The invention provides a vehicle wading auxiliary control method and device, a vehicle and a storage medium. The method comprises the steps that water depth measurement data, collected by an unmanned aerial vehicle, of multiple measurement points in a target detection area are acquired; wherein the target detection area covers the water area to be transversed; determining a boundary according to the water flow direction in the target detection area and the set angle beta, and determining a sliding window detection area according to the boundary and the set width; wherein the set angle beta is an included angle between the boundary and the water flow direction, and is-90 degree lt; beta < lt >; 0 DEG; acquiring corresponding sliding window water depth measurement data from the water depth measurement data according to the sliding window detection area, and performing transverse scanning and mean value processing on the sliding window water depth measurement data to determine a detection line corresponding to the sliding window detection area; the candidate path and/or the target path are/is determined according to the multiple adjacent detection lines, navigation display reminding is carried out, the determined wading path fully considers the impact force of the water flow on the vehicle body, and yawing or rollover can be avoided when the vehicle passes through the water.

    本申请提供一种车辆涉水辅助控制方法、装置、车辆及存储介质,该方法包括:获取无人机采集的目标检测区域内多个测量点的水深测量数据;其中,目标检测区域覆盖待横渡水域;根据目标检测区域内水流方向和设定角度β确定分界线,并根据分界线和设定宽度确定滑窗检测区域;其中,设定角度β为分界线与水流方向之间的夹角,且‑90°<β<0°;根据滑窗检测区域从水深测量数据中获取对应的滑窗水深测量数据,并对滑窗水深测量数据进行横向扫描和均值处理确定滑窗检测区域对应检测线路;根据相邻的多条检测线路确定候选路径和/或目标路径,以进行导航显示提醒,其中,确定出的涉水路径充分考虑水流对车身冲击力,能够避免车辆渡水时发生偏航或侧翻。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle wading auxiliary control method and device, vehicle and storage medium


    Additional title:

    车辆涉水辅助控制方法、装置、车辆及存储介质


    Contributors:
    ZHANG NA WEI (author) / HAN JIN (author) / LIANG YINLONG (author) / DONG WEIJIA (author)

    Publication date :

    2023-03-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B64C AEROPLANES , Flugzeuge / B64U / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung



    Vehicle wading control method and device, vehicle and storage medium

    WANG XU / YANG ZHEN | European Patent Office | 2023

    Free access

    Vehicle wading control method and device, vehicle and storage medium

    GAO RUSHAN / CAI SHIMIN / TAN MINGWEI et al. | European Patent Office | 2024

    Free access

    METHOD FOR PROMPTING VEHICLE WADING, CONTROL DEVICE, STORAGE MEDIUM AND VEHICLE

    MA LONGXING / YANG FAN | European Patent Office | 2024

    Free access

    Vehicle wading control method and system, storage medium and vehicle

    CHEN SHAOGANG / WANG HONGBIN / XING YUEWEI | European Patent Office | 2024

    Free access

    Vehicle wading sensing device and method, storage medium and vehicle

    YUAN QUAN / HE TAO / CHEN SHUFAN et al. | European Patent Office | 2024

    Free access