CN-122009238-A - Urban waterlogging vehicle automatic risk avoiding control method and system based on Internet of vehicles

Abstract

The invention discloses an automatic risk avoiding control method and system for urban waterlogging vehicles based on the Internet of vehicles, and the method and system are used for detecting wading depth in real time; if the wading depth is larger than the set value, acquiring waterlogging point information from a real-time prediction and early warning system of the urban waterlogging disaster, planning a driving path according to the waterlogging point information, and controlling a vehicle to drive along the driving path to realize vehicle risk avoiding control. According to the method, the wading depth is detected in real time, the information of the waterlogging points is obtained, and the driving path is planned, so that the method dynamically adapts to the change of the waterlogging environment, the situation that a driver mistakenly enters a deepwater area due to misjudgment, insufficient experience or poor sight is avoided, and the wading driving safety is greatly improved.

Inventors

• ZOU JUNJUN
• LI ZHENG

Assignees

• 东风汽车集团股份有限公司

Dates

Publication Date

20260512

Application Date

20260129

Claims (10)

1. 1. An automatic risk avoiding control method for urban waterlogging vehicles based on the Internet of vehicles is characterized by comprising the following steps of: Detecting wading depth in real time; If the wading depth is larger than the set value, obtaining waterlogging point information from a real-time prediction and early warning system of urban waterlogging disasters; planning a driving path according to the waterlogging point information; And controlling the vehicle to run along the running path to realize the vehicle risk avoiding control.
2. 2. The automatic risk avoiding control method for urban inland inundation vehicles based on the Internet of vehicles according to claim 1, wherein the control of the vehicles to run along the running path is realized by the following steps: judging whether the vehicle is unmanned; If yes, controlling the vehicle to run along a running path through an automatic driving system; if not, the vehicle is controlled to travel along the travel path according to the intention of the driver.
3. 3. The method for automatically avoiding danger of urban inland inundation vehicles based on the Internet of vehicles according to claim 2, wherein the method for controlling the vehicles to run along the running path according to the intention of the driver comprises the following steps: The automatic driving system applies for automatic driving to a driver; If the driver agrees to the automatic driving, the automatic driving system controls the vehicle to run along the running path; If the driver does not agree with the automatic driving, the driving path is displayed on the vehicle map, and the vehicle is driven along the driving path by the driver.
4. 4. The method for automatically avoiding danger of urban inland inundation vehicles based on the Internet of vehicles according to claim 1, wherein the method for automatically avoiding danger of vehicles is characterized by further comprising the following steps before the vehicles are controlled to run along a running path to realize the vehicle avoiding danger control: judging whether a passing point is set or not; if yes, the driving path is re-planned according to the passing points, so that the waterlogging points and the driving path containing the passing points are avoided as far as possible and serve as a final driving path; If not, the driving path is kept unchanged.
5. 5. The automatic risk avoiding control method for urban inland inundation vehicles based on the Internet of vehicles according to claim 1, wherein the driving path is planned by taking inland inundation points as a reference.
6. 6. The automatic risk avoiding control method for urban inland inundation vehicles based on the Internet of vehicles according to claim 1, wherein if the driving path comprises inland inundation points, the position of sundries in water is determined according to the water flow rate around the vehicles when the vehicles are driven to the inland inundation points, and the automatic driving system is used for controlling the vehicles to avoid sundries in the water or displaying the sundry positions on a map of the vehicle.
7. 7. The automatic risk avoiding control method for urban inland inundation vehicles based on the Internet of vehicles, which is characterized in that after the position of sundries in water is determined, the movement track of the sundries is predicted through a two-dimensional shallow water model, and the vehicles are controlled to avoid the sundries in the water based on the movement track.
8. 8. A control system for realizing the automatic risk avoiding control method for urban inland inundation vehicles based on the Internet of vehicles as claimed in claim 1 is characterized by comprising The road condition detection module is used for detecting wading depth in real time; The vehicle-mounted communication module is used for connecting the urban waterlogging disaster real-time prediction and early warning system; And the control module is used for acquiring waterlogging point information from the urban waterlogging disaster real-time prediction early warning system when the wading depth is greater than a set value, planning a driving path according to the waterlogging point information, and controlling the vehicle to drive along the driving path to realize vehicle risk avoidance control.
9. 9. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the urban waterlogging vehicle automatic risk avoidance control method according to any one of claims 1 to 7.
10. 10. A computer program product comprising a computer program, characterized in that the computer program, when run, causes the urban waterlogging vehicle automatic risk avoidance control method as claimed in any one of claims 1-7 to be performed.

Description

Urban waterlogging vehicle automatic risk avoiding control method and system based on Internet of vehicles Technical Field The invention belongs to the technical field of vehicle control, and particularly relates to an automatic risk avoiding control method and system for urban waterlogging vehicles based on the Internet of vehicles. Background At present, urban waterlogging prediction and early warning technology can make reasonable path planning for vehicles according to water depths. Although the technology has the capability of real-time data acquisition, the early warning and path planning are preset and passively responded, and the active risk avoidance control capability based on the real-time state of the vehicle is lacked. Under the emergency condition of sudden waterlogging, the reliability and timeliness of manual operation are difficult to guarantee, early warning information can not be converted into effective danger avoiding actions, and potential safety hazards still exist. In view of the above, there is a need in the art for improvements. Disclosure of Invention The invention aims to solve the defects of the background technology, and provides an automatic risk avoiding control method and system for urban waterlogging vehicles based on the Internet of vehicles, which have the advantages of being capable of responding to the environmental change of waterlogging in real time, providing a safer vehicle risk avoiding path and improving driving safety. The technical scheme adopted by the invention is that the automatic risk avoiding control method for the urban waterlogging vehicle based on the Internet of vehicles comprises the following steps: Detecting wading depth in real time; If the wading depth is larger than the set value, obtaining waterlogging point information from a real-time prediction and early warning system of urban waterlogging disasters; planning a driving path according to the waterlogging point information; And controlling the vehicle to run along the running path to realize the vehicle risk avoiding control. Further, the controlling the vehicle to run along the running path to realize the vehicle risk avoidance control includes: judging whether the vehicle is unmanned; If yes, controlling the vehicle to run along a running path through an automatic driving system; if not, the vehicle is controlled to travel along the travel path according to the intention of the driver. Further, the controlling the vehicle to travel along the travel path according to the driver's intention includes: The automatic driving system applies for automatic driving to a driver; If the driver agrees to the automatic driving, the automatic driving system controls the vehicle to run along the running path; If the driver does not agree with the automatic driving, the driving path is displayed on the vehicle map, and the vehicle is driven along the driving path by the driver. Further, before the control vehicle runs along the running path to realize the vehicle risk avoidance control, the method further comprises: judging whether a passing point is set or not; if yes, the driving path is re-planned according to the passing points, so that the waterlogging points and the driving path containing the passing points are avoided as far as possible and serve as a final driving path; If not, the driving path is kept unchanged. Further, the driving path is planned with the waterlogging point as the reference as the minimum. Further, if the driving path comprises a waterlogging point, the position of sundries in water is determined according to the water flow rate around the vehicle when the vehicle is driven to the waterlogging point, and the automatic driving system is used for controlling the vehicle to avoid sundries in water or display the positions of sundries on a map of a vehicle. Further, after the position of the sundries in the water is determined, the movement track of the sundries is predicted through a two-dimensional shallow water model, and the vehicle is controlled to avoid the sundries in the water based on the movement track. A control system for realizing the automatic risk avoiding control method for urban waterlogging vehicles based on the Internet of vehicles comprises the following components: the road condition detection module is used for detecting wading depth in real time; The vehicle-mounted communication module is used for connecting the urban waterlogging disaster real-time prediction and early warning system; And the control module is used for acquiring waterlogging point information from the urban waterlogging disaster real-time prediction early warning system when the wading depth is greater than a set value, planning a driving path according to the waterlogging point information, and controlling the vehicle to drive along the driving path to realize vehicle risk avoidance control. A computer readable storage medium having stored thereon a computer program which when executed by a