Vehicle control method, computer readable storage medium, controller and vehicle

Abstract

The invention discloses a vehicle control method, a computer readable storage medium, a controller and a vehicle, and the vehicle control method comprises the steps that when it is determined that the vehicle is in a floating state, a load module in the vehicle is controlled to move, so that the vehicle is adjusted to a second posture from a first posture. According to the vehicle control method, when it is determined that the vehicle is in the floating state, the load module in the vehicle is controlled to move, the gravity center of the whole vehicle is adjusted, control over the floating posture of the vehicle is achieved, and the vehicle control method has the advantages of being high in leveling speed, low in cost, good in platform expansibility, high in engineering application and low in matching work amount.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle control method, a computer-readable storage medium, a controller, and a vehicle. Background Art

[0002] In the event of a vehicle floating on water, related technologies employ additional leveling devices on the chassis to maintain a level position. However, these additional leveling devices add weight and cost to the vehicle. Furthermore, these leveling devices can reduce ground clearance, impacting the vehicle's maneuverability and off-road performance. Furthermore, airbag-type leveling devices require time to inflate and deflate, resulting in poor responsiveness. Summary of the Invention

[0003] The present invention aims to solve, at least to some extent, one of the technical problems in the related art. To this end, one object of the present invention is to provide a vehicle control method having the advantages of fast leveling speed, low cost, good platform scalability, high engineering application, and low matching engineering workload.

[0004] A second object of the present invention is to provide a computer-readable storage medium.

[0005] The third object of the present invention is to provide a controller.

[0006] A fourth object of the present invention is to provide a vehicle.

[0007] To achieve the above objectives, a first embodiment of the present invention provides a vehicle control method, which includes: when it is determined that the vehicle is in a floating state, controlling the movement of a load module in the vehicle to adjust the vehicle from a first posture to a second posture.

[0008] According to the vehicle control method of the embodiment of the present invention, when it is determined that the vehicle is in a floating state, the center of gravity of the entire vehicle is adjusted by controlling the movement of the load module in the vehicle to achieve control of the vehicle's floating posture. This method has the advantages of fast leveling speed, low cost, good platform scalability, high engineering application, and low matching engineering workload.

[0009] In addition, the vehicle control method proposed in the above embodiment of the present invention may also have the following additional technical features:

[0010] According to one embodiment of the present invention, controlling the movement of the load module in the vehicle so as to adjust the vehicle from a first posture to a second posture includes: determining a target displacement according to the first posture and the second posture; and adjusting the load module according to the target displacement.

[0011] According to one embodiment of the present invention, the first posture includes an actual pitch angle and / or an actual roll angle, the second posture includes a target pitch angle and / or a target roll angle, and determining the target displacement based on the first posture and the second posture of the vehicle includes: determining the target displacement based on the actual pitch angle and the target pitch angle, and / or, based on the actual roll angle and the target roll angle.

[0012] According to one embodiment of the present invention, determining the target displacement based on the actual pitch angle and the target pitch angle includes: if the difference between the actual pitch angle and the target pitch angle is positive, determining the direction of the target displacement to be the rear direction of the vehicle; if the difference between the actual pitch angle and the target pitch angle is negative, determining the direction of the target displacement to be the front direction of the vehicle.

[0013] According to one embodiment of the present invention, determining the target displacement based on the actual pitch angle and the target pitch angle includes: determining the longitudinal size of the target displacement based on the difference between the actual pitch angle and the target pitch angle, and the weight and center of gravity of the payload module.

[0014] According to one embodiment of the present invention, determining the target displacement based on the actual roll angle and the target roll angle includes: if the difference between the actual roll angle and the target roll angle is positive, determining the direction of the target displacement to be the right side of the vehicle; if the difference between the actual pitch angle and the target pitch angle is negative, determining the direction of the target displacement to be the left side of the vehicle.

[0015] According to one embodiment of the present invention, determining the target displacement based on the actual roll angle and the target roll angle includes: determining the lateral size of the target displacement based on the difference between the actual roll angle and the target roll angle, and the weight and center of gravity of the load module.

[0016] According to one embodiment of the present invention, the payload module is installed inside the vehicle via a rail system.

[0017] According to one embodiment of the present invention, the load module includes at least one of a luggage compartment cargo rack, a battery pack, a fuel tank, a driver's seat, and a non-driver's seat.

[0018] According to one embodiment of the present invention, the adjustment priority of each load module is: the priority of the luggage compartment cargo rack is higher than the priority of the battery pack, the priority of the battery pack is equal to the priority of the fuel tank, the priority of the fuel tank is higher than the priority of the non-driver's seat, and the priority of the non-driver's seat is higher than the priority of the driver's seat.

[0019] According to an embodiment of the present invention, the method further comprises: when adjusting the driver's seat, adjusting a steering system of the vehicle according to a target displacement of the driver's seat.

[0020] According to one embodiment of the present invention, before adjusting the steering system of the vehicle, the method further includes: determining the direction of the target displacement of the driver's seat, and the direction of the target displacement of the driver's seat is one of the rear direction of the vehicle, the right side of the vehicle, and the left side of the vehicle.

[0021] According to one embodiment of the present invention, the method includes: when it is determined that the vehicle is in a floating state, controlling the steering system and / or drive system of the vehicle in response to driving instructions collected by the steering wheel and its accessories in the vehicle, wherein the driving instructions include at least one of steering, acceleration and braking.

[0022] According to one embodiment of the present invention, the method further includes: when it is determined that the vehicle is in a floating state, displaying the vehicle's external surround view image on a display screen in the vehicle in real time according to the first posture of the vehicle, and / or providing real-time voice prompts of the external environment in which the vehicle is located.

[0023] According to one embodiment of the present invention, before controlling the movement of the payload module in the vehicle, the method further comprises: determining that both a leveling system and a steering system of the vehicle are free of faults, wherein the leveling system is used to drive the movement of the payload module in the vehicle.

[0024] According to one embodiment of the present invention, the step of determining that the vehicle is in a floating state includes: determining that the vehicle is in a floating state based on one or a combination of the road surface type of the vehicle, the wading depth of the vehicle, and the actual suspension height of the vehicle.

[0025] According to one embodiment of the present invention, the step of determining that the vehicle is in a floating state includes: when the vehicle speed is less than a speed threshold, the road surface satisfies the road surface type of a wading section, and the wading depth exceeds a target depth threshold, determining that the vehicle is in a floating state.

[0026] According to one embodiment of the present invention, the step of determining that the vehicle is in a floating state includes: when the vehicle speed is less than a vehicle speed threshold and at least two of the actual suspension heights of the four suspensions of the vehicle exceed a target height threshold, determining that the vehicle is in a floating state.

[0027] To achieve the above objectives, the second embodiment of the present invention proposes a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it implements the vehicle control method proposed in the first embodiment of the present invention.

[0028] To achieve the above-mentioned purpose, the third embodiment of the present invention proposes a controller, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the vehicle control method proposed in the first embodiment of the present invention is implemented.

[0029] To achieve the above-mentioned objectives, a fourth embodiment of the present invention provides a vehicle, comprising a controller as provided in the third embodiment of the present invention.

[0030] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0032] Figure 2 is a flow chart of adjusting a vehicle from a first posture to a second posture according to an embodiment of the present invention;

[0033] Figure 3 is a flow chart of determining target displacement according to one embodiment of the present invention;

[0034] Figure 4 is a schematic diagram of a vehicle leaning forward according to an embodiment of the present invention;

[0035] Figure 5 is a flow chart of determining the longitudinal size of a target displacement according to one embodiment of the present invention;

[0036] Figure 6 is a flow chart of determining the lateral magnitude of target displacement according to one embodiment of the present invention;

[0037] Figure 7 This is a vehicle control method flow chart of a specific embodiment of the present invention. Figure 1 ;

[0038] Figure 8 This is a vehicle control method flow chart of a specific embodiment of the present invention. Figure 2 ;

[0039] Figure 9 This is a vehicle control method flow chart of a specific embodiment of the present invention. Figure 3 ;

[0040] Figure 10 is a flow chart for determining whether a vehicle is in a floating state according to an embodiment of the present invention;

[0041] Figure 11is a block diagram of a vehicle control structure according to an embodiment of the present invention;

[0042] Figure 12 This is a vehicle control method flow chart of a specific embodiment of the present invention. Figure 4 ;

[0043] Figure 13 is a structural block diagram of a controller according to an embodiment of the present invention;

[0044] Figure 14 is a schematic diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0046] It should be noted that when a vehicle is attempting to float, the buoyancy of the cabin is less than that of the passenger compartment, and the vehicle is tilted forward. This poses the following hazards: During large surges or turns, water can easily overflow into the passenger compartment through the front windows; the high water resistance hinders the vehicle's ability to increase its speed during emergency floating, and acceleration can cause the vehicle to tilt forward even more severely; and the water surface is more likely to splash onto the windshield, obstructing the driver's field of view. All of these factors can hinder the vehicle and driver from escaping danger more quickly.

[0047] To expedite the escape of a vehicle and its driver from a dangerous situation, embodiments of the present invention provide a vehicle control method, a computer-readable storage medium, a controller, and a vehicle. The vehicle control method, computer-readable storage medium, controller, and vehicle according to embodiments of the present invention are described in detail below in conjunction with the accompanying drawings and specific implementations.

[0048] Figure 1 FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 1 As shown, the vehicle control method may include:

[0049] S101: When it is determined that the vehicle is in a floating state, control the load module in the vehicle to move so that the vehicle is adjusted from a first posture to a second posture.

[0050] The load module in the embodiment of the present invention is an accessory in the vehicle when the vehicle leaves the factory.

[0051] In the embodiment of the present invention, the accessories (load module) in the vehicle when it leaves the factory are used as counterweights. When the vehicle is in a floating state, the vehicle's floating posture is controlled by controlling the movement of the load module, without the need for an additional leveling mechanism.

[0052] Specifically, the domain controller is used to determine whether the vehicle is in a floating state. When the vehicle is in a floating state, the horizontal level of the entire vehicle (xy is a plane) is used as the control target. According to the first posture of the vehicle, the load module in the vehicle is controlled to move a certain distance longitudinally (x) or laterally (y) to adjust the center of gravity of the vehicle, thereby realizing the control of the vehicle's floating posture and adjusting the vehicle from the first posture to the second posture.

[0053] It should be noted that, in the embodiment of the present invention, the difference between the second posture and the leveling posture is smaller than the difference between the first posture and the leveling posture, that is, adjusting the vehicle from the first posture to the second posture can make the vehicle closer to the leveling posture.

[0054] It should be noted that before and during leveling control of the vehicle, the sealing of the vehicle passenger compartment must be ensured.

[0055] The vehicle control method of the embodiment of the present invention, when determining that the vehicle is in a floating state, controls the movement of the load module in the vehicle to adjust the center of gravity of the entire vehicle, thereby achieving control of the vehicle's floating posture. It has the advantages of fast leveling speed, low cost, good platform scalability, high engineering application, and low matching engineering workload.

[0056] In one embodiment of the present invention, the payload module may be mounted inside the vehicle via a rail system.

[0057] In the embodiment of the present invention, the load module, i.e., the vehicle accessory, is installed inside the vehicle via a slide rail system when the vehicle leaves the factory. Thus, in the event of a flood emergency, the movement of the load module can be controlled by controlling the slide rail system.

[0058] In one embodiment of the present invention, the load module may include at least one of a luggage compartment cargo rack, a battery pack, a fuel tank, a driver's seat, and a non-driver's seat.

[0059] Specifically, when setting up a slide rail system for the payload module, a separate slide rail system can be set up for each payload module. For example, a separate slide rail system can be set up for the luggage compartment cargo rack, battery pack, fuel tank, seat, etc., and the luggage compartment cargo rack, battery pack, fuel tank, seat, etc. can be individually controlled to achieve longitudinal and lateral movement of the luggage compartment cargo rack, battery pack, fuel tank, passenger compartment seat, etc.

[0060] It should be noted that, in the embodiment of the present invention, when the vehicle is arranged, the clearances between the load module and the surrounding components in the x / y directions are taken into consideration for floating and leveling requirements. In special scenarios such as floating, these clearances can be fully utilized. At the same time, the length design of the relevant connectors takes into consideration margins, and the rigidity is designed with flexibility in mind.

[0061] After the floating scene ends, the embodiment of the present invention can restore each load module to its initial state by controlling the slide rail system.

[0062] In one embodiment of the present invention, Figure 2 As shown, controlling the movement of a load module in a vehicle to adjust the vehicle from a first posture to a second posture may include:

[0063] S201, determining a target displacement according to a first posture and a second posture;

[0064] S202: Adjust the load module according to the target displacement.

[0065] Practically, an inertial measurement unit (IMU) in the vehicle is used to collect the first posture of the vehicle.

[0066] When leveling a vehicle, embodiments of the present invention employ closed-loop control, controlling the vehicle's first and second postures to achieve vehicle leveling. Specifically, a domain controller acquires the vehicle's first posture, as measured by an inertial measurement unit (IMU). Based on the first and second postures, the domain controller determines the target displacement of a payload module within the vehicle. Based on the target displacement, the domain controller controls the payload module's slide rail system to adjust the module's displacement, thereby controlling the vehicle's center of gravity in the water and adjusting the vehicle from the first to the second posture.

[0067] In one embodiment of the present invention, Figure 3 As shown, the first posture includes an actual pitch angle and / or an actual roll angle, and the second posture includes a target pitch angle and / or a target roll angle. Determining a target displacement based on the first posture and the second posture of the vehicle may include:

[0068] S301 : Determine a target displacement according to an actual pitch angle and a target pitch angle, and / or according to an actual roll angle and a target roll angle.

[0069] The embodiment of the present invention takes the level of the entire vehicle (xy plane) as the control target, the deviation between the actual pitch angle and actual roll angle of the vehicle and the target level of the entire vehicle as the control object, and the movement of each load module of the entire vehicle as the control means to achieve leveling of the vehicle posture.

[0070] Specifically, the longitudinal displacement and longitudinal movement direction of the load module are determined according to the actual pitch angle and target pitch angle of the vehicle, and the lateral displacement and lateral movement direction of the load module are determined according to the actual roll angle and target roll angle of the vehicle.

[0071] In one embodiment of the present invention, a target displacement is determined based on an actual pitch angle and a target pitch angle, including: if the difference between the actual pitch angle and the target pitch angle is positive, determining the direction of the target displacement to be the rear direction of the vehicle; if the difference between the actual pitch angle and the target pitch angle is negative, determining the direction of the target displacement to be the front direction of the vehicle.

[0072] Specifically, if the difference between the actual pitch angle and the target pitch angle is positive, it means that the vehicle is leaning forward, see Figure 4 As shown, the load module needs to be controlled to move toward the rear of the vehicle. Therefore, when the difference between the actual pitch angle and the target pitch angle is positive, the target displacement direction of the target load can be determined to be toward the rear of the vehicle.

[0073] Specifically, if the difference between the actual pitch angle and the target pitch angle is negative, it indicates that the vehicle is tilting backward. In this case, the load module needs to be controlled to move toward the front of the vehicle. Therefore, when the difference between the actual pitch angle and the target pitch angle is negative, the target displacement direction of the target load can be determined to be toward the front of the vehicle.

[0074] In one embodiment of the present invention, Figure 5 As shown, determining the target displacement according to the actual pitch angle and the target pitch angle may include:

[0075] S401 , determining the longitudinal magnitude of the target displacement according to the difference between the actual pitch angle and the target pitch angle, and the weight and center of gravity of the payload module.

[0076] Due to the different weights of the luggage placed on the luggage compartment cargo rack, the different amounts of fuel remaining in the fuel tank, and the different weights of the passengers on the seats, moving and adjusting the luggage compartment cargo rack, fuel tank, seats, etc. will have different effects on the vehicle's floating center of gravity.

[0077] In order to make the adjustment of each payload module more precise, the longitudinal size of the target displacement of the payload module is determined according to the absolute value of the difference between the actual pitch angle and the target pitch angle, as well as the weight and center of gravity of the payload module.

[0078] In embodiments of the present invention, sensors installed on the load module are used to obtain the weight and center of gravity of the load module. For example, the weight and center of gravity of the fuel tank can be obtained using a capacity sensor and a displacement sensor installed on the fuel tank. The weight and center of gravity of the occupant can be obtained using a load sensor and a displacement sensor installed on the seat. The weight and center of gravity of the battery pack can be obtained using a load sensor and a displacement sensor installed on the battery pack. The weight and center of gravity of the cargo rack in the luggage compartment can be obtained using a load sensor and a displacement sensor installed on the cargo rack in the luggage compartment.

[0079] After determining the target displacement direction and longitudinal size of the payload module, the embodiment of the present invention can use the domain controller to control the slide rail system to move the payload module in the target displacement direction (toward the rear or front of the vehicle) by the corresponding longitudinal size.

[0080] In one embodiment of the present invention, a target displacement is determined based on the actual roll angle and the target roll angle, including: if the difference between the actual roll angle and the target roll angle is positive, determining the direction of the target displacement to be the right side of the vehicle; if the difference between the actual pitch angle and the target pitch angle is negative, determining the direction of the target displacement to be the left side of the vehicle.

[0081] Specifically, if the difference between the actual roll angle and the target roll angle is positive, it indicates the vehicle is leaning to the left. In this case, the load module needs to be controlled to move toward the right side of the vehicle. Therefore, when the difference between the actual roll angle and the target roll angle is positive, the target load displacement direction can be determined to be toward the right side of the vehicle.

[0082] Specifically, if the difference between the actual pitch angle and the target pitch angle is negative, it indicates that the vehicle is leaning to the right. In this case, the load module needs to be controlled to move to the left side of the vehicle. Therefore, when the difference between the actual pitch angle and the target pitch angle is negative, the target load displacement direction can be determined to be to the left side of the vehicle.

[0083] In one embodiment of the present invention, Figure 6 As shown, according to the actual roll angle and the target roll angle, the target displacement is determined, including:

[0084] S501 : Determine the lateral magnitude of the target displacement according to the difference between the actual roll angle and the target roll angle, as well as the weight and center of gravity of the payload module.

[0085] Specifically, the lateral magnitude of the target displacement of the payload module is determined according to the absolute value of the difference between the actual roll angle and the target roll angle, as well as the weight and center of gravity of the payload module.

[0086] After determining the target displacement direction and lateral size of the payload module, the embodiment of the present invention can use the domain controller to control the slide rail system to move the payload module in the target displacement direction (to the right or left side of the vehicle) by the corresponding lateral size.

[0087] In the embodiment of the present invention, the domain controller calculates the angular difference between the current actual pitch angle and actual roll angle and the target level in real time, and converts the angular difference and the weight and center of gravity of each payload module into the target displacement of each payload module.

[0088] In one embodiment of the present invention, the adjustment priority of each load module is: the priority of the luggage compartment cargo rack is higher than the priority of the battery pack, the priority of the battery pack is equal to the priority of the fuel tank, the priority of the fuel tank is higher than the priority of the non-driver's seat, and the priority of the non-driver's seat is higher than the priority of the driver's seat.

[0089] In one feasible embodiment, when controlling the movement of each payload module, the movement of the corresponding payload modules can be adjusted sequentially based on their adjustment priority. For example, when it is determined that the vehicle is floating, the luggage compartment cargo rack can be controlled to move first. If the luggage compartment cargo rack moves to its corresponding maximum (longitudinal or lateral) displacement and the vehicle still does not level, the battery pack, fuel tank, and non-driver seat can be adjusted sequentially.

[0090] In one feasible embodiment, when controlling the movement of each payload module, multiple payload modules can be moved simultaneously based on their adjustment priority, and the weight of the movement size of payload modules with lower priorities can be reduced. For example, when determining that the vehicle is in a floating state, the movement weight of the luggage compartment cargo rack is higher than the movement weight of the battery pack and fuel tank, the movement weight of the battery pack and fuel tank is higher than the movement distance of the non-driver's seat, and the movement weight of the non-driver's seat is higher than the movement weight of the driver's seat. That is, the movement distance of the luggage compartment cargo rack is greater than the movement distance of the battery pack and fuel tank, the movement distance of the battery pack and fuel tank is greater than the movement distance of the non-driver's seat, and the movement distance of the non-driver's seat is greater than the movement distance of the driver's seat.

[0091] The purpose of the driver's seat moving last or moving the shortest distance in the embodiment of the present invention is to enable the driver to touch the steering wheel to control the vehicle.

[0092] It should be noted that the embodiment of the present invention does not impose any specific restrictions on the movement mode of each payload module, and the movement mode can be adjusted according to actual needs.

[0093] In one embodiment of the present invention, Figure 7 As shown, the vehicle control method may further include:

[0094] S601: When adjusting the driver's seat, adjust the vehicle's steering system according to the target displacement of the driver's seat.

[0095] Specifically, when the domain controller adjusts the driver's seat, it can control the steering wheel column (steering system) to move toward the main driver according to the specific movement direction and distance of the driver's seat, so that the main driver can touch the steering wheel and its accessories to control the vehicle's steering, acceleration, braking, etc., avoiding operational defects caused by the movement of the driver's seat and the main driver being away from the accelerator and brake pedals.

[0096] In one embodiment of the present invention, before adjusting the steering system of the vehicle, the vehicle control method further includes:

[0097] The target displacement direction of the driver's seat is determined, where the target displacement direction of the driver's seat is one of a rear direction of the vehicle, a right side of the vehicle, and a left side of the vehicle.

[0098] Specifically, when the domain controller adjusts the driver's seat, to prevent the steering wheel from squeezing the driver when the driver's seat moves toward the front of the vehicle, the driver's seat is not adjusted when the target displacement is toward the front of the vehicle, and the vehicle's steering system (steering column) is not adjusted, allowing the vehicle's steering system to remain in its original state. When the target displacement is toward the rear, right, or left of the vehicle, the driver's seat is controlled to move toward the rear, right, or left of the vehicle, and the vehicle's steering system is simultaneously adjusted in the same direction.

[0099] The steering wheel system in the embodiment of the present invention can not only respond to the target column movement direction and movement size sent by the domain controller, but also collect the driver's input of steering, acceleration and braking intentions.

[0100] In one embodiment of the present invention, Figure 8 As shown, the vehicle control method may include:

[0101] S701, when it is determined that the vehicle is in a floating state, controlling the steering system and / or drive system of the vehicle in response to driving instructions collected by the steering wheel and its accessories in the vehicle, wherein the driving instructions include at least one of steering, acceleration and braking.

[0102] Specifically, the driver can steer using the steering wheel and accelerate and brake using steering wheel accessories such as levers and buttons. The domain controller controls the vehicle's steering system and / or drive system based on driving commands collected by the vehicle's steering wheel and its accessories.

[0103] Among them, when controlling the drive system, the domain controller can send the target speed or torque to the microcontroller unit (MCU), and the MCU responds to the target speed or torque sent by the domain controller to achieve control of vehicle acceleration and braking.

[0104] In one embodiment of the present invention, Figure 9 As shown, the vehicle control method may further include:

[0105] S801, when it is determined that the vehicle is in a floating state, displaying the vehicle's surrounding view image on a display screen in the vehicle in real time according to the vehicle's first posture, and / or providing a voice prompt of the vehicle's external environment in real time.

[0106] Where feasible, visual sensors can be used to capture visual signatures of the vehicle wading through water. The intelligent cabin system can display real-time images of the vehicle's surroundings via an onboard portable Android device (PAD) or head-up display (HUD), minimizing perception impairments caused by the driver's seat moving away from the front windshield.

[0107] It is feasible to use the smart cabin system to provide voice prompts of the vehicle's external environment. By providing voice prompts to the user about the vehicle's external environment, it can avoid the perception defects caused by the main driver's seat moving away from the front gear.

[0108] The smart cabin system in the embodiment of the present invention can also convert the visual features of the vehicle floating in the water collected by the visual sensor into a domain control floating control perception signal, so that the domain controller can control the vehicle floating in the water based on the perception signal and output the control signal to the execution component of the vehicle floating in the water.

[0109] In one embodiment of the present invention, before controlling the movement of the load module in the vehicle, the vehicle control method further includes:

[0110] Verify that the vehicle's leveling system, which drives the movement of the payload module in the vehicle, and the vehicle's steering system are both functioning properly.

[0111] Specifically, before controlling the movement of the vehicle's payload module, the vehicle's leveling and steering systems are checked for faults. If both systems are functioning correctly, the payload module is controlled to move according to the target displacement. If the vehicle's leveling and / or steering systems are faulty, a warning is issued indicating a fault, allowing the driver to adjust their escape strategy promptly.

[0112] In one embodiment of the present invention, Figure 10 As shown, the step of determining that the vehicle is in a floating state may include:

[0113] S901 : Determine whether the vehicle is in a floating state based on one or a combination of a road surface type of the vehicle, a wading depth of the vehicle, and an actual suspension height of the vehicle.

[0114] Alternatively, mapping software may be used to determine the type of road surface the vehicle is on, such as whether it is a flooded section. A water level sensor installed on the vehicle may be used to detect the vehicle's wading depth. The active suspension may be used to sense the height of the four-wheel suspension. The determination that the vehicle is floating is made based on one or a combination of the type of road surface the vehicle is on, the wading depth of the vehicle, and the actual suspension height of the vehicle.

[0115] In one embodiment of the present invention, the step of determining whether the vehicle is in a floating state may include: when the vehicle speed is less than a speed threshold, the road surface meets the road surface type of a wading section, and the wading depth exceeds a target depth threshold, determining that the vehicle is in a floating state.

[0116] It is feasible to use the Global Navigation Satellite System (GNSS) to sense the actual speed of the vehicle.

[0117] Specifically, when the vehicle speed is less than a speed threshold, the road surface meets the road surface type of a wading section, and the wading depth exceeds a target depth threshold, it can be determined that the vehicle is in a floating state.

[0118] In one embodiment of the present invention, the step of determining that the vehicle is in a floating state includes: determining that the vehicle is in a floating state when the vehicle speed is less than a vehicle speed threshold and at least two of the actual suspension heights of the four suspensions of the vehicle exceed a target height threshold.

[0119] Specifically, when the vehicle speed is less than a vehicle speed threshold and at least two of the actual suspension heights of the four suspensions of the vehicle exceed a target height threshold, it is determined that the vehicle is in a floating state.

[0120] It should be noted that the vehicle floating state may be determined in other ways, and the embodiment of the present invention does not limit the method for determining the vehicle floating state.

[0121] As a specific embodiment, Figure 11 As shown in the figure, the domain controller is used to communicate with various sensors (IMU, weight sensor, water level sensor, visual sensor, etc.), control system (GNSS, active suspension, steering system, vehicle slide system, smart cabin system), and control unit (MCU) to realize the control of the vehicle's floating posture.

[0122] The vehicle control method according to the embodiment of the present invention is described in the following specific embodiment:

[0123] like Figure 12As shown, the road surface type of the road surface on which the vehicle is located, the wading depth of the vehicle and the actual suspension height of the vehicle are obtained in real time to determine whether the vehicle is in a floating state. If it is determined that the vehicle is not in a floating state, the acquisition and judgment of the above information are continued. If it is determined that the vehicle is in a floating state, the leveling system and steering system of the vehicle are detected to see if there are no faults. If there are faults in the leveling system and / or steering system of the vehicle, a fault prompt of the leveling system and / or steering system is given so that the driver can adjust the escape strategy in time. If there are no faults in the leveling system and steering system of the vehicle, it is determined whether the first posture of the vehicle is consistent with the target posture. When the first posture is inconsistent with the target posture, the load module in the vehicle is controlled according to the above control method until the first posture of the vehicle is adjusted to the target posture.

[0124] The vehicle control method in the embodiment of the present invention solves the problems that related leveling solutions require additional large mechanisms or accessories, have slow leveling speeds, require pre-matching control targets for different vehicle models, and have low engineering application.

[0125] The present invention provides a computer-readable storage medium.

[0126] In this embodiment, a computer program is stored on a computer-readable storage medium. When the computer program is executed by a processor, the vehicle control method described above is implemented.

[0127] The invention provides a controller.

[0128] In this embodiment, the controller may include a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the vehicle control method as described above is implemented.

[0129] Figure 13 4 is a structural block diagram of a controller according to an embodiment of the present invention.

[0130] like Figure 13 As shown, controller 500 includes a processor 501 and a memory 503. Processor 501 and memory 503 are connected, for example, via a bus 502. Optionally, controller 500 may further include a transceiver 504. It should be noted that in practical applications, the number of transceivers 504 is not limited to one, and the structure of controller 500 does not constitute a limitation on the embodiments of the present invention.

[0131] The processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the present disclosure. The processor 501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0132] The bus 502 may include a path for transmitting information between the above components. The bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 502 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 13 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0133] The memory 503 is used to store a computer program corresponding to the vehicle control method of the above embodiment of the present invention, and the computer program is controlled and executed by the processor 501. The processor 501 is used to execute the computer program stored in the memory 503 to implement the content shown in the above method embodiment.

[0134] Among them, the controller 500 includes but is not limited to: mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 13 The controller 500 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0135] The present invention provides a vehicle.

[0136] Figure 14 FIG is a schematic diagram of a vehicle according to an embodiment of the present invention. Figure 14 As shown, vehicle 1000 may include controller 500 as described above.

[0137] The computer-readable storage medium, controller, and vehicle of the embodiments of the present invention, based on the above-mentioned vehicle control method, control the vehicle when the vehicle is in a floating state, and have the advantages of fast leveling speed, low cost, good platform scalability, high engineering application, and low matching engineering workload.

[0138] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, apparatus, or device, or in conjunction with such instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0139] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0140] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0141] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0142] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0143] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0144] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0145] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A vehicle control method, characterized in that: The method comprises: When it is determined that the vehicle is in a floating state, a load module in the vehicle is controlled to move so that the vehicle is adjusted from a first posture to a second posture.

2. The vehicle control method according to claim 1, characterized in that: The controlling the movement of the load module in the vehicle so as to adjust the vehicle from a first posture to a second posture comprises: determining a target displacement according to the first posture and the second posture; The load module is adjusted according to the target displacement.

3. The vehicle control method according to claim 2, characterized in that: The first posture includes an actual pitch angle and / or an actual roll angle, the second posture includes a target pitch angle and / or a target roll angle, and determining a target displacement based on the first posture and the second posture of the vehicle includes: The target displacement is determined according to the actual pitch angle and the target pitch angle, and / or according to the actual roll angle and the target roll angle.

4. The vehicle control method according to claim 3, characterized in that: Determining the target displacement according to the actual pitch angle and the target pitch angle includes: If the difference between the actual pitch angle and the target pitch angle is positive, determining that the direction of the target displacement is the vehicle rear direction; If the difference between the actual pitch angle and the target pitch angle is negative, the direction of the target displacement is determined to be the vehicle head direction.

5. The vehicle control method according to claim 3, characterized in that: Determining the target displacement according to the actual pitch angle and the target pitch angle includes: The longitudinal magnitude of the target displacement is determined according to the difference between the actual pitch angle and the target pitch angle, and the weight and center of gravity of the payload module.

6. The vehicle control method according to claim 3, characterized in that: The determining the target displacement according to the actual roll angle and the target roll angle includes: If the difference between the actual roll angle and the target roll angle is positive, determining that the direction of the target displacement is the right side of the vehicle; If the difference between the actual pitch angle and the target pitch angle is negative, the direction of the target displacement is determined to be the left side of the vehicle.

7. The vehicle control method according to claim 3, characterized in that: The determining the target displacement according to the actual roll angle and the target roll angle includes: The lateral magnitude of the target displacement is determined according to the difference between the actual roll angle and the target roll angle, and the weight and center of gravity of the load module.

8. The vehicle control method according to claim 1, characterized in that: The load module is installed inside the vehicle via a slide rail system.

9. The vehicle control method according to claim 8, characterized in that: The load module includes at least one of a luggage compartment cargo rack, a battery pack, a fuel tank, a driver's seat, and a non-driver's seat.

10. The vehicle control method according to claim 9, characterized in that: The adjustment priority of each load module is: the priority of the luggage compartment cargo rack is higher than the priority of the battery pack, the priority of the battery pack is equal to the priority of the fuel tank, the priority of the fuel tank is higher than the priority of the non-driver's seat, and the priority of the non-driver's seat is higher than the priority of the driver's seat.

11. The vehicle control method according to claim 9, characterized in that: The method further comprises: When the driver's seat is adjusted, the steering system of the vehicle is adjusted according to the target displacement of the driver's seat.

12. The vehicle control method according to claim 11, characterized in that: Before adjusting the steering system of the vehicle, the method further includes: The target displacement direction of the driver's seat is determined, where the target displacement direction of the driver's seat is one of a rear direction of the vehicle, a right side of the vehicle, and a left side of the vehicle.

13. The vehicle control method according to claim 1, characterized in that: The method comprises: When it is determined that the vehicle is in a floating state, the steering system and / or drive system of the vehicle is controlled in response to driving instructions collected by the steering wheel and its accessories in the vehicle, wherein the driving instructions include at least one of steering, acceleration and braking.

14. The vehicle control method according to claim 1, characterized in that: The method further comprises: When it is determined that the vehicle is in a floating state, an external surround view image of the vehicle is displayed on a display screen in the vehicle in real time according to the first posture of the vehicle, and / or a voice prompt of the external environment of the vehicle is given in real time.

15. The vehicle control method according to claim 1, characterized in that: Before controlling the movement of the load module in the vehicle, the method further includes: It is determined that both a leveling system and a steering system of the vehicle are normal, wherein the leveling system is used to drive a load module in the vehicle to move.

16. The vehicle control method according to claim 1, characterized in that: The step of determining that the vehicle is in a floating state comprises: It is determined that the vehicle is in a floating state according to one or a combination of a road surface type of the vehicle, a wading depth of the vehicle, and an actual suspension height of the vehicle.

17. The vehicle control method according to claim 16, characterized in that: The step of determining that the vehicle is in a floating state comprises: When the vehicle speed is less than a speed threshold, the road surface meets the road surface type requirement of a wading section, and the wading depth exceeds a target depth threshold, it is determined that the vehicle is in a floating state.

18. The vehicle control method according to claim 16, characterized in that: The step of determining that the vehicle is in a floating state comprises: When the vehicle speed is less than a vehicle speed threshold and at least two of the actual suspension heights of the four suspensions of the vehicle exceed a target height threshold, it is determined that the vehicle is in a floating state.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 18 is implemented.

20. A controller comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the computer program is executed by the processor, the vehicle control method according to any one of claims 1 to 18 is implemented.

21. A vehicle, characterized in that: Comprising a controller as claimed in claim 20.

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