave radar 10 .

When the vehicle is in a normal driving state, the normal of the first millimeter-wave radar 10 is parallel to the driving direction of the vehicle, that is, the i-axis of the first millimeter-wave radar 10 is parallel to the driving direction of the vehicle, and the i-axis of the first millimeter-wave radar 10 is parallel to the vehicle body. The X axis of the first millimeter wave radar 10 is parallel to the Z axis of the vehicle body, and the j axis of the first millimeter wave radar 10 is parallel to the Y axis of the vehicle body. At this time, the radar beam of the first millimeter-wave radar 10 is emitted toward the front of the vehicle and can monitor the road conditions in front of the vehicle.

When switching to the water depth monitoring state, rotate the first millimeter-wave radar 10 so that the normal of the first millimeter-wave radar 10 is perpendicular to the ground, that is, rotate the i-axis of the first millimeter-wave radar 10 by 90° to be perpendicular to the ground, and the first The i-axis of the millimeter-wave radar 10 is parallel to the Z-axis of the vehicle body, the j-axis of the first millimeter-wave radar 10 is parallel to the Y-axis of the vehicle body, and the k-axis of the first millimeter-wave radar 10 is parallel to the X-axis of the vehicle body. At this time, the radar beam of the first millimeter-wave radar 10 is emitted toward the ground, so that the water depth of the water-filled road surface can be monitored.

Among them, the first millimeter-wave radar 10 can be arranged on the front wall of the vehicle or the side of the vehicle, or multiple groups of the first millimeter-wave radar 10 can be arranged. When the first millimeter-wave radar 10 detects that there is water on the road ahead, The rotation mechanism 20 drives the first millimeter-wave radar 10 to rotate so that the normal line is perpendicular to the traveling direction of the vehicle, so that the detection accuracy of the first millimeter-wave radar 10 towards the ground is improved. When the vehicle is wading, the first millimeter-wave radar 10 Electromagnetic waves are emitted to the water-filled road surface, and the height H _{1 between the first millimeter-wave radar 10 and the water surface and the height H 2 between} the first millimeter-wave radar 10 and the ground are detected, and then the water level depth H _{water depth} =H ₂ is calculated. -H ₁ , and compare the calculated water depth with the preset safety threshold. If the water depth is less than the safety threshold, it means that the vehicle can pass safely without triggering an early warning alarm. If the water depth is greater than the safety threshold, it means The vehicle cannot pass safely, and a warning alarm is triggered to prompt the driver to drive cautiously.

Optionally, the first millimeter-wave radar 10 is arranged at the rear of the vehicle, and the driver can manually switch the first millimeter-wave radar 10 to the water depth monitoring state. To monitor the water depth of the flooded road.

In addition, since the height _H2 between the first millimeter-wave radar and the ground is a predetermined value, _H2 can be measured by the first millimeter-wave radar without using the first millimeter-wave radar, and can also be measured by the first millimeter-wave radar by the above method. It will not be repeated here.

Preferably, the first millimeter-wave radar is set at the rear mirror position of the vehicle, and in a normal driving state, the normal of the first millimeter-wave radar is parallel to the driving direction of the vehicle for monitoring the condition of the vehicle's forward direction. When the water depth monitoring state is reached, the rotating mechanism 20 drives the first millimeter-wave radar to rotate 90° and makes the normal of the first millimeter-wave radar perpendicular to the traveling direction of the vehicle, thereby improving the detection accuracy of the first millimeter-wave radar to the ground direction.

Wherein, the rotating mechanism 20 in this application may be an electric hinge or an electric turntable.

In some of the embodiments of the present invention, the millimeter-wave radar includes a second millimeter-wave radar disposed at the front end of the vehicle, and the normal of the second millimeter-wave radar is parallel to the traveling direction of the vehicle;

When in the water depth monitoring state, the millimeter-wave radar transmits ranging electromagnetic waves to the water surface and the ground, and the millimeter-wave radar detects the height between the millimeter-wave radar and the water surface and the height between the millimeter-wave radar and the ground, including:

When in the water depth monitoring state, the third height H ₃ between the water surface target point and the horizontal plane where the center point of the second millimeter wave radar 30 is located is measured by the second millimeter wave radar;

Calculate the fourth height H ₄ between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located by using the second millimeter-wave radar;

Calculate the water level depth according to the height between the millimeter-wave radar and the water surface and the height between the radar and the ground. When the water level depth exceeds the safety threshold, an early warning alarm is triggered, including:

When the water surface is below the second millimeter wave radar 30, calculate the water level depth Hwater _depth =H ₄ -H ₃ ;

When the water surface is above the second millimeter-wave radar 30, the water level depth Hwater _depth =H ₃ +H ₄ is calculated.

Determine whether the water level depth exceeds the safety threshold, and if it exceeds, an early warning alarm will be triggered.

In some embodiments of the present invention, the third height H ₃ between the surface target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is measured and calculated by the second millimeter-wave radar, and the third height H 3 is measured by the second millimeter-wave radar. The fourth height H ₄ between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, specifically includes:

As shown in FIG. 5 and FIG. 6 , the included angle α between the normal of the second millimeter-wave radar and the horizontal plane where the center point of the second millimeter-wave radar 30 is located when measuring the i-th water surface target point is obtained;

Obtain the distance D _Wi between the second millimeter-wave radar and the _i -th surface target point Wi when measuring the i-th surface target point, and obtain the distance between the second millimeter-wave radar and the _i -th surface target point Wi. the angle β _i between the connecting line and the normal line;

Obtain the distance D _Gi between the second millimeter-wave radar and the _ith ground target point Gi when measuring the ith ground target point, and obtain the distance between the second millimeter wave radar and the _ith ground target point Gi. the angle γ _i between the connection line and the normal line;

where i=1～n, n≥2;

As shown in FIG. 5, when the water surface is below the second millimeter-wave radar 30:

Calculate the height H _Wi =D _Wi *sin(α-β _i ) between the i-th water surface target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located;

Calculate the height H _Gi =D _Gi *sin(α-γ _i ) between the ith ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located;

According to the height H _Wi between the multiple water surface target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, the third height between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated. _H3 ;

According to the height H _Gi between the multiple ground target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, the fourth height between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated. H4 _;

The third height H ₃ between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is measured by the second millimeter-wave radar, and the ground target point and the second millimeter-wave radar are measured by the second millimeter-wave radar The fourth height H ₄ between the horizontal planes where the center point of 30 is located, specifically including:

Obtain the angle α between the normal of the second millimeter-wave radar and the horizontal plane where the center point of the second millimeter-wave radar 30 is located when measuring the i-th water surface target point;

Obtain the distance D _Wi between the second millimeter-wave radar and the _i -th surface target point Wi, and obtain the connection between the second millimeter-wave radar and the _i -th surface target point Wi and the distance between the second millimeter-wave radar and the second millimeter-wave radar. the angle β _i between the normals;

Obtain the distance D _Gi between the second millimeter-wave radar and the _ith ground target point Gi, and obtain the connection between the second millimeter-wave radar and the _ith ground target point Gi and the distance between the second millimeter-wave radar and the second millimeter-wave radar. the angle γ _i between the normals;

where i=1～n, n≥2;

As shown in FIG. 5, when the water surface is above the second millimeter-wave radar 30:

Calculate the height H _Wi =D _Wi *sin(β _i -α) between the i-th water surface target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located;

Height H _Gi =D _Gi *sin(α-γ _i ) between the i-th ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located;

According to the height H _Wi between the multiple water surface target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, the third height between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated. _H3 ;

According to the height H _Gi between the multiple ground target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, the fourth distance between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated. height H ₄ .

Wherein, preferably, the height H _Wi between the multiple surface target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located and the horizontal plane where the center point of the second millimeter-wave radar 30 is located between the multiple ground target points The height H _Gi is smoothed and filtered to obtain the third height H ₃ between the water surface target point measured by the second millimeter-wave radar and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, and the second millimeter-wave radar. The fourth height H ₄ between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located.

Specifically, the included angle α between the normal line of the second millimeter-wave radar and the horizontal plane where the center point of the second millimeter-wave radar 30 is located can be obtained by using a gyroscope. When the vehicle is driving in front of the water-filled road, such as entering a tunnel, the driving direction of the vehicle is inclined to the horizontal plane where the center point of the second millimeter-wave radar 30 is located. That is, the angle α between the normal line of the second millimeter-wave radar and the horizontal plane where the center point of the second millimeter-wave radar 30 is located. At the same time, the second millimeter-wave radar at the front end of the vehicle emits electromagnetic waves in the traveling direction of the vehicle, that is, the electromagnetic wave radiates. To the water-filled road, the echo information received by the second millimeter-wave radar is transformed by the range-doppler 2D FFT, and can be divided into ground in the range dimension according to the difference of echo characteristics such as the reflected power and echo azimuth angle between the water surface and the ground. and two types of point cloud targets on the water surface, select a certain number of water surface target points Wi and ground target points G _{i ,} and obtain the _angle between the connection line between the second millimeter-wave radar and the water surface target point Wi and the normal line β _i and the included angle γ _i between the line connecting the second millimeter-wave radar and the ground target point _Gi and the normal line.

As shown in FIG. 5 , when the water surface is below the second millimeter-wave radar 30 , that is, when the vehicle does not travel to the water-filled area, the second millimeter-wave radar 30 is above the water surface, and the relationship between the water surface target point and the second millimeter-wave radar 30 can be calculated. The height H _Wi between the horizontal plane where the center point of the millimeter-wave radar 30 is located and the height H _Gi between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located are smoothed by smoothing H _Wi and H _Gi Filter to obtain the third optimal height estimation value H ₂ between the water surface target point and the horizontal plane where the center point of the second millimeter wave radar 30 is located, and the distance between the ground target point and the horizontal plane where the center point of the second millimeter wave radar 30 is located. The fourth height is the optimal estimated value H ₄ , and finally the water level depth H _{water depth} =H ₄ -H ₃ is calculated. At this time, the vehicle is not wading in the water, and the measured water level depth is compared with the safety threshold. If the water level depth is less than If the water level depth is greater than the safety threshold, it means that it is impossible to travel safely and trigger the warning alarm, so that the vehicle can be predicted in advance without wading, and the safety of the vehicle can be improved. . It should be noted that when the vehicle travels down the slope, the selected water surface target point Wi and ground target point G _i are constantly changing _, and the corresponding monitored water level depth will also change accordingly, so as to provide early warning and alarm in real time.

As shown in FIG. 6 , when the water surface is above the second millimeter-wave radar 30 , and the second millimeter-wave radar 30 is below the water surface, the water surface target point and the center point of the second millimeter-wave radar 30 can be calculated by the above method. The third optimal estimated value of height H ₃ between the horizontal planes where it is located and the fourth optimal estimated value of height H ₄ between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, at this time the water level depth H Water _depth =H ₃ +H ₄ , and compare the water level depth with the safety threshold. If the water level depth is less than the safety threshold, it means that safe travel can continue without triggering an early warning alarm. If the water level depth is greater than the safety threshold, it means that the safety cannot be continued. Marching, triggering an early warning alarm to alert the driver.

Preferably, the second millimeter-wave radar is arranged below the front bumper of the vehicle. When the second millimeter-wave radar 30 is below the water surface, the sensitive parts of the vehicle are still above the water surface, so as to ensure effective early warning and safe driving of the vehicle. safety.

In some of the embodiments of the present invention, the second millimeter-wave radar 30 is connected to the front end of the vehicle through the rotating mechanism 20;

In a normal state, the long axis of the beam envelope of the second millimeter-wave radar 30 is parallel to the ground;

When switching to the water depth monitoring state, the rotation mechanism 20 drives the second millimeter-wave radar 30 to rotate, so that the long axis of the beam envelope of the second millimeter-wave radar 30 is perpendicular to the ground.

Further, when switching to the water depth monitoring state, the long axis of the beam envelope of the second millimeter-wave radar 30 is rotated to be perpendicular to the ground by the rotating mechanism 20, so that the detection accuracy of the second millimeter-wave radar 30 toward the ground is improved, In this way, the water depth of the road ahead can be accurately monitored in advance.

Specifically, as shown in FIGS. 7 and 8 , the i-axis of the second millimeter-wave radar 30 is the normal line, the long axis of the beam envelope of the second millimeter-wave radar 30 is the j-axis, and the The short axis of the beam envelope is the k-axis, wherein the second millimeter-wave radar 30 has high angular resolution in the j-axis direction, and relatively low angular resolution in the k-axis direction. Therefore, when the vehicle is in a normal driving state, the long axis of the beam envelope of the second millimeter-wave radar 30 is parallel to the ground, the i-axis of the second millimeter-wave radar 30 is parallel to the X-axis of the vehicle body, and the The k-axis is parallel to the Z-axis of the vehicle body, and the j-axis of the second millimeter-wave radar 30 is parallel to the Y-axis of the vehicle body.

When switching to the water depth monitoring state, the long axis of the second millimeter-wave radar 30 is rotated by 90° to be perpendicular to the ground through the rotating mechanism 20, the i-axis of the second millimeter-wave radar 30 is parallel to the X-axis of the vehicle body, and the second millimeter-wave radar 30 is parallel to the X axis of the vehicle body. The j-axis of the radar 30 is parallel to the Z-axis of the vehicle body, and the k-axis of the second millimeter-wave radar 30 is parallel to the Y-axis of the vehicle body. Thus, the detection accuracy of the second millimeter wave radar 30 on the ground is improved. The rotation mechanism 20 drives the second millimeter-wave radar 30 to rotate, so that the long-axis direction of the beam envelope of the second millimeter-wave radar 30 changes, which can improve the angular resolution of the second millimeter-wave radar 30 perpendicular to the ground.

In some of the embodiments of the present invention, when switching to the water depth monitoring state, the resolution of the millimeter wave radar is improved.

In some of the embodiments of the present invention, improving the resolution of the millimeter-wave radar specifically includes:

Adjust the swept bandwidth of the millimeter-wave radar to 3.5 to 5 GHz.

Preferably, when switching to the water depth monitoring state, the frequency sweep bandwidth is adjusted to 5GHz, which can improve the range resolution of the millimeter-wave radar and the accuracy of the millimeter-wave radar in monitoring the water level depth, thereby improving the accuracy and sensitivity of early warning. .

Optionally, the rotating mechanism 20 can also be monitored by a millimeter-wave radar, and the state and fault state of the rotating mechanism 20 can be monitored by the millimeter-wave radar.

In some of the embodiments of the present invention, the echo information received by the millimeter-wave radar is compared with the threshold information, and if it exceeds the threshold range, the state is switched to the water depth monitoring state, and the echo information received by the millimeter-wave radar is compared with the threshold information. Comparison, if it exceeds the threshold range, switch to the water depth monitoring state, which includes:

Control the millimeter-wave radar to transmit electromagnetic waves to the current road surface and receive the echo information reflected by the current road surface. The echo information includes one or more of the echo signal-to-noise ratio, echo reflection strength, reflection cross-sectional area and echo distribution characteristics. The echo information is compared with the threshold range obtained by testing and calibrating the wading road conditions. If the echo information conforms to the threshold range, it switches to the water depth monitoring state.

Among them, since the echo information of the electromagnetic wave passing through the water surface is different from that reflected by the ground, the road ahead can be monitored according to the millimeter wave radar. When the echo information of the road ahead is detected to exceed the threshold range of the threshold information, it means that the road ahead is Water on the road, thus switching to the water depth monitoring state for water depth monitoring.

In some of the embodiments of the present invention, the method further includes switching the millimeter-wave radar to the water depth monitoring state through the remote terminal, and sending early warning information to the remote terminal when it is detected that the water level depth exceeds a safety threshold.

Among them, the remote terminal can be a mobile phone. During the rainy season, the driver can actively control the millimeter-wave radar to switch to the water depth monitoring state through the mobile phone, so that the vehicle can be remotely monitored for wading and early warning.

As a preferred embodiment of the present invention, as shown in Figure 1, the vehicle wading detection method includes the following steps:

S1: Monitor the current road conditions through the millimeter-wave radar, compare the echo information received by the millimeter-wave radar with the threshold information, and switch to the water depth monitoring state if it exceeds the threshold range;

S2: When in the water depth monitoring state, the millimeter-wave radar transmits ranging electromagnetic waves to the water surface and the ground, and the millimeter-wave radar detects the height between the millimeter-wave radar and the water surface and the height between the radar and the ground;

S3: Calculate the water level depth according to the height between the millimeter-wave radar and the water surface and the height between the radar and the ground. When the water level depth exceeds the safety threshold, an early warning alarm is triggered.

Wherein, as shown in FIG. 2 , the millimeter-wave radar includes a first millimeter-wave radar, and the first millimeter-wave radar is only used to monitor the current wading depth. The position of the rear mirror of the vehicle. When the vehicle is driving normally, the normal of the first millimeter-wave radar is parallel to the driving direction of the vehicle and is used to monitor the situation in front of the vehicle. When the first millimeter-wave radar detects that the road ahead is a water-filled road , the rotating mechanism 20 drives the first millimeter-wave radar to rotate 90° to make its normal line perpendicular to the vehicle's driving direction and adjusts the sweep bandwidth of the first millimeter-wave radar to 5 GHz, so that the resolution of the first millimeter-wave radar is improved, switching to Water depth monitoring status.

When the car passes the water-filled road, the first millimeter-wave radar transmits electromagnetic waves to the water-filled road, and the first millimeter-wave radar monitors the first height H1 between the _first millimeter-wave radar and the water surface and the distance between the first millimeter-wave radar and the ground. The second height H ₂ between the two, thereby calculating the current water level depth H _{water depth} =H ₂ -H ₁ , and comparing the current water level depth with the safety threshold, and triggering an early warning alarm if the safety threshold is exceeded.

More preferably, the second height H ₂ between the first millimeter-wave radar and the ground is a predetermined value, and monitoring by the first millimeter-wave radar is unnecessary.

As shown in FIG. 5 and FIG. 6 , the millimeter-wave radar includes a second millimeter-wave radar 30 , and the second millimeter-wave radar 30 can be used to monitor the current wading water depth and the water depth ahead. The position of the front bumper of the vehicle, when the vehicle is running normally, the long axis of the beam envelope of the second millimeter-wave radar 30 is parallel to the ground, and when the second millimeter-wave radar 30 detects that there is a water-filled road ahead, the rotating mechanism 20. Rotate the second millimeter-wave radar 30 so that the long axis of the beam envelope is perpendicular to the ground, thereby improving the angular resolution of the second millimeter-wave radar 30 in the direction perpendicular to the ground. At the same time, the swept bandwidth of the second millimeter-wave radar is adjusted to 5GHz, which improves the resolution of the second millimeter-wave radar and switches to the water depth monitoring state.

The second millimeter-wave radar transmits electromagnetic waves to the front of the vehicle, and the echo information received by the second millimeter-wave radar is transformed by range-doppler 2D FFT. In the range dimension, it is divided into two types of point cloud targets _: ground and water surface, select a certain number of water surface target points Wi and ground target points G _{i ,} and obtain the connection between the second millimeter-wave radar and the water surface target point Wi and The included angle β _i between the normals and the included angle γ _i between the connecting line between the second millimeter-wave radar and the ground target point G _i and the normal.

As shown in FIG. 5, when the second millimeter wave radar 30 is above the water surface:

Height H _Wi =D _Wi *sin(α-β _i ) between the i-th water surface target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located;

Height H _Gi =D _Gi *sin(α-γ _i ) between the i-th ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located;

Perform smooth filtering on H _Wi to obtain the optimal estimated value H ₃ of the third height between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located;

Perform smooth filtering on H _Gi to obtain the optimal estimated value H ₄ of the fourth height between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located;

Water level depth H _{water depth} =H ₄ -H ₃ ;

As shown in FIG. 6, when the second millimeter wave radar 30 is below the water surface:

Height H _Wi =D _Wi *sin(β _i -α) between the i-th water surface target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located;

Height H _Gi =D _Gi *sin(α-γ _i ) between the i-th ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located;

Perform smooth filtering on H _Wi to obtain the optimal estimated value H ₃ of the third height between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located;

Perform smooth filtering on H _Gi to obtain the optimal estimated value H ₄ of the fourth height between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located;

Water level depth H _{water depth} =H ₃ +H ₄ .

Compare the water depth with the safety threshold, if the water depth is higher than the safety threshold, an early warning alarm will be triggered.

The method can use the millimeter-wave radar on the existing vehicle to perform water depth monitoring, without adding an additional water level sensor, which can save the design cost. At the same time, the millimeter wave radar is used to monitor the water level depth, which has high detection accuracy and sensitivity, and can improve the safety of the vehicle.

9 is a schematic diagram of the hardware structure of an electronic device of the present invention, including:

at least one processor 601; and,

a memory 602 in communication with the at least one processor 601; wherein,

The memory 602 stores instructions executable by the at least one processor to enable the at least one processor to perform the vehicle wading detection method as before.

In FIG. 8, a processor 601 is used as an example.

The electronic device may further include: an input device 603 and a display device 604 .

The processor 601, the memory 602, the input device 603, and the display device 604 may be connected through a bus or in other ways, and the connection through a bus is taken as an example in the figure.

As a non-volatile computer-readable storage medium, the memory 602 can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, such as those corresponding to the vehicle wading detection method in the embodiments of the present application. Program instructions/modules, for example, the method flow shown in FIG. 1 . The processor 601 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 602, that is, to implement the vehicle wading detection method in the above embodiment.

The memory 602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the vehicle wading detection method, and the like. Additionally, memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 602 may optionally include memory located remotely relative to the processor 601, and these remote memories may be connected via a network to the apparatus for performing the vehicle wading detection method. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The input device 603 can receive input user clicks, and generate signal input related to user settings and function control of the vehicle wading detection method. The display device 604 may include a display device such as a display screen.

The one or more modules are stored in the memory 602, and when executed by the one or more processors 601, perform the vehicle wading detection method in any of the above method embodiments.

With this method, there is no need to add additional water level sensors on the vehicle, so the design cost of the vehicle can be effectively reduced. At the same time, by using the original millimeter-wave radar of the vehicle, the present application can sensitively identify whether there is water accumulation on the road surface and switch to the water depth monitoring state, and can accurately monitor the water depth through the millimeter-wave radar, thereby realizing early warning of the water depth. An embodiment of the present invention provides a storage medium, where the storage medium stores computer instructions, and when the computer executes the computer instructions, it is used to execute all steps of the preceding method for vehicle wading detection.

The above are only the principles and preferred embodiments of the present application. It should be pointed out that for those of ordinary skill in the art, on the basis of the principles of the present application, several other modifications can also be made, which should also be regarded as the protection scope of the present application.

Claims (12)

1. a vehicle wading detection method, is characterized in that, comprises the following steps: Monitor the current road surface condition through the millimeter-wave radar, compare the echo information received by the millimeter-wave radar with the threshold information, and switch to the water depth monitoring state if it exceeds the threshold range; When in the water depth monitoring state, the millimeter-wave radar transmits ranging electromagnetic waves to the water surface and the ground, and the millimeter-wave radar detects the height between the millimeter-wave radar and the water surface and the distance between the millimeter-wave radar and the ground. height between The water level depth is calculated according to the height between the millimeter-wave radar and the water surface and the height between the millimeter-wave radar and the ground, and when the water level depth exceeds a safety threshold, an early warning alarm is triggered. 2. The vehicle wading detection method according to claim 1, wherein the millimeter-wave radar comprises a first millimeter-wave radar (10) connected to the vehicle through a rotating mechanism (20); When in the water depth monitoring state, the millimeter-wave radar transmits ranging electromagnetic waves to the water surface and the ground, and the millimeter-wave radar detects the height between the millimeter-wave radar and the water surface and the distance between the millimeter-wave radar and the water surface. The height between the ground, including: When in the water depth monitoring state, the rotating mechanism (20) drives the first millimeter-wave radar (10) to rotate until the normal of the first millimeter-wave radar (10) is perpendicular to the traveling direction of the vehicle; The first millimeter-wave radar (10) emits ranging electromagnetic waves toward the ground, the ranging electromagnetic waves are reflected by the water surface to obtain a first reflected signal, and the first millimeter-wave radar (10) measures and calculates according to the first transmitted signal obtaining a first height H ₁ between the first millimeter-wave radar (10) and the water surface; The ranging electromagnetic wave is reflected on the ground to obtain a second reflected signal, and the first millimeter-wave radar (10) calculates the distance between the first millimeter-wave radar (10) and the ground according to the second reflected signal. the second height H ₂ ; The water level depth is calculated according to the height between the millimeter-wave radar and the water surface and the height between the radar and the ground, and when the water level depth exceeds a safety threshold, an early warning alarm is triggered, specifically including: According to the first height and the second height, calculate the water level depth H _{water depth} =H ₂ −H ₁ ; It is judged whether the water level depth exceeds the safety threshold, and if it exceeds, an early warning alarm is triggered. 3. The vehicle wading detection method according to claim 1, wherein the millimeter-wave radar comprises a second millimeter-wave radar (30) arranged at the front end of the vehicle, and the second millimeter-wave radar (30) has a The normal is parallel to the direction of travel of the vehicle; When in the water depth monitoring state, the millimeter-wave radar transmits ranging electromagnetic waves to the water surface and the ground, and the millimeter-wave radar detects the height between the millimeter-wave radar and the water surface and the distance between the millimeter-wave radar and the water surface. The height between the ground, including: When in the water depth monitoring state, the third height between the water surface target point and the horizontal plane where the center point of the second millimeter wave radar (30) is located is measured by the second millimeter wave radar (30). _H3 , the _fourth height H4 between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar (30) is located is measured by the second millimeter-wave radar (30); The water level depth is calculated according to the height between the millimeter-wave radar and the water surface and the height between the radar and the ground, and when the water level depth exceeds a safety threshold, an early warning alarm is triggered, specifically including: When the water surface is located below the second millimeter-wave radar (30), calculate the water level depth H _{water depth} =H ₄ −H ₃ ; When the water surface is above the second millimeter-wave radar (30), calculate the water level depth H _{water depth} =H ₄ +H ₃ ; It is judged whether the water level depth exceeds the safety threshold, and if it exceeds, an early warning alarm is triggered. 4 . The vehicle wading detection method according to claim 3 , wherein the water surface target point and the second millimeter wave radar ( 30 ) are measured and calculated by the second millimeter wave radar ( 30 ). 5 . the third height H ₃ between the horizontal plane where the center point of the millimeter wave radar (30) is located, the horizontal plane where the ground target point and the center point of the second millimeter wave radar (30) are located is measured by the second millimeter wave radar (30). The fourth height H ₄ between, specifically includes: acquiring the included angle α between the normal of the second millimeter-wave radar (30) and the horizontal plane where the center point of the second millimeter-wave radar (30) is located when measuring the i-th water surface target point; Obtain the distance D _Wi between the second millimeter-wave radar (30) and the _i -th water surface target point Wi, and obtain the distance between the second millimeter-wave radar (30) and the _i -th water surface target point Wi The included angle β _i between the connecting line and the normal line of the second millimeter-wave radar (30); Obtain the distance D _Gi between the second millimeter-wave radar (30) and the _i -th ground target point Gi, and obtain the distance between the second millimeter-wave radar (30) and the i-th ground target point _Gi The included angle γ _i between the connecting line and the normal line of the second millimeter-wave radar (30); where i=1～n, n≥2; When the water surface is below the second millimeter wave radar (30): Calculate the height H _Wi =D _Wi *sin(α-β _i ) between the ith water surface target point and the horizontal plane where the center point of the second millimeter wave radar (30) is located; Calculate the height H _Gi =D _Gi *sin(α-γ _i ) between the ith ground target point and the horizontal plane where the center point of the second millimeter wave radar (30) is located; According to the height H _Wi between a plurality of water surface target points and the horizontal plane where the center point of the second millimeter wave radar (30) is located, the center of the water surface target point and the second millimeter wave radar (30) is obtained by calculation the third height H ₃ between the horizontal planes where the points lie; According to the height H _Gi between a plurality of ground target points and the horizontal plane where the center point of the second millimeter-wave radar (30) is located, the center of the ground target point and the second millimeter-wave radar (30) is obtained by calculation The fourth height H ₄ between the horizontal planes where the points lie. 5. The vehicle wading detection method according to claim 3, characterized in that, the water surface target point and the second millimeter-wave radar (30) are measured and calculated by the second millimeter-wave radar (30). the third height H ₃ between the horizontal plane where the center point of the millimeter wave radar (30) is located, the horizontal plane where the ground target point and the center point of the second millimeter wave radar (30) are located is measured by the second millimeter wave radar (30). The fourth height H ₄ between, specifically includes: acquiring the angle α between the normal of the second millimeter-wave radar (30) and the horizontal plane where the center point of the second millimeter-wave radar (30) is located when measuring the i-th water surface target point; Obtain the distance D _Wi between the second millimeter-wave radar (30) and the _i -th water surface target point Wi, and obtain the distance between the second millimeter-wave radar (30) and the _i -th water surface target point Wi The included angle β _i between the connecting line and the normal line of the second millimeter-wave radar (30); Obtain the distance D _Gi between the second millimeter-wave radar (30) and the _i -th ground target point Gi, and obtain the distance between the second millimeter-wave radar (30) and the i-th ground target point _Gi The included angle γ _i between the connecting line and the normal line of the second millimeter-wave radar (30); where i=1～n, n≥2; When the water surface is above the second millimeter wave radar (30): Calculate the height H _Wi =D _Wi *sin(β _i -α) between the ith water surface target point and the horizontal plane where the center point of the second millimeter wave radar (30) is located; Calculate the height H _Gi =D _Gi *sin(α-γ _i ) between the ith ground target point and the horizontal plane where the center point of the second millimeter wave radar (30) is located; According to the height H _Wi between a plurality of water surface target points and the horizontal plane where the center point of the second millimeter wave radar (30) is located, the center of the water surface target point and the second millimeter wave radar (30) is obtained by calculation the third height H ₃ between the horizontal planes where the points lie; According to the height H _Gi between a plurality of ground target points and the horizontal plane where the center point of the second millimeter-wave radar (30) is located, the distance between the ground target point and the second millimeter-wave radar (30) is calculated and obtained The fourth height H ₄ between the horizontal planes where the center point is located. 6. The vehicle wading detection method according to claim 3, wherein the second millimeter-wave radar (30) is connected to the front end of the vehicle through a rotating mechanism (20); In a normal state, the long axis of the beam envelope of the second millimeter-wave radar (30) is parallel to the ground; When switching to the water depth monitoring state, the rotation mechanism (20) drives the second millimeter-wave radar (30) to rotate, so that the long axis of the beam envelope of the second millimeter-wave radar (30) is vertical on the ground. 7 . The vehicle wading detection method according to claim 1 , wherein when switching to the water depth monitoring state, the resolution of the millimeter-wave radar is improved. 8 . 8. The vehicle wading detection method according to claim 7, wherein the improving the resolution of the millimeter-wave radar specifically comprises: The swept bandwidth of the millimeter-wave radar is adjusted to 3.5-5 GHz. 9 . The vehicle wading detection method according to claim 1 , wherein the echo information received by the millimeter wave radar ( 10 ) is compared with the threshold information, and if it exceeds the threshold range, switching to In the water depth monitoring state, the echo information received by the millimeter wave radar (10) is compared with the threshold value information, and if the threshold value range is exceeded, switching to the water depth monitoring state specifically includes: Controlling the millimeter-wave radar (10) to transmit electromagnetic waves to the current road surface and to receive echo information reflected by the current road surface, where the echo information includes echo signal-to-noise ratio, echo reflection intensity, reflection cross-sectional area, and echo distribution characteristics One or more combinations of the echo information and the threshold range obtained by testing and calibrating the wading road conditions are compared, and if the echo information conforms to the threshold range, it switches to the water depth monitoring state. 10. The vehicle wading detection method according to any one of claims 1 to 9, wherein the method further comprises: The millimeter wave radar (10) is switched to water depth monitoring state information and sent to a remote terminal, and when it is detected that the water level depth exceeds a safety threshold, early warning information is sent to the remote terminal. 11. An electronic device, characterized in that, comprising: at least one processor; and, a memory communicatively coupled to at least one of the processors; wherein, The memory stores instructions executable by at least one of the processors, the instructions being executed by the at least one of the processors to enable the at least one of the processors to perform the execution of any one of claims 1 to 10 The vehicle wading detection method. 12. A storage medium, characterized in that the storage medium stores computer instructions, and when the computer executes the computer instructions, it is used to execute all the steps of the vehicle wading detection method according to any one of claims 1 to 10. step.

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