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

Abstract

The application discloses a vehicle control method, a vehicle control device, a vehicle and a storage medium. The vehicle control method comprises the following steps: acquiring a current water-approaching position of a front vehicle; determining an estimated water-approaching position of the vehicle according to the current water-approaching position; and generating water-approaching warning information when it is determined that the estimated water-approaching position is higher than or equal to a preset water-approaching position of the vehicle. The method can predict the water-approaching state of the vehicle according to the current water-approaching position of the front vehicle, so that the electronic elements of the vehicle can be prevented from being soaked in water and malfunctioning when the vehicle drives to a water depth that exceeds the preset water-approaching position of the vehicle, and the safety risk in the vehicle driving process is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicles, and particularly relates to a vehicle control method, a vehicle control device, a vehicle, and a storage medium. BACKGROUND

[0002] With the continuous development of the automobile industry and cities, automobiles have become the main means of transportation in cities. Automobiles often encounter waterlogged road conditions during driving. In certain situations, automobiles need to pass through deep water flows to reach the destination, and sometimes need to drive in heavy rain. All of the above situations require automobile wading driving. With the continuous development of automobile technology, people have higher requirements for the safety of automobile wading driving.

[0003] Currently, during the driving of an automobile, the automobile cannot previously explore the water depth in the driving direction. However, when the automobile drives to a road surface with a water depth exceeding a preset wading depth of the automobile, the electronic elements of the automobile are soaked in water and malfunction, resulting in an increase in safety hazards during the driving of the automobile. SUMMARY

[0004] Therefore, the embodiments of the present application provide a vehicle control method, a vehicle control device, a vehicle, and a storage medium to overcome or at least partially solve the problems of the prior art.

[0005] In a first aspect, the embodiments of the present application provide a vehicle control method, including: obtaining a current wading position of a front vehicle; determining an estimated wading position of a vehicle according to the current wading position; and generating wading warning information when it is determined that the estimated wading position is higher than or equal to a preset wading position of the vehicle.

[0006] In a second aspect, the embodiments of the present application provide a vehicle control device, including a position obtaining module, a position determining module, and a generating module. The position obtaining module is configured to obtain a current wading position of a front vehicle. The position determining module is configured to determine an estimated wading position of a vehicle according to the current wading position. The generating module is configured to generate wading warning information when it is determined that the estimated wading position is higher than or equal to a preset wading position of the vehicle.

[0007] In a third aspect, the embodiments of the present application provide a vehicle, including a memory, one or more processors coupled to the memory, and one or more application programs. The one or more application programs are stored in the memory and configured to be executed by the one or more processors. The one or more application programs are configured to execute the vehicle control method provided in the first aspect.

[0008] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores program codes. The program codes can be invoked by a processor to execute the vehicle control method provided in the first aspect.

[0009] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the vehicle control method provided in the first aspect.

[0010] The scheme provided in the present application can obtain the current water crossing position of the preceding vehicle, determine the estimated water crossing position of the vehicle according to the current water crossing position, and generate the water crossing warning information when it is determined that the estimated water crossing position is higher than or equal to the preset water crossing position of the vehicle. Thus, the water crossing state of the vehicle can be predicted according to the current water crossing position of the preceding vehicle, and the electronic components of the vehicle can be prevented from being soaked in water and malfunctioning when the vehicle drives to a water depth exceeding the preset water crossing position of the vehicle. Thus, the safety hazard in the vehicle driving process is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0012] Figure 1 A scene schematic diagram of the vehicle control system provided in an embodiment of the present application is shown.

[0013] Figure 2 A flowchart of the vehicle control method provided in an embodiment of the present application is shown.

[0014] Figure 3 Another flowchart of the vehicle control method provided in an embodiment of the present application is shown.

[0015] Figure 4 Still another flowchart of the vehicle control method provided in an embodiment of the present application is shown.

[0016] Figure 5 A structural block diagram of the vehicle control device provided in an embodiment of the present application is shown.

[0017] Figure 6 A functional block diagram of the vehicle provided in an embodiment of the present application is shown.

[0018] Figure 7The computer readable storage medium for storing or carrying program codes for implementing the vehicle control method according to the embodiments of the present application is shown. DETAILED DESCRIPTION

[0019] To make the objectives, characteristics and advantages of the present application more apparent and easy to understand, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the embodiments described below are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present application.

[0020] It should be understood that, when used in the specification and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0021] It should also be understood that the terms used in the present application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, unless otherwise clearly indicated by the context, the singular forms "a", "an" and "the" are intended to include the plural forms as well.

[0022] It should be further understood that the term "and / or" used in the present application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0023] As used in the present application specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be interpreted as meaning "upon determining" or "in response to determining" or "upon detecting [a described condition or event]" or "in response to detecting [a described condition or event]", depending on the context.

[0024] In addition, in the description of the present application, the terms "first", "second", "third", etc. are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0025] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0026] Please refer to Figure 1Fig. 1 shows a schematic diagram of an application scenario of a vehicle control system according to an embodiment of the present application, which can include a vehicle 100 and a front vehicle 200. The vehicle 100 can be configured to collect an environment image of an environment in which the front vehicle 200 is located, and control the vehicle 100 according to the collected environment image.

[0027] The vehicle 100 can include a vehicle frame 110, a vehicle control unit (VCU) 120, and a visual sensor 130. The VCU 120 and the visual sensor 130 are installed on the vehicle frame 110, and the vehicle frame 110 can provide mounting support for the VCU 120 and the visual sensor 130.

[0028] The VCU 120 can be a core control component of the entire vehicle 100, which is equivalent to the brain of the vehicle 100. The VCU 120 can be configured to collect signals (e.g., an accelerator pedal signal, a brake pedal signal, and other component signals) and control corresponding components according to the collected signals. As a command and management center of the vehicle 100, the main functions of the VCU 120 can include driving torque control, optimized control of braking energy, energy management of the entire vehicle, maintenance and management of a controller area network (CAN), diagnosis and processing of faults, vehicle state monitoring, and the like. Therefore, the performance of the VCU 120 directly determines the stability and safety of the vehicle 100.

[0029] In some embodiments, the VCU 120 can be in communication connection with the visual sensor 130. The VCU 120 can be configured to control the visual sensor 130 to collect an environment image of an environment in which the front vehicle 200 is located, and determine whether the front vehicle 200 is in a wading state according to the environment image collected by the visual sensor 130, and control the vehicle 100 when it is determined that the front vehicle 200 is in the wading state according to the environment image collected by the visual sensor 130.

[0030] The visual sensor 130 can be a front camera installed on the vehicle frame 110, or a side camera installed on the vehicle frame 110, or a panoramic camera composed of multiple cameras installed on the vehicle frame 110, and the like. The type of the visual sensor 130 is not limited herein and can be set according to actual needs.

[0031] In some embodiments, the vehicle control system can further include a server, which can be connected with the VCU 120 through the vehicle-to-everything and perform data interaction with the VCU 120 through the vehicle-to-everything. The VCU 120 can send the environment image collected by the visual sensor 130 to the server through the vehicle-to-everything, the server receives and responds to the environment image, and sends the front vehicle information corresponding to the environment image to the VCU 120, the VCU 120 receives and responds to the front vehicle information returned by the server, and determines whether the front vehicle 200 is in the wading state according to the front vehicle information and the environment image, and controls the vehicle 100 when it is determined that the front vehicle 200 is in the wading state according to the front vehicle information and the environment image.

[0032] The vehicle-to-everything is a large system network based on in-vehicle network, inter-vehicle network and vehicle-mounted mobile Internet, and performs wireless communication and information interaction between vehicle-to-vehicle, vehicle-to-road, vehicle-to-person and vehicle-to-Internet according to the agreed communication protocol and data interaction standard, and is an integrated network capable of realizing intelligent traffic management, intelligent dynamic information service and vehicle intelligent control.

[0033] The vehicle-to-everything can include a mobile communication network (for example, a 5G network, a 4G network, etc.), a wireless wide area network (WWAN), a controller area network (CAN), a Bluetooth network, an infrared network, a digital living network alliance (DLNA) network, a wireless local area network (WLAN), a wireless metropolitan area network (WMAN), and a wireless personal area network (WPAN), etc. The type of vehicle-to-everything is not limited here, and can be set according to actual needs.

[0034] Referring to FIG. 1, Figure 2 which shows a flowchart of a vehicle control method provided by an embodiment of the present application. In specific embodiments, the vehicle control method can be applied to the vehicle 100 in the vehicle control system as shown in FIG. 1, and the vehicle control method will be described in detail below with the vehicle 100 as an example. Figure 1 The vehicle control method can include the following steps S110 to S130. Figure 2

[0035] Step S110: Obtain the current wading position of the front vehicle.

[0036] ​In the embodiments of the present application, during the driving of the vehicle, the VCU can detect the water wading state of the front vehicle in the driving direction of the vehicle, and when it is detected that the front vehicle is in the water wading state, the current water wading position of the front vehicle can be obtained.

[0037] Specifically, during the driving of the vehicle, the VCU can detect the water wading state of the front vehicle in the driving direction of the vehicle, and when it is detected that the front vehicle is in the water wading state, the VCU can send a front vehicle image acquisition instruction to the visual sensor, the visual sensor receives and responds to the front vehicle image acquisition instruction, acquires the front vehicle image of the front vehicle, and sends the acquired front vehicle image to the VCU, the VCU receives and responds to the front vehicle image returned by the visual sensor, and determines the current water wading position of the front vehicle according to the front vehicle image.

[0038] The visual sensor can be a front camera installed on the vehicle frame, or a side camera installed on the vehicle frame, or a panoramic camera composed of multiple cameras installed on the vehicle frame, etc., and the type of the visual sensor is not limited herein and can be set according to actual needs.

[0039] In some embodiments, during the driving of the vehicle, the VCU can detect the water wading state of the front vehicle in the driving direction of the vehicle, and when it is detected that the front vehicle is in the water wading state, the VCU can send a front vehicle image acquisition instruction to the visual sensor, the visual sensor receives and responds to the front vehicle image acquisition instruction, acquires the front vehicle image of the front vehicle, and sends the acquired front vehicle image to the VCU, the VCU receives and responds to the front vehicle image returned by the visual sensor, performs image recognition on the front vehicle image, obtains the relative position relationship between the water surface and the front vehicle, and takes the relative position relationship as the current water wading position of the front vehicle.

[0040] For example, the relative position relationship between the water surface and the front vehicle can be that the water surface reaches one-half of the wheel height, or the water surface reaches one-half of the rear bumper, etc., which is not limited herein.

[0041] In some embodiments, the VCU stores a pre-trained first deep learning network module. During the driving of the vehicle, the VCU can detect the water wading state of the front vehicle in the driving direction of the vehicle, and when it is detected that the front vehicle is in the water wading state, the VCU can send a front vehicle image acquisition instruction to the visual sensor, the visual sensor receives and responds to the front vehicle image acquisition instruction, acquires the front vehicle image of the front vehicle, and sends the acquired front vehicle image to the VCU, the VCU receives and responds to the front vehicle image returned by the visual sensor, inputs the front vehicle image into the first deep learning network model, the first deep learning network model receives and responds to the front vehicle image, outputs the current water wading position of the front vehicle corresponding to the front vehicle image to the VCU, and the VCU receives the current water wading position output by the first deep learning network model.

[0042] The first deep learning network model can be a convolutional neural network (CNN) model, a deep belief networks (DBN) model, a stacked auto encoder networks (SAE) model, a recurrent neural networks (RNN) model, a deep neural networks (DNN) model, a long short-term memory (LSTM) network model, or a gated recurring units (GRU) model, etc. The type of the first deep learning network model is not limited herein and can be set according to actual needs.

[0043] In some embodiments, the vehicle control system can further include a server storing a pre-trained second deep learning network model. During driving, the VCU can detect the wading state of the front vehicle in the driving direction of the vehicle, and when detecting that the front vehicle is in the wading state, can send a front vehicle image acquisition instruction to the visual sensor. The visual sensor receives and responds to the front vehicle image acquisition instruction, acquires the front vehicle image of the front vehicle, and sends the acquired front vehicle image to the VCU. The VCU receives and responds to the front vehicle image returned by the visual sensor, sends a first identification instruction carrying the front vehicle image to the server through the Internet of Vehicles, the server receives and responds to the first identification instruction, inputs the front vehicle image into the second deep learning network model, the second deep learning network model receives and responds to the front vehicle image, outputs the current wading position of the front vehicle corresponding to the front vehicle image to the server, the server receives the current wading position output by the second deep learning network model, and sends the current wading position to the VCU through the Internet of Vehicles, and the VCU receives the current wading position returned by the server.

[0044] The second deep learning network model can be a convolutional neural network (CNN) model, a deep belief network (DBN) model, a stacked auto encoder network (SAE) model, a recurrent neural network (RNN) model, a deep neural network (DNN) model, a long short-term memory (LSTM) network model, or a gated recurring units (GRU) model, and the like. The type of the second deep learning network model is not limited herein and can be set according to actual requirements.

[0045] In step S120, the estimated water wading position of the vehicle is determined according to the current water wading position of the preceding vehicle.

[0046] In the embodiments of the present application, after the VCU obtains the current water wading position of the preceding vehicle, the VCU can determine the estimated water wading position of the vehicle according to the current water wading position, i.e., estimate the relative position between the water surface and the vehicle.

[0047] In some embodiments, after the VCU obtains the current water wading position of the preceding vehicle, the VCU can obtain the preceding vehicle information of the preceding vehicle, and determine the estimated water wading position of the vehicle according to the preceding vehicle information, the current water wading position, and the vehicle information of the vehicle. Specifically, after the VCU obtains the current water wading position of the preceding vehicle, the VCU can obtain the preceding vehicle information of the preceding vehicle, calculate the water wading depth according to the preceding vehicle information and the current water wading position, and estimate the estimated water wading position of the vehicle according to the water wading depth and the vehicle information of the vehicle.

[0048] For example, the preceding vehicle information is a wheel height of 65 cm, and the current water wading position of the preceding vehicle is at a position one-half of the wheel height, then the water wading depth of the preceding vehicle can be calculated as 32.5 cm according to the wheel height of 65 cm and the water wading position, and the vehicle information of the vehicle is a chassis height of 32.5 cm, then the estimated water wading position of the vehicle can be estimated as the chassis of the vehicle according to the water wading depth of the preceding vehicle and the chassis height of the vehicle. The preceding vehicle information, the current water wading position of the preceding vehicle, and the vehicle information are not limited herein and can be set according to actual requirements.

[0049] The server stores a third pre-trained deep learning network model. After obtaining the current wading position of the preceding vehicle, the VCU sends a second identification instruction carrying the image of the preceding vehicle to the server through the Internet of Vehicles. The server receives and responds to the second identification instruction, inputs the image of the preceding vehicle into the third deep learning network model, the third deep learning network model receives and responds to the image of the preceding vehicle, and outputs the vehicle type information of the preceding vehicle corresponding to the image of the preceding vehicle to the server. The server receives and responds to the vehicle type information, sends the vehicle type information to the VCU through the Internet of Vehicles, the VCU receives and responds to the vehicle type information returned by the server, and according to the vehicle type information, searches a preset information table to obtain the preceding vehicle information corresponding to the vehicle type information. The preset information table can be used to represent the corresponding relationship between the vehicle type information and the preceding vehicle information.

[0050] The third deep learning network model can be a Convolutional Neural Networks (CNN) model, a Deep Belief Networks (DBN) model, a Stacked Auto Encoder Networks (SAE) model, a Recurrent Neural Networks (RNN) model, a Deep Neural Networks (DNN) model, a Long Short-Term Memory (LSTM) network model, or a Gated Recurring Units (GRU) model, etc. The type of the third deep learning network model is not limited here and can be set according to actual needs.

[0051] For example, the vehicle type information can include A car X type, B car Y type, and C car Z type, etc., the preceding vehicle information can be wheel height, the wheel height can include 65 cm, 70 cm, and 80 cm, etc., and the corresponding relationship between the vehicle type information and the wheel height can be as shown in Table 1, i.e., the preset information table. According to the corresponding relationship, the wheel height corresponding to the vehicle type information can be obtained.

[0052] Table 1

[0053] Vehicle type information Wheel height (cm) A car X type 65 B car Y type 70 C car Z type 80

[0054] It should be noted that the vehicle type information, the preceding vehicle information, and the corresponding relationship between the vehicle type information and the preceding vehicle information are not limited to Table 1 and can be set according to actual needs.

[0055] In some embodiments, the VCU stores a fourth pre-trained deep learning network model. After obtaining the current wading position of the preceding vehicle, the VCU can obtain the preceding vehicle information of the preceding vehicle, and input the preceding vehicle information, the current wading position, and the vehicle information of the vehicle into the fourth deep learning network model. The fourth deep learning network model receives and responds to the preceding vehicle information, the current wading position, and the vehicle information, and outputs the estimated wading position of the vehicle to the VCU. The VCU receives the estimated wading position output by the fourth deep learning network model.

[0056] The fourth deep learning network model can be a Convolutional Neural Networks (CNN) model, a Deep Belief Networks (DBN) model, a Stacked Auto Encoder Networks (SAE) model, a Recurrent Neural Networks (RNN) model, a Deep Neural Networks (DNN) model, a Long Short-Term Memory (LSTM) network model, or a Gated Recurring Units (GRU) model, etc. The type of the fourth deep learning network model is not limited herein and can be set according to actual needs.

[0057] Step S130: When it is determined that the estimated wading position is higher than or equal to the preset wading position of the vehicle, generate a wading warning information.

[0058] In the embodiments of the present application, after determining the estimated wading position of the vehicle according to the current wading position, the VCU can determine whether the estimated wading position is higher than or equal to the preset wading position of the vehicle, and when it is determined that the estimated wading position is higher than or equal to the preset wading position of the vehicle, generate a wading warning information. This implementation realizes the prediction of the wading state of the vehicle according to the current wading position of the preceding vehicle, and can avoid the electronic components of the vehicle being soaked in water and malfunctioning when the vehicle drives to a water depth exceeding the preset wading position of the vehicle, thereby reducing the safety hazards during the driving of the vehicle.

[0059] The preset wading position can represent the maximum vehicle position that the water depth of the wading area can reach when the vehicle safely passes through the wading area. The wading warning information can be at least one of a sound warning information, a light warning information, or a text warning information, etc.

[0060] In some embodiments, the wading warning information is sound warning information, and after determining the estimated wading position of the vehicle according to the current wading position, the VCU can determine whether the estimated wading position is higher than or equal to the preset wading position of the vehicle, and generate the sound warning information when it is determined that the estimated wading position is higher than or equal to the preset wading position of the vehicle.

[0061] In some embodiments, the wading warning information is light warning information, and after determining the estimated wading position of the vehicle according to the current wading position, the VCU can determine whether the estimated wading position is higher than or equal to the preset wading position of the vehicle, and generate the light warning information when it is determined that the estimated wading position is higher than or equal to the preset wading position of the vehicle.

[0062] In some embodiments, the wading warning information is text warning information, and after determining the estimated wading position of the vehicle according to the current wading position, the VCU can determine whether the estimated wading position is higher than or equal to the preset wading position of the vehicle, and generate the text warning information when it is determined that the estimated wading position is higher than or equal to the preset wading position of the vehicle.

[0063] In some embodiments, the wading warning information is sound warning information and light warning information, and after determining the estimated wading position of the vehicle according to the current wading position, the VCU can determine whether the estimated wading position is higher than or equal to the preset wading position of the vehicle, and generate the sound warning information and the light warning information when it is determined that the estimated wading position is higher than or equal to the preset wading position of the vehicle.

[0064] In some embodiments, the wading warning information is sound warning information and text warning information, and after determining the estimated wading position of the vehicle according to the current wading position, the VCU can determine whether the estimated wading position is higher than or equal to the preset wading position of the vehicle, and generate the sound warning information and the text warning information when it is determined that the estimated wading position is higher than or equal to the preset wading position of the vehicle.

[0065] In some embodiments, the wading warning information is light warning information and text warning information, and after determining the estimated wading position of the vehicle according to the current wading position, the VCU can determine whether the estimated wading position is higher than or equal to the preset wading position of the vehicle, and generate the light warning information and the text warning information when it is determined that the estimated wading position is higher than or equal to the preset wading position of the vehicle.

[0066] In some embodiments, the wading warning information is sound warning information, light warning information and text warning information, and after the VCU determines the estimated wading position of the vehicle according to the current wading position, it can be determined whether the estimated wading position is higher than or equal to the preset wading position of the vehicle, and when it is determined that the estimated wading position is higher than or equal to the preset wading position of the vehicle, the sound warning information, the light warning information and the text warning information are generated.

[0067] In some embodiments, after the VCU determines that the estimated wading position is higher than or equal to the preset wading position of the vehicle and generates the wading warning information, it can be determined whether there is a rear vehicle behind the vehicle, and when it is determined that there is a rear vehicle behind the vehicle, the vehicle is controlled to reverse.

[0068] The scheme provided by the embodiment realizes the prediction of the wading state of the vehicle according to the current wading position of the preceding vehicle, which can avoid the vehicle from driving to a water depth exceeding the preset wading position of the vehicle, so that the electronic components of the vehicle are not soaked in water and malfunction, and the safety hazard in the driving process of the vehicle is reduced.

[0069] Please refer to Figure 3 , which shows the flowchart of the vehicle control method provided by another embodiment of the application. In specific embodiments, the vehicle control method can be applied to the vehicle 100 in the vehicle control system as shown in Figure 1 , and the following will take the vehicle 100 as an example to elaborate the flowchart as shown in Figure 3 , and the vehicle control method can include the following steps S210 to S250.

[0070] Step S210: Obtain the current wading position of the preceding vehicle.

[0071] Step S220: Determine the estimated wading position of the vehicle according to the current wading position.

[0072] In the embodiment, steps S210 and S220 can refer to the content of the corresponding steps in the foregoing embodiments, which will not be described here again.

[0073] Step S230: Determine the correction coefficient of the estimated wading position.

[0074] In the embodiment, since there is an estimation error in the estimated wading position of the vehicle, after the VCU determines the estimated wading position of the vehicle according to the current wading position, it can determine the correction coefficient of the estimated wading position.

[0075] In some embodiments, the vehicle control system can further comprise a laser radar, the laser radar can be mounted on a vehicle frame, the vehicle frame can provide mounting support for the laser radar. The laser radar can be in communication connection with the VCU and interact with the VCU in data, the laser radar can be used to detect the first vehicle distance between the vehicle and the front vehicle.

[0076] After the VCU determines the estimated wading position of the vehicle according to the current wading position, the VCU can send a detection instruction to the laser radar, the laser radar receives and responds to the detection instruction, detects the first vehicle distance between the vehicle and the front vehicle, and sends the detected first vehicle distance to the VCU, and the VCU receives the first vehicle distance returned by the laser radar.

[0077] The VCU sends an environment image acquisition instruction to the visual sensor, the visual sensor receives and responds to the environment image acquisition instruction, acquires the environment image of the environment where the front vehicle is located, and sends the acquired environment image to the VCU, the VCU receives the environment image returned by the visual sensor, and determines the second vehicle distance between the vehicle and the front vehicle according to the environment image.

[0078] The VCU can calculate the difference between the first vehicle distance and the second vehicle distance, obtain the vehicle distance difference, and calculate the ratio of the vehicle distance difference to the first vehicle distance, obtain the vehicle distance correction coefficient, and can use the vehicle distance correction coefficient as the correction coefficient of the estimated wading position.

[0079] Step S240: correcting the estimated wading position according to the correction coefficient to obtain a target wading position.

[0080] In this embodiment, after the VCU determines the correction coefficient of the estimated wading position, the VCU can correct the estimated wading position according to the correction coefficient to obtain a target wading position, thereby realizing the correction of the estimated wading position of the vehicle and improving the estimation accuracy of the wading position of the vehicle.

[0081] For example, the correction coefficient is -0.15, indicating that the estimated wading position is too high, the estimated wading position of the vehicle is the chassis of the vehicle, the height of the chassis of the vehicle is 32.5 cm, indicating that the estimated wading depth of the vehicle is 32.5 cm, then the product of the correction coefficient -0.15 and the estimated wading depth 32.5 cm can be calculated to obtain -4.875 cm, indicating that the estimated wading depth of the vehicle is 4.875 cm more than the actual wading depth of the vehicle, i.e. the wading depth deviation of the vehicle, then the difference between the estimated wading depth 32.5 cm and the wading depth deviation 4.875 cm is calculated to obtain 27.625 cm, i.e. the actual wading depth of the vehicle is 27.625 cm, which corresponds to the tire height of the vehicle, i.e. the target wading position of the vehicle. Here, the correction coefficient and the estimated wading position are not limited and can be set according to actual needs.

[0082] Step S250: generating the wading warning information when it is determined that the target wading position is higher than or equal to the preset wading position of the vehicle.

[0083] In the embodiment, after the VCU corrects the estimated wading position according to the correction coefficient to obtain the target wading position, it can be determined whether the target wading position is higher than or equal to the preset wading position of the vehicle, and the wading warning information is generated when it is determined that the target wading position is higher than or equal to the preset wading position of the vehicle, so that the wading state of the vehicle is predicted according to the current wading position of the preceding vehicle, the electronic components of the vehicle can be prevented from being soaked in water and malfunctioning when the vehicle travels to a water depth exceeding the preset wading position of the vehicle, and the safety hazard in the vehicle driving process is reduced. Further, the estimated wading position of the vehicle is corrected to obtain the target wading position, so that the estimation accuracy of the estimated wading position of the vehicle is improved, and the control accuracy of the vehicle is improved.

[0084] The scheme provided in the embodiment achieves the following effects. The current wading position of the preceding vehicle is obtained, the estimated wading position of the vehicle is determined according to the current wading position, the correction coefficient of the estimated wading position is determined, the estimated wading position is corrected according to the correction coefficient to obtain the target wading position, and the wading warning information is generated when it is determined that the target wading position is higher than or equal to the preset wading position of the vehicle, so that the wading state of the vehicle is predicted according to the current wading position of the preceding vehicle, the electronic components of the vehicle can be prevented from being soaked in water and malfunctioning when the vehicle travels to a water depth exceeding the preset wading position of the vehicle, and the safety hazard in the vehicle driving process is reduced.

[0085] Further, the estimated wading position of the vehicle is corrected to obtain the target wading position, so that the estimation accuracy of the estimated wading position of the vehicle is improved, and the control accuracy of the vehicle is improved.

[0086] Please refer to Figure 4 which shows a flowchart of a vehicle control method provided in another embodiment of the application. In specific embodiments, the vehicle control method can be applied to the vehicle 100 in the vehicle control system as shown in Figure 1 The vehicle control method will be described in detail below with the vehicle 100 as an example, and the flowchart as shown in Figure 4 The vehicle control method can include the following steps S310 to S350.

[0087] Step S310: obtaining an environment image of an environment in which a preceding vehicle is located.

[0088] In this embodiment, the VCU can send an environment image collection instruction to the visual sensor, the visual sensor receives and responds to the environment image collection instruction, collects the environment image of the environment where the preceding vehicle is located, and sends the collected environment image to the VCU, and the VCU receives the environment image returned by the visual sensor.

[0089] Step S320: According to the environment image, it is determined whether the preceding vehicle is in a wading state.

[0090] In this embodiment, after the VCU obtains the environment image of the environment where the preceding vehicle is located, it can determine whether the preceding vehicle is in a wading state according to the environment image. Specifically, after obtaining the environment image of the environment where the preceding vehicle is located, the VCU can analyze the environment image and determine whether there is water on the driving direction of the preceding vehicle according to the environment image, and determine whether the preceding vehicle is in a wading state according to the determination result.

[0091] When it is determined according to the environment image that there is water on the driving direction of the preceding vehicle, it is determined that the preceding vehicle is in a wading state; when it is determined according to the environment image that there is no water on the driving direction of the preceding vehicle, it is determined that the preceding vehicle is not in a wading state.

[0092] Step S330: When it is determined according to the environment image that the preceding vehicle is in a wading state, the current wading position of the preceding vehicle is obtained.

[0093] In this embodiment, when the VCU determines that the preceding vehicle is in a wading state according to the environment image, the current wading position of the preceding vehicle can be obtained, which can avoid the VCU still obtaining the current wading position of the preceding vehicle and setting the position of the vehicle when there is no water on the driving surface of the vehicle, thereby increasing the power consumption of the vehicle and reducing the power consumption of the vehicle during driving.

[0094] Step S340: According to the current wading position, the estimated wading position of the vehicle is determined.

[0095] Step S350: When the estimated wading position is higher than or equal to the preset wading position of the vehicle, a wading warning information is generated.

[0096] In this embodiment, steps S340 and S350 can refer to the contents of the corresponding steps in the foregoing embodiments, which will not be described here.

[0097] The scheme provided by the embodiment can obtain an environment image of an environment in which a preceding vehicle is located, determine whether the preceding vehicle is in a wading state according to the environment image, obtain a current wading position of the preceding vehicle when it is determined that the preceding vehicle is in the wading state according to the environment image, determine an estimated wading position of the vehicle according to the current wading position of the preceding vehicle, and generate wading warning information when it is determined that the estimated wading position is higher than or equal to a preset wading position of the vehicle. In this way, the wading state of the vehicle can be predicted according to the current wading position of the preceding vehicle, so that the electronic components of the vehicle can be prevented from being soaked in water and malfunctioning when the vehicle travels to a water depth that exceeds the preset wading position of the vehicle, and the safety hazard during vehicle travel can be reduced.

[0098] Further, when it is determined that the preceding vehicle is in the wading state according to the environment image, the current wading position of the preceding vehicle is obtained, so that the VCU can be prevented from obtaining the current wading position of the preceding vehicle and estimating the set position of the vehicle when there is no water on the road surface on which the vehicle travels, and the power consumption of the vehicle during vehicle travel can be reduced.

[0099] Please refer to Figure 5 which shows a vehicle control device 400 provided by an embodiment of the application. The vehicle control device 400 can be applied to a vehicle 100 in a vehicle control system as shown in Figure 1 The vehicle control device 400 shown in Figure 5 will be described in detail below. The vehicle control device 400 can include a position obtaining module 410, a position determining module 420, and a generating module 430.

[0100] The position obtaining module 410 can be configured to obtain a current wading position of a preceding vehicle. The position determining module 420 can be configured to determine an estimated wading position of the vehicle according to the current wading position of the preceding vehicle. The generating module 430 can be configured to generate wading warning information when it is determined that the estimated wading position is higher than or equal to a preset wading position of the vehicle.

[0101] In some embodiments, the vehicle control device 400 can further include a coefficient determining module and a correcting module.

[0102] The coefficient determining module can be configured to determine a correction coefficient of the estimated wading position before the generating module 430 generates the wading warning information when it is determined that the estimated wading position is higher than or equal to the preset wading position of the vehicle. The correcting module can be configured to correct the estimated wading position according to the correction coefficient to obtain a target wading position.

[0103] In some embodiments, the generating module 430 can be a generating unit.

[0104] The generating unit can be configured to generate the wading warning information when it is determined that the target wading position is higher than or equal to the preset wading position of the vehicle.

[0105] In some embodiments, the coefficient determination module can include a first acquisition unit, a second acquisition unit, and a first determination unit.

[0106] The first acquisition unit can be configured to acquire a first vehicle distance detected by the laser radar to the preceding vehicle; the second acquisition unit can be configured to acquire a second vehicle distance detected by the vision sensor to the preceding vehicle; and the first determination unit can be configured to determine a vehicle distance correction coefficient according to the first vehicle distance and the second vehicle distance, and use the vehicle distance correction coefficient as a correction coefficient for estimating the wading position.

[0107] In some embodiments, the vehicle control device 400 can further include an environment image acquisition module and a state determination module.

[0108] The environment image acquisition module can be configured to acquire an environment image of an environment in which the preceding vehicle is located before the position acquisition module 410 acquires the current wading position of the preceding vehicle; and the state determination module can be configured to determine whether the preceding vehicle is in a wading state according to the environment image.

[0109] In some embodiments, the position acquisition module 410 can include a third acquisition unit.

[0110] The third acquisition unit can be configured to acquire the current wading position of the preceding vehicle when it is determined according to the environment image that the preceding vehicle is in the wading state.

[0111] In some embodiments, the state determination module can include a second determination unit and a third determination unit.

[0112] The second determination unit can be configured to determine that the preceding vehicle is in the wading state when it is determined according to the environment image that there is accumulated water in the driving direction of the preceding vehicle; and the third determination unit can be configured to determine that the preceding vehicle is not in the wading state when it is determined according to the environment image that there is no accumulated water in the driving direction of the preceding vehicle.

[0113] In some embodiments, the position determination module can include a fourth acquisition unit and a fourth determination unit.

[0114] The fourth acquisition unit can be configured to acquire preceding vehicle information of the preceding vehicle; and the fourth determination unit can be configured to determine an estimated wading position of the vehicle according to the preceding vehicle information, the current wading position, and vehicle information of the vehicle.

[0115] In some embodiments, the fourth acquisition unit can include an acquisition subunit and a search subunit.

[0116] The acquisition subunit can be configured to acquire vehicle type information of the preceding vehicle; and the search subunit can be configured to search a preset information table according to the vehicle type information to obtain the preceding vehicle information corresponding to the vehicle type information, the preset information table being configured to represent a corresponding relationship between the vehicle type information and the preceding vehicle information.

[0117] The scheme provided by the embodiment realizes prediction of the wading state of the vehicle according to the current wading position of the front vehicle, and can avoid the electronic elements of the vehicle from being soaked in water and malfunctioning when the vehicle drives to a water depth exceeding the preset wading position of the vehicle, thereby reducing the safety hazards in the vehicle driving process.

[0118] It should be noted that each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between each embodiment can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment. For any processing manner described in the method embodiment, it can be realized by a corresponding processing module in the device embodiment, and the device embodiment will not be described here.

[0119] In addition, each functional module in each embodiment of the present application can be integrated in one processing module, or each module can exist physically, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module.

[0120] Please refer to Figure 6 which shows a functional block diagram of a vehicle 500 provided by an embodiment of the present application. The vehicle 500 can include one or more of the following components: a memory 510, a processor 520, and one or more application programs, wherein the one or more application programs can be stored in the memory 510 and configured to be executed by the one or more processors 520, and the one or more application programs are configured to perform the method as described in the foregoing method embodiments.

[0121] The memory 510 can include a random access memory (RAM) and can also include a read-only memory (ROM). The memory 510 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 510 can include a program storage area and a data storage area, where the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as obtaining a current wading position, determining an estimated wading position, determining that the estimated wading position is higher than or equal to a preset wading position, generating wading warning information, determining a correction coefficient, correcting the estimated wading position, obtaining a target wading position, determining that the target wading position is higher than or equal to the preset wading position, detecting a first vehicle distance, obtaining the first vehicle distance, detecting a second vehicle distance, obtaining the second vehicle distance, determining a vehicle distance correction coefficient, obtaining an environmental image, determining whether in a wading state, determining in a wading state, determining that there is water, determining that there is no water, determining not in a wading state, obtaining front vehicle information, obtaining vehicle type information, and looking up a preset information table, etc.), instructions for implementing each of the method embodiments described below, and the like. The data storage area can also store data created by the vehicle 500 in use (such as a vehicle, a front vehicle, a current wading position, an estimated wading position, an estimated wading position higher than or equal to a preset wading position, wading warning information, a correction coefficient, a target wading position, a target wading position higher than or equal to a preset wading position, a laser radar, a first vehicle distance, a vision sensor, a second vehicle distance, a vehicle distance correction coefficient, an environment, an environmental image, a wading state, a driving direction, water, a wading state, no water, not in a wading state, front vehicle information, vehicle information, vehicle type information, a preset information table, and a correspondence between vehicle type information and front vehicle information), and the like.

[0122] The processor 520 can include one or more processing cores. The processor 520 connects various parts within the vehicle 500 by various interfaces and lines, performs various functions of the vehicle 500 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 510, and calling data stored in the memory 510. Optionally, the processor 520 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 520 can integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes operating systems, user interfaces, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 520, but can be implemented by a separate communication chip.

[0123] Please refer to Figure 7 which shows a structural block diagram of a computer readable storage medium provided by an embodiment of the present application. The computer readable storage medium 600 stores program code 610, which can be called and executed by a processor to perform the methods described in the above method embodiments.

[0124] The computer readable storage medium 600 can be an electronic storage such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium 600 includes a non-volatile computer readable medium. The computer readable storage medium 600 has a storage space for the program code 610 to perform any of the above methods. These program codes can be read from or written into one or more computer program products. The program code 610 can be compressed in an appropriate form, for example.

[0125] The scheme provided by the embodiment realizes prediction of the wading state of the vehicle according to the current wading position of the preceding vehicle, and can avoid the electronic elements of the vehicle from being soaked in water and malfunctioning when the vehicle drives to a water depth exceeding the preset wading position of the vehicle, thereby reducing the safety hazards in the vehicle driving process.

[0126] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not drive the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle control method characterized by, include: Obtain the current wading position of the vehicle ahead; Based on the current wading location, determine the estimated wading location of the vehicle; When the estimated wading position is determined to be higher than or equal to the vehicle's preset wading position, a wading warning message is generated; Before generating a wading warning message when the estimated wading position is determined to be higher than or equal to the vehicle's preset wading position, the method further includes: Determining the correction coefficient for the estimated wading position includes: acquiring a first distance from the vehicle ahead detected by a lidar; acquiring a second distance from the vehicle ahead detected by a visual sensor; calculating the difference between the first distance and the second distance based on the first distance and the second distance to obtain a distance difference value, and calculating the ratio of the distance difference value to the first distance to determine a distance correction coefficient, and using the distance correction coefficient as the correction coefficient for the estimated wading position; The estimated wading location is corrected based on the correction coefficient to obtain the target wading location.

2. The vehicle control method according to claim 1, characterized in that, When the estimated wading position is determined to be higher than or equal to the vehicle's preset wading position, the wading warning message generated is as follows: When the target wading position is determined to be higher than or equal to the vehicle's preset wading position, a wading warning message is generated.

3. The vehicle control method according to claim 1, characterized by, Before obtaining the current wading position of the vehicle ahead, the process also includes: Acquire an environmental image of the location of the vehicle in front; Based on the environmental image, determine whether the vehicle in front is in a water-crossing state; The step of obtaining the current wading position of the vehicle ahead includes: When it is determined from the environmental image that the vehicle in front is in a water-wading state, the current water-wading position of the vehicle in front is obtained.

4. The vehicle control method according to claim 3, characterized by, Determining whether the vehicle ahead is in a water-crossing state based on the environmental image includes: When it is determined from the environmental image that there is water accumulation in the direction of travel of the vehicle in front, it is determined that the vehicle in front is in a water-wading state; When it is determined from the environmental image that there is no water accumulation in the direction of travel of the vehicle in front, it is determined that the vehicle in front is not in a water-wading state.

5. The vehicle control method according to any one of claims 1 to 3, characterized by, Determining the estimated wading position of the vehicle based on the current wading position includes: Obtain the information of the vehicle preceding the vehicle; Based on the preceding vehicle information, the current wading location, and the vehicle information, the estimated wading location of the vehicle is determined.

6. A vehicle control device characterized by comprising: include: The location acquisition module is used to obtain the current wading position of the vehicle in front; The location determination module is used to determine the estimated wading location of the vehicle based on the current wading location; The generation module is used to generate a wading warning message when it is determined that the estimated wading position is higher than or equal to the vehicle's preset wading position; The vehicle control device also includes a coefficient determination module and a correction module; The coefficient determination module is used to determine a correction coefficient for the estimated wading position before the generation module generates a wading warning message when it determines that the estimated wading position is higher than or equal to the vehicle's preset wading position. The correction module is used to correct the estimated wading location according to the correction coefficient to obtain the target wading location; The coefficient determination module includes a first acquisition unit, a second acquisition unit, and a first determination unit. The first acquisition unit is used to acquire the first vehicle distance detected by the lidar to the vehicle in front; The second acquisition unit is used to acquire the second distance between the vehicle and the vehicle in front detected by the visual sensor; The first determining unit is used to calculate the difference between the first vehicle distance and the second vehicle distance based on the first vehicle distance and the second vehicle distance, to obtain the vehicle distance difference, and to calculate the ratio of the vehicle distance difference to the first vehicle distance, to determine the vehicle distance correction coefficient, and to use the vehicle distance correction coefficient as the correction coefficient for the estimated wading position.

7. A vehicle characterized by comprising: include: Memory; One or more processors are coupled to the memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by one or more processors, the one or more applications being configured to perform the vehicle control method as described in any one of claims 1 to 5.

8. A computer readable storage medium, characterized in that, The computer-readable storage medium contains program code that can be invoked by a processor to execute the vehicle control method as described in any one of claims 1 to 5.

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