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CN-121973787-A - Vehicle wading safety decision-making method and electronic equipment

CN121973787ACN 121973787 ACN121973787 ACN 121973787ACN-121973787-A

Abstract

The application provides a vehicle wading safety decision-making method and electronic equipment, and relates to the technical field of vehicle intelligent safety protection. The method comprises the steps of obtaining environment sensing data around a target vehicle and determining the vehicle state of the target vehicle when the target vehicle is in a wading area, determining the passing state of other vehicles in the wading area based on the environment sensing data if the vehicle state is in a driving state, estimating water accumulation depth information of a front road where the target vehicle is located based on the passing state, wherein the water accumulation depth information is used for representing water accumulation spatial distribution characteristics of the front road and depth quantification values at all positions, and generating a first safety decision aiming at the target vehicle based on the water accumulation depth information and a safety wading threshold value of a wading risk part of the target vehicle. The application can avoid the situation that the vehicle risks to wade due to misjudgment, and realizes safe and reliable wading protection of the vehicle in a driving wading scene.

Inventors

  • LU MEI

Assignees

  • 长城汽车股份有限公司

Dates

Publication Date
20260505
Application Date
20260319

Claims (10)

  1. 1. A vehicle wading safety decision method, comprising: Acquiring environmental perception data around a target vehicle and determining the vehicle state of the target vehicle under the condition that the target vehicle is in a wading area; if the vehicle state is a running state, determining the passing state of other vehicles in the wading area based on the environment sensing data, wherein the passing state is used for representing the wading degree of the other vehicles; Estimating ponding depth information of a front road where the target vehicle is located based on the passing state, wherein the ponding depth information is used for representing ponding spatial distribution characteristics of the front road and depth quantized values at all positions; and generating a first safety decision for the target vehicle based on the ponding depth information and a safety wading threshold value of a wading risk part of the target vehicle, wherein the first safety decision is used for representing a passing strategy of the target vehicle for a wading area in the running state.
  2. 2. The method of claim 1, wherein the determining a passing state of other vehicles within the wading area based on the context awareness data comprises: Analyzing visual data in the environment perception data, and identifying a first relative relation between wheels of the other vehicles and the water surface of the wading area and a second relative relation between the body of the other vehicles and the water surface of the wading area; Extracting corresponding visual physical characteristics based on the first relative relation and the second relative relation, wherein the visual physical characteristics are used for representing physical attributes of vehicle wading depth and vehicle posture; and obtaining the passing states of other vehicles in the wading area based on the visual physical characteristics.
  3. 3. The method of claim 2, wherein the deriving a passing state of other vehicles within the wading area based on the visual physical characteristics comprises: Dividing the numerical range of the quantization index into at least three intervals based on a preset wading degree mapping rule by taking the visual physical characteristics as quantization indexes, wherein each interval corresponds to one wading degree grade; matching the actual numerical value of the quantization index with the interval, and determining a corresponding wading degree grade; and determining the passing state based on the wading degree grade.
  4. 4. The method according to claim 1, wherein estimating the water accumulation depth information of the road ahead of the position of the target vehicle based on the passing state includes: determining a wading degree level of the other vehicle based on the passing state; estimating single-point water accumulation depth of the position of other vehicles based on the wading degree grade and the vehicle type size information of the other vehicles, wherein the single-point water accumulation depth is a depth quantized value of the actual wading position of the other vehicles under the wading degree grade; And generating the ponding depth information of the front road based on the single-point ponding depth and the positions of other vehicles.
  5. 5. The method of claim 4, wherein generating the water depth information for the road ahead based on each of the single point water depths and the locations of the other vehicles comprises: Distributing corresponding confidence weights for the single-point ponding depths; weighting a plurality of single-point ponding depths based on the confidence weights to obtain a single-point ponding depth set; And processing the single-point ponding depth set through a spatial interpolation algorithm to generate ponding depth information of the front road.
  6. 6. The method according to claim 1, wherein the method further comprises: If the vehicle state is a parking state, calculating the distance between at least one wading risk part on the target vehicle and the water surface of the wading area based on the environment sensing data so as to obtain risk distance information; And generating a second safety decision aiming at the target vehicle based on the comparison result of the risk distance information and the safety wading threshold value, wherein the second safety decision is used for a passing strategy aiming at a wading area of the target vehicle in the parking state.
  7. 7. The method of claim 6, wherein calculating a distance of at least one wading risk location on the target vehicle relative to a wading area water surface based on the context awareness data comprises: Determining the spatial position of the water surface of the wading area relative to the target vehicle based on the environment perception data; And calculating the vertical distance between the wading risk part and the water surface of the wading area based on the space position and the three-dimensional position of at least one wading risk part on the target vehicle.
  8. 8. The method of claim 1, wherein the generating a first security decision for the target vehicle based on the water depth information and a security wading threshold for a wading risk location of the target vehicle comprises: planning a passing path of the target vehicle based on the accumulated water depth information, wherein the passing path is a path with relatively minimum accumulated water depth; extracting the depth quantized values of all positions from the ponding depth information on the passing path to determine the predicted maximum wading depth on the passing path; comparing the predicted maximum wading depth with a safe wading threshold of the target vehicle; Based on the comparison, the first security decision for the target vehicle is generated.
  9. 9. The method of claim 8, wherein generating a first security decision for the target vehicle based on the comparison comprises: If the predicted maximum wading depth is smaller than or equal to a safe wading threshold value of a first preset proportion, a first passing instruction is generated; If the predicted maximum wading depth is larger than the first preset proportion and the predicted maximum wading depth is smaller than the safe wading threshold value, generating a second general instruction; if the predicted maximum wading depth is larger than the safe wading threshold value, generating a forbidden instruction; The first security decision comprises at least the first pass instruction, the second pass instruction and the forbidden instruction.
  10. 10. An electronic device, the electronic device comprising: A memory for storing executable program code; a processor for calling and running the executable program code from the memory, causing the electronic device to perform the method of any one of claims 1 to 9.

Description

Vehicle wading safety decision-making method and electronic equipment Technical Field The application relates to the technical field of intelligent safety protection of vehicles, in particular to a vehicle wading safety decision method and electronic equipment. Background With the continuous increase of the quantity of the automobile, the occurrence frequency of severe weather such as extreme rainfall, flood and the like is increased, and vehicle wading accidents become frequent vehicle damage and safety risk inducements in the field of road traffic. Currently, in the field of vehicle wading protection, the main stream practice still highly depends on manual judgment of a driver. When facing the ponding road section, the driver roughly estimates the ponding depth and judges whether the vehicle can pass or not mainly by means of personal experience, modes of visually observing wading appearance (such as whether wheels are submerged or not and whether the vehicle body is inclined or not) or visually observing a roadside water level gauge and the like when the front vehicle passes. However, the mode in the prior art has strong subjectivity and low accuracy, is extremely easy to cause vehicle adventure wading due to misjudgment of water accumulation depth or road conditions, further causes serious consequences such as flameout of an engine, water inflow damage of wading risk parts and the like, has potential safety hazards, and is difficult to realize safe and reliable wading safety protection. Disclosure of Invention The application provides a vehicle wading safety decision-making method and electronic equipment, which can effectively avoid the situation that a vehicle risks wading due to misjudgment, and realize safe and reliable wading protection of the vehicle in a driving wading scene. The vehicle wading safety decision-making method comprises the steps of obtaining environment sensing data around a target vehicle and determining the vehicle state of the target vehicle when the target vehicle is in a wading area, determining the passing states of other vehicles in the wading area based on the environment sensing data if the vehicle state is a driving state, wherein the passing states are used for representing wading degrees of the other vehicles, estimating water accumulation depth information of a front road where the target vehicle is located based on the passing states, wherein the water accumulation depth information is used for representing water accumulation space distribution characteristics of the front road and depth quantification values at all positions, and generating a first safety decision for the target vehicle based on the water accumulation depth information and a safety wading threshold value of a wading risk part of the target vehicle, wherein the first safety decision is used for representing a traffic strategy for the wading area in the driving state of the target vehicle. According to the technical scheme, when the target vehicle is in the wading area, environment sensing data around the target vehicle are firstly obtained, the vehicle state of the target vehicle is determined, dependence of the prior art on manual judgment of a driver is eliminated, the technical problem of strong subjectivity of manual judgment is solved from the source, if the vehicle state is a driving state, the passing state of other vehicles in the wading area is determined based on the environment sensing data, the wading degree of the other vehicles can be represented by the passing state, then the water accumulation depth information of a road in front of the position where the target vehicle is located is estimated based on the passing state, the water accumulation depth information can clearly embody water accumulation space distribution characteristics of the road in front and depth quantized values of all positions, the comprehensive perception of the water accumulation depth and the front road condition is realized, the problem that only the water accumulation depth, the water accumulation depth and the road condition are easy to judge in a rough way in the prior art is effectively solved, finally, based on the water accumulation depth information and the safety wading threshold of the water accumulation risk position of the target vehicle, the first safety decision for the target vehicle is generated, the first safety decision can be provided for the scientific and adaptive wading area of the target vehicle in the driving state, the water accumulation depth information can be avoided, the potential risk of the engine is severely damaged by the water passing through the wading is effectively, the accident situation is avoided, the accident is avoided, and the accident is caused by the accident caused by the water of the water, and the accident is caused by the accident due to the accident to the water, and the running of the accident caused by the water. The vehicle wading safety decision-making device