The invention discloses a vehicle wading driving early warning method and system and a vehicle, and relates to the field of vehicle control, and the method comprises the following steps: an MRM scans a vehicle driving road surface; calculating a first water depth measurement value based on the echo time difference of the millimeter waves; the MPC obtains a water surface position relative to a whole vehicle coordinate system; based on the vehicle-mounted high-precision map, generating a road surface position of the high-precision map relative to the whole vehicle coordinate system; determining a second water depth measurement value according to the height difference between the water surface position and the road surface position; the ADCU compares and compensates the first water depth measurement value and the second water depth measurement value to form a third water depth measurement value, and outputs the third water depth measurement value to the ASC; and the ASC judges whether the vehicle can wade and pass through in combination with the parameters of the vehicle. According to the method, the third water depth measurement value is obtained through comparison compensation, and the robustness of the measurement result is improved; and through fusion identification of the millimeter wave radar module and the multifunctional camera, the detection precision is improved.

    本发明公开了车辆涉水行驶预警方法、系统及车辆,涉及车辆控制领域,方法包括以下步骤:MRM扫描车辆行驶路面;基于毫米波的回波时间差,计算第一水深测量值;MPC获取相对整车坐标系的水面位置;基于车载高精地图,生成高精地图相对整车坐标系的路面位置;根据水面位置和路面位置的高度差确定第二水深测量值;ADCU将第一水深测量值和第二水深测量值进行比对补偿,形成一个第三水深测量值,输出至ASC;ASC结合车辆自身参数,判定车辆是否能涉水通过。本发明通过比对补偿获得第三水深测量值,增加了测量结果的鲁棒性;而通过毫米波雷达模块与多功能摄像头的融合识别,提升了探测精度。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle wading driving early warning method and system and vehicle


    Additional title:

    车辆涉水行驶预警方法、系统及车辆


    Contributors:
    ZHANG LEIBO (author) / ZHENG TAOTAO (author) / CHEN KUI (author) / PEI JINSHUN (author)

    Publication date :

    2023-07-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



    Vehicle wading early warning system

    SHEN GANG / SUN XIAODONG | European Patent Office | 2021

    Free access

    Vehicle wading auxiliary early warning system and early warning method

    WANG HENG / HUANG YAODONG / LI HUAXIANG et al. | European Patent Office | 2020

    Free access

    Vehicle wading early warning method, device and system

    ZHOU LI / XIE JIANGANG / DU JIANWEI et al. | European Patent Office | 2022

    Free access

    Vehicle wading early warning method and device and vehicle

    YANG MEILING / LI BINGTAO / NIE JUNQING | European Patent Office | 2024

    Free access

    Wading early warning method and device and vehicle

    QIN SHAOCEN | European Patent Office | 2023

    Free access