Vehicle wading risk avoidance control method and vehicle

Abstract

The application discloses a vehicle water wading risk avoidance control method and vehicle, and belongs to the technical field of automobile driving safety. The method comprises the following steps: acquiring the water depth of the front part of the vehicle, wherein the front part of the vehicle refers to the position of the front bumper of the vehicle; in response to the water depth of the front part of the vehicle being greater than or equal to a first depth threshold, determining that the gear of the vehicle is first gear and the rotating speed of the engine is a preset rotating speed, and starting a low-speed cruise driving assistance system, wherein the first depth threshold is the minimum distance between the vehicle and the ground; in response to the water depth of the front part of the vehicle being greater than a second depth threshold, controlling the brake system to brake the vehicle, determining that the gear of the vehicle is parking gear and the rotating speed of the engine is an idle rotating speed, wherein the second depth threshold is greater than the first depth threshold. The method can assist the driver to automatically drive the vehicle, so as to realize active avoidance of the water wading risk of the vehicle and guarantee the personal safety of the driver and the passenger.

Description

Technical Field

[0001] This application relates to the field of automotive driving safety technology, and in particular to a control method and vehicle for avoiding the risk of water wading. Background Technology

[0002] During the rainy season, many cities experience occasional torrential rain disasters, leading to flooding on urban roads and affecting vehicle traffic. If drivers misjudge the depth of the water and drive directly through it, the engine may stall or water may enter the vehicle, causing significant property damage. In more serious cases, it may even seriously threaten the personal safety of the driver and passengers.

[0003] In related technologies, drivers use water depth detection equipment installed on vehicles to obtain the wading depth of the vehicle and drive the vehicle based on their own experience to avoid the risk of wading. However, the methods for avoiding the risk of wading in these technologies rely on the driver's experience and judgment, which can easily lead to problems such as engine stalling or water ingress due to subjective misjudgment. Summary of the Invention

[0004] In view of this, this application provides a control method and vehicle for avoiding the risk of vehicle wading through water, which can assist the driver in driving the vehicle autonomously to actively avoid the risk of vehicle wading through water and protect the personal safety of the driver and passengers.

[0005] Specifically, the following technical solutions are included:

[0006] On the one hand, embodiments of this application provide a control method for avoiding the risk of vehicle wading through water, the method comprising:

[0007] The depth of water accumulation at the front of the vehicle is obtained, where the front of the vehicle refers to the location of the front bumper.

[0008] In response to the water depth at the front of the vehicle being greater than or equal to a first depth threshold, the vehicle is determined to be in first gear and the engine speed is set to a preset speed, and the low-speed cruise driving assistance system is activated. The first depth threshold is the minimum distance between the vehicle and the ground.

[0009] In response to the water depth at the front of the vehicle being greater than a second depth threshold, the braking system is controlled to brake the vehicle, and the vehicle is determined to be in parking gear and the engine speed is at idle speed, wherein the second depth threshold is greater than the first depth threshold.

[0010] In some embodiments, the method further includes:

[0011] The depth of the water in the middle of the vehicle and the distance from the front bumper of the vehicle to the water surface are obtained, wherein the middle of the vehicle refers to the location of the rearview mirror.

[0012] In some embodiments, the step of determining that the vehicle is in first gear and the engine speed is a preset speed in response to the water depth at the front of the vehicle being greater than or equal to a first depth threshold, and activating the low-speed cruise driving assistance system includes:

[0013] In response to the water depth at the front of the vehicle being greater than or equal to the first depth threshold, and the distance from the front bumper of the vehicle to the water surface being zero, the vehicle is determined to be in first gear and the engine speed is set to a preset speed, and the low-speed cruise driving assistance system is activated.

[0014] In response to the water depth at the front of the vehicle being greater than or equal to the first depth threshold and less than or equal to the second depth threshold, and the water depth at the middle of the vehicle being less than the third depth threshold, the vehicle is determined to be in first gear and the engine speed is set to a preset speed, and the low-speed cruise driving assistance system is activated.

[0015] In some embodiments, the method further includes:

[0016] Obtain the vehicle's pitch angle.

[0017] In some embodiments, the step of determining that the vehicle is in first gear and the engine speed is a preset speed in response to the water depth at the front of the vehicle being greater than or equal to the first depth threshold and the distance from the front bumper of the vehicle to the water surface being zero, and then activating the low-speed cruise driving assistance system includes:

[0018] In response to the water depth at the front of the vehicle being greater than or equal to the first depth threshold, the distance from the front bumper of the vehicle to the water surface being zero, and the pitch angle of the vehicle being less than or equal to the first angle threshold, the vehicle is determined to be in first gear and the engine speed is set to a preset speed, and the low-speed cruise driving assistance system is activated.

[0019] In some embodiments, the step of determining that the vehicle is in first gear and the engine speed is a preset speed in response to the water depth at the front of the vehicle being greater than or equal to the first depth threshold and less than or equal to the second depth threshold, and the water depth at the middle of the vehicle being less than the third depth threshold, and then activating the low-speed cruise driving assistance system includes:

[0020] In response to the water depth at the front of the vehicle being greater than or equal to the first depth threshold and less than or equal to the second depth threshold, the water depth at the middle of the vehicle being less than the third depth threshold, and the vehicle's pitch angle being greater than or equal to the first angle threshold and less than or equal to the second angle threshold, the vehicle's gear is determined to be in first gear and the engine speed is set to a preset speed, and the low-speed cruise driving assistance system is activated.

[0021] In some embodiments, the method further includes:

[0022] In response to the water depth at the front of the vehicle being greater than or equal to the first depth threshold and less than or equal to the second depth threshold, the water depth at the middle of the vehicle being less than the third depth threshold, and the vehicle's pitch angle being greater than the second angle threshold, the braking system is controlled to brake the vehicle, and the vehicle gear is determined to be in parking gear and the engine speed is determined to be idle speed.

[0023] In some embodiments, the method further includes:

[0024] In response to the fact that the depth of water accumulation at the front of the vehicle is less than the first depth threshold and greater than the fourth depth threshold, the vehicle is determined to be in first gear.

[0025] In some embodiments, the method further includes:

[0026] Obtain information about the vehicle ahead;

[0027] In response to the presence of a traffic participant in the information ahead of the vehicle, the distance between the vehicle and the traffic participant and the speed of the traffic participant are determined.

[0028] In response to the fact that the speed of the traffic participant is greater than the speed of the vehicle and the distance between the vehicle and the traffic participant is greater than a preset distance, the speed of the vehicle is determined to be any speed that is less than the preset speed and not zero.

[0029] In response to the fact that the speed of the traffic participant is less than the speed of the vehicle and the preset speed, and the distance between the vehicle and the traffic participant is greater than the preset distance, the speed of the vehicle is determined to be the speed of the traffic participant.

[0030] In response to the fact that the speed of the traffic participant is zero and the distance between the vehicle and the traffic participant is less than or equal to the preset distance, the braking system is controlled to brake the vehicle, and the vehicle gear is determined to be in parking gear and the engine speed is the preset speed.

[0031] On the other hand, embodiments of this application provide a vehicle, the vehicle comprising:

[0032] The first radar, installed on the side of the front bumper facing the ground, is used to measure the depth of water accumulation in front of the vehicle.

[0033] The second radar is installed on the side of the rearview mirror facing the ground and is used to measure the depth of water accumulation in the middle of the vehicle.

[0034] An inertial measurement unit, installed on the side of the vehicle body facing the ground, is used to measure the vehicle's pitch angle;

[0035] A vision sensor, mounted on the windshield, is used to measure information about the area in front of the vehicle.

[0036] The beneficial effects of the technical solutions provided in this application include at least the following:

[0037] The vehicle wading risk avoidance control method provided in this application obtains the water depth in front of the vehicle and determines the relationship between the water depth in front of the vehicle and a first depth threshold. Since the first depth threshold corresponds to the minimum distance between the vehicle and the ground, when the water depth in front of the vehicle is greater than or equal to the first depth threshold, it indicates that the vehicle has already waded through water. At this time, the vehicle is set to first gear and the engine is at a preset speed, and a low-speed cruise control system is activated to assist the vehicle in passing through the flooded section, preventing water from flowing back into the engine. When the water depth in front of the vehicle is greater than a second depth threshold, it indicates that the vehicle has already waded through deeper water, and further progress is risky. At this time, the braking system is controlled to brake the vehicle, the vehicle is set to park, and the engine speed is at idle speed, causing the vehicle to stop while the engine continues to run to prevent water from flowing back in. This method can assist the driver in driving the vehicle autonomously to actively avoid the risk of wading through water and ensure the personal safety of the driver and passengers. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This application provides a flowchart of a control method for avoiding vehicle water wading risks;

[0040] Figure 2 A flowchart illustrating another vehicle water wading risk avoidance control method provided in this application embodiment;

[0041] Figure 3 In a control method for avoiding vehicle wading risks provided in this application embodiment, in response to the water depth in front of the vehicle being greater than or equal to a first depth threshold, the vehicle is determined to be in first gear and the engine speed is a preset speed, and a low-speed cruise driving assistance system is activated. The first depth threshold is the flowchart of the minimum distance between the vehicle and the ground. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by those skilled in the art. Some technical terms appearing in the embodiments of this application are described below.

[0044] In the embodiments of this application, the "low-speed cruise driving assistance system" generally refers to a vehicle control mode in which the vehicle automatically controls the torque output transmission system of the engine and the brakes, allowing the vehicle to pass through rough roads at a very slow speed.

[0045] The "idle speed" mentioned generally refers to the minimum speed required to maintain stable operation of a vehicle's engine.

[0046] To make the technical solutions and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0047] During the rainy season, many cities experience occasional torrential rain disasters. Due to difficulties in urban drainage, these disasters often lead to flooding on city roads, affecting vehicle traffic. If drivers misjudge the depth of flooded areas and drive directly through them, or if their driving skills are lacking and they cannot maintain a consistent engine speed while driving through water, the car engine may stall or water may enter the engine, causing significant property damage. If the torrential rain is severe and the car stalls or enters the flooded area, it will seriously threaten the personal safety of the passengers.

[0048] In related technologies, vehicles are typically equipped with water depth detection devices. Drivers use these devices to determine the vehicle's wading depth and, based on their experience, try to maintain a consistent engine speed in flooded areas to avoid the risk of wading. However, these methods rely heavily on driver judgment. On one hand, some flooded areas are too deep to drive on; on the other hand, it's difficult for drivers to maintain a consistent engine speed, making it easy for errors in judgment to lead to engine stalling or water ingress.

[0049] In order to solve the technical problems existing in the related technologies, this application provides a control method for avoiding the risk of vehicle wading through water, which can assist the driver in driving the vehicle autonomously to actively avoid the risk of vehicle wading through water and protect the personal safety of the driver and passengers.

[0050] Before introducing the control method for avoiding vehicle water wading risks provided in the embodiments of this application, the structure of the subject of this method (i.e., the vehicle) will be described first.

[0051] This application provides a vehicle comprising: a first radar, a second radar, an inertial measurement unit, and a vision sensor.

[0052] The system includes a first radar mounted on the ground-facing side of the front bumper to measure the depth of water in front of the vehicle; a second radar mounted on the ground-facing side of the rearview mirror to measure the depth of water in the middle of the vehicle; an inertial measurement unit mounted on the ground-facing side of the vehicle body to measure the vehicle's pitch angle; and a vision sensor mounted on the windshield to measure information in front of the vehicle.

[0053] In some embodiments, the radar probe of the first radar faces the ground, the central axis of the probe's field of view forms a 45° angle with the vehicle's reference plane, and the probe is located above the lowest point of the vehicle.

[0054] In some embodiments, the first radar obtains the distance from the vehicle's front bumper to the water surface and the depth of water accumulation in front of the vehicle by measuring the radar wave's transmission and echo times. Since the speed of radar wave propagation in air and water is common knowledge, it is only necessary to measure the radar wave's transmission and echo times to measure the distance from the vehicle's front bumper to the water surface and the depth of water accumulation in front of the vehicle.

[0055] In some embodiments, the second radar can be a short-range, narrow-angle millimeter-wave radar, with the radar's radiating surface parallel to the vehicle's reference plane.

[0056] The second radar determines the depth of water accumulation in the middle of the vehicle by measuring the radar wave's transmission time, echo time, and the distance from the calibrated radar location to the ground.

[0057] In some embodiments, the inertial measurement unit is installed near the centerline of the vehicle, at a distance of less than or equal to 20 cm from the centerline of the vehicle.

[0058] In some embodiments, the vehicle further includes a forward-facing ultrasonic radar, wherein the forward-facing ultrasonic radar is mounted on the front bumper of the vehicle, and the number of forward-facing ultrasonic radars is multiple.

[0059] For example, there are four forward-facing ultrasonic radars, all mounted on the front bumper of the vehicle. The center axis of the radar probe's field of view is parallel to the vehicle's reference plane, used to measure the distance between the vehicle and other road users within an 8-meter range in front of the vehicle.

[0060] In some embodiments, the vehicle further includes a forward vision sensor mounted on the vehicle's windshield. The lower cutoff line of the sensor's field of view can capture the front end of the vehicle's hood to acquire image information in front of the vehicle, identify the edges of the road on both sides, detect the speed of other traffic participants, and the distance between other traffic participants and the vehicle.

[0061] In some embodiments, the vehicle also includes a voice broadcaster for providing warnings to the driver.

[0062] Understandably, a vehicle has a vehicle controller and a display instrument. The vehicle controller is used to control various components within the vehicle, while the display instrument is used to display various driving data.

[0063] Based on the above description of the vehicle structure, this application provides a control method for avoiding vehicle water wading risks. Figure 1 A flowchart illustrating a vehicle water wading risk avoidance control method provided in this application embodiment. See also... Figure 1 This method is applied to the vehicle controller and includes the following steps:

[0064] Step 101: Obtain the water depth at the front of the vehicle. The front of the vehicle refers to the location of the front bumper.

[0065] Step 102: In response to the water depth in front of the vehicle being greater than or equal to a first depth threshold, determine that the vehicle is in first gear and the engine speed is a preset speed, and activate the low-speed cruise driving assistance system. The first depth threshold is the minimum distance between the vehicle and the ground.

[0066] Step 103: In response to the water depth at the front of the vehicle being greater than the second depth threshold, control the braking system to brake the vehicle, determine that the vehicle is in parking gear and the engine speed is idle speed, wherein the second depth threshold is greater than the first depth threshold.

[0067] Therefore, the vehicle wading risk avoidance control method provided in this application obtains the water depth in front of the vehicle and determines the relationship between the water depth in front of the vehicle and a first depth threshold. Since the first depth threshold corresponds to the minimum distance between the vehicle and the ground, when the water depth in front of the vehicle is greater than or equal to the first depth threshold, it indicates that the vehicle has already waded through water. At this time, the vehicle is determined to be in first gear and the engine is at a preset speed, and the low-speed cruise driving assistance system is activated to assist the vehicle in passing through the flooded section and prevent water from flowing back into the engine. When the water depth in front of the vehicle is greater than a second depth threshold, it indicates that the vehicle has already waded through deeper water, and further progress is risky. At this time, the braking system is controlled to brake the vehicle, the vehicle is determined to be in park gear and the engine speed is at idle speed, so that the vehicle stops while the engine continues to run to prevent water from flowing back in. This method can assist the driver in driving the vehicle autonomously to actively avoid the risk of vehicle wading and ensure the personal safety of the driver and passengers.

[0068] In some embodiments, the method further includes: obtaining the water depth in the middle of the vehicle and the distance from the front bumper of the vehicle to the water surface, wherein the middle of the vehicle refers to the location of the vehicle's rearview mirror.

[0069] In some embodiments, in response to a water depth in front of the vehicle being greater than or equal to a first depth threshold, determining that the vehicle is in first gear and the engine speed is a preset speed, and activating the low-speed cruise driving assistance system includes:

[0070] In response to the water depth in front of the vehicle being greater than or equal to the first depth threshold and the distance from the front bumper of the vehicle to the water surface being zero, the vehicle is determined to be in first gear and the engine speed is set to the preset speed, and the low-speed cruise driving assistance system is activated.

[0071] In response to the water depth at the front of the vehicle being greater than or equal to a first depth threshold and less than or equal to a second depth threshold, and the water depth in the middle of the vehicle being less than a third depth threshold, the vehicle is determined to be in first gear and the engine speed is set to a preset speed, and the low-speed cruise driving assistance system is activated.

[0072] In some embodiments, the method further includes: obtaining the vehicle's pitch angle.

[0073] In some embodiments, in response to the water depth in front of the vehicle being greater than or equal to a first depth threshold and the distance from the vehicle's front bumper to the water surface being zero, determining that the vehicle is in first gear and the engine speed is a preset speed, and activating the low-speed cruise control system includes:

[0074] In response to the water depth in front of the vehicle being greater than or equal to a first depth threshold, the distance from the vehicle's front bumper to the water surface being zero, and the vehicle's pitch angle being less than or equal to a first angle threshold, the vehicle is determined to be in first gear and the engine speed is set to a preset speed, and the low-speed cruise driving assistance system is activated.

[0075] In some embodiments, in response to the water depth at the front of the vehicle being greater than or equal to a first depth threshold and less than or equal to a second depth threshold, and the water depth at the center of the vehicle being less than a third depth threshold, determining that the vehicle is in first gear and the engine speed is a preset speed, and activating the low-speed cruise control system includes:

[0076] In response to the water depth at the front of the vehicle being greater than or equal to a first depth threshold and less than or equal to a second depth threshold, the water depth at the middle of the vehicle being less than a third depth threshold, and the vehicle's pitch angle being greater than or equal to a first angle threshold and less than or equal to a second angle threshold, the vehicle is determined to be in first gear and the engine speed is set to a preset speed, and the low-speed cruise driving assistance system is activated.

[0077] In some embodiments, the method further includes: in response to the water depth at the front of the vehicle being greater than or equal to a first depth threshold and less than or equal to a second depth threshold, the water depth at the middle of the vehicle being less than a third depth threshold, and the vehicle pitch angle being greater than a second angle threshold, controlling the braking system to brake the vehicle, and determining that the vehicle is in parking gear and the engine speed is idle speed.

[0078] In some embodiments, the method further includes: determining the vehicle gear as first gear in response to the water depth at the front of the vehicle being less than a first depth threshold and greater than a fourth depth threshold.

[0079] In some embodiments, the method further includes:

[0080] Obtain information about the vehicle ahead;

[0081] In response to the presence of a traffic participant in the information ahead of the vehicle, the distance between the vehicle and the traffic participant and the speed of the traffic participant are determined.

[0082] In response to a situation where the speed of a traffic participant is greater than the vehicle's speed and the distance between the vehicle and the traffic participant is greater than a preset distance, the vehicle's speed is determined to be any speed that is less than the preset speed and not zero.

[0083] In response to a situation where the speed of the traffic participant is less than the vehicle speed and a preset speed, and the distance between the vehicle and the traffic participant is greater than a preset distance, the vehicle speed is determined to be the speed of the traffic participant.

[0084] In response to the fact that the speed of the vehicle participating in the traffic is zero and the distance between the vehicle and the vehicle participating in the traffic is less than or equal to a preset distance, the braking system is controlled to brake the vehicle, and the vehicle gear is determined to be in parking gear and the engine speed is set to a preset speed.

[0085] Based on the above description of the vehicle structure, this application also provides a control method for avoiding vehicle water wading risks. Figure 2 A flowchart illustrating another vehicle water wading risk avoidance control method provided in this application embodiment. This method is applied to the vehicle controller; see [link to relevant documentation]. Figure 2 The method includes the following steps:

[0086] Step 201: Obtain the water depth at the front of the vehicle. The front of the vehicle refers to the location of the front bumper.

[0087] By measuring the depth of the road surface where the vehicle's front bumper is located, the risk of stalling and water ingress can be reduced to prevent the vehicle from being unable to proceed to the next step due to excessive water depth under the chassis.

[0088] The depth of water accumulation in front of the vehicle can be measured using a first radar installed on the ground-facing side of the vehicle's front bumper.

[0089] Step 202: In response to the water depth in front of the vehicle being greater than or equal to a first depth threshold, determine that the vehicle is in first gear and the engine speed is a preset speed, and activate the low-speed cruise driving assistance system. The first depth threshold is the minimum distance between the vehicle and the ground.

[0090] When the water depth at the location of the vehicle's front bumper is greater than or equal to the first depth threshold, continuing to drive forward will cause the water depth to exceed the lowest point of the vehicle's chassis, posing a risk of engine stalling or water ingress. Therefore, this step involves setting the vehicle to first gear and the engine speed to the preset RPM, and activating the low-speed cruise control system to ensure low-speed driving while maintaining the engine speed at the preset RPM. This ensures even exhaust output from the engine, preventing engine stalling or water ingress, avoiding property damage, and protecting the personal safety and property of the occupants.

[0091] In some embodiments, the preset rotation speed is 1200 revolutions per minute.

[0092] In some embodiments, prior to step 202, the vehicle water wading risk avoidance control method provided in this application embodiment may further include: obtaining the water depth in the middle of the vehicle and the distance from the front bumper of the vehicle to the water surface, wherein the middle of the vehicle refers to the location of the vehicle's rearview mirror.

[0093] By obtaining the water depth in the middle of the vehicle and the distance from the front bumper to the water surface, the water depth data can be refined by combining it with the water depth in front of the vehicle. This allows for timely determination of the distance between the vehicle chassis and the water surface, preventing the vehicle chassis from contacting the water.

[0094] The depth of water in the middle of the vehicle can be measured using a second radar installed on the side of the vehicle's rearview mirror facing the ground; the distance from the front bumper of the vehicle to the water surface can be measured using a first radar installed on the side of the front bumper facing the ground.

[0095] Taking into account the water depth in the middle of the vehicle and the distance from the front bumper to the water surface, see [reference needed]. Figure 3 Step 202 can specifically include the following sub-steps:

[0096] Step 2021: In response to the water depth in front of the vehicle being greater than or equal to the first depth threshold and the distance from the front bumper of the vehicle to the water surface being zero, determine that the vehicle is in first gear and the engine speed is the preset speed, and activate the low-speed cruise driving assistance system.

[0097] When the distance between the vehicle's front bumper and the water surface is zero, it means that the water surface is flush with the front bumper. Therefore, it is necessary to maintain first gear and control the engine speed to the preset speed, so as to maintain the engine exhaust pipe output evenly, prevent the engine from stalling or water from entering, and avoid endangering the personal and property safety of the driver and passengers.

[0098] Step 2022: In response to the water depth at the front of the vehicle being greater than or equal to the first depth threshold and less than or equal to the second depth threshold, and the water depth in the middle of the vehicle being less than the third depth threshold, the vehicle is determined to be in first gear and the engine speed is set to a preset speed, and the low-speed cruise driving assistance system is activated.

[0099] Since the water level is now higher than the lowest point of the vehicle chassis, it is necessary to control the vehicle to drive in first gear and keep the engine speed at the preset speed to maintain a uniform output from the engine exhaust pipe, prevent the vehicle engine from stalling or taking in water, and avoid endangering the personal safety and property of the driver and passengers.

[0100] In some embodiments, the value of the second depth threshold can be 0.15m more than the value of the first depth threshold, and the value of the third depth threshold can be 0.1m more than the value of the first depth threshold.

[0101] In some embodiments, in addition to considering the water depth in the middle of the vehicle and the distance from the front bumper of the vehicle to the water surface, the vehicle water wading risk avoidance control method provided in this application embodiment may also include: obtaining the vehicle's pitch angle.

[0102] By obtaining the vehicle's pitch angle, the current road surface tilt can be determined, such as whether the vehicle is on a flat road, a downhill road, or an uphill road. Taking the road surface tilt into account when controlling the vehicle allows for more precise adjustments to the engine and vehicle status.

[0103] The vehicle's pitch angle can be measured using an inertial measurement unit installed on the side of the vehicle body facing the ground.

[0104] Taking into account the vehicle's pitch angle, step 2021 specifically includes: in response to the water depth in front of the vehicle being greater than or equal to a first depth threshold, the distance from the vehicle's front bumper to the water surface being zero, and the vehicle's pitch angle being less than or equal to a first angle threshold, determining that the vehicle is in first gear and the engine speed is a preset speed, and activating the low-speed cruise driving assistance system.

[0105] In some embodiments, the first angle threshold may be 1°.

[0106] When the vehicle's pitch angle is less than or equal to the first angle threshold, it means that the road surface can be a flat road surface. There is no need to obtain the water depth at the location of the vehicle's rearview mirror. The water depth at the location of the vehicle's front bumper is sufficient to reflect the water depth at the location of the entire vehicle.

[0107] Furthermore, step 2021 also includes: informing the driver to intervene in wading through water via a voice broadcast and informing the driver that they only need to control the vehicle's steering; and displaying the depth of the water in front of the vehicle via a display instrument.

[0108] Taking into account the vehicle's pitch angle, step 2022 specifically includes: in response to the water depth at the front of the vehicle being greater than or equal to a first depth threshold and less than or equal to a second depth threshold, the water depth at the middle of the vehicle being less than a third depth threshold, and the vehicle's pitch angle being greater than or equal to a first angle threshold and less than or equal to a second angle threshold, determining that the vehicle is in first gear and the engine speed is a preset speed, and activating the low-speed cruise driving assistance system.

[0109] In some embodiments, the second angle threshold can be 4°.

[0110] When the vehicle's pitch angle is greater than or equal to the first angle threshold and less than or equal to the second angle threshold, it indicates that the road surface has a slight tilt angle but is basically flat. At this time, the water depth at the location of the vehicle's front bumper cannot accurately reflect the water depth at the vehicle's location. It is necessary to obtain the water depth at the location of the vehicle's rearview mirror.

[0111] Furthermore, step 2021 also includes: informing the driver to intervene in wading through water via a voice broadcast and informing the driver that they only need to control the vehicle's steering; and displaying the depth of the water in front of the vehicle via a display instrument.

[0112] Understandably, steps 2021 and 2022 assume the road surface is flat and do not consider uneven surfaces, such as downhill surfaces. When the road surface is downhill, the possibility of water accumulation needs to be taken into account.

[0113] Furthermore, the vehicle water wading risk avoidance control method provided in this application embodiment also includes: in response to the water depth at the front of the vehicle being greater than or equal to a first depth threshold and less than or equal to a second depth threshold, the water depth at the middle of the vehicle being less than a third depth threshold, and the vehicle pitch angle being greater than a second angle threshold, controlling the braking system to brake the vehicle, and determining that the vehicle gear is park and the engine speed is idle speed.

[0114] When the vehicle's pitch angle is greater than the second angle threshold, the car is on a downhill road. Although the current water depth in front of the vehicle and the water depth in the middle of the vehicle are still not enough to affect the vehicle's normal passage, because the car is on a downhill road, the water depth in front of the vehicle is deeper. It is necessary to leave a distance for the vehicle to brake, so as to avoid the vehicle entering the section of road with excessive water during braking, prevent the vehicle from stalling or taking on water, and ensure the personal and property safety of the driver and passengers.

[0115] Furthermore, while controlling the braking system to apply the brakes and confirming that the vehicle is in park and the engine speed is idle, the vehicle controller also informs the driver of the water depth ahead via a voice broadcast and reminds the driver of the risks of driving through water, and advises the driver to detour around this section of road.

[0116] In some embodiments, the formula for calculating the vehicle braking acceleration 'a' is as follows:

[0117] a = (10 / 3.6) 2 / 2D1;

[0118] Where D1 is the distance between the ultrasonic radar probe and the front wheel of the vehicle.

[0119] Step 203: In response to the water depth at the front of the vehicle being greater than the second depth threshold, control the braking system to brake the vehicle, determine that the vehicle is in parking gear and the engine speed is idle speed, wherein the second depth threshold is greater than the first depth threshold.

[0120] When the water depth at the location of the vehicle's front bumper exceeds the second depth threshold, the water level in the road section is too high. If the vehicle drives into the flooded area, even if it maintains first gear, keeps the engine speed stable at the preset RPM, and activates the low-speed cruise control system, the vehicle will not be able to pass safely. Therefore, this step, upon detecting that the water depth at the location of the vehicle's front bumper exceeds the second depth threshold, controls the braking system to apply the brakes and determines the vehicle's gear to be in park. Simultaneously, since restarting the engine in a flooded area will directly cause water to enter the engine, it is necessary to maintain normal engine operation while parking. Therefore, the engine speed is set to idle speed and maintained to prevent the vehicle from stalling or taking on water, avoiding property damage and ensuring the safety of the occupants.

[0121] Step 204: In response to the water depth at the front of the vehicle being less than the first depth threshold and greater than the fourth depth threshold, determine that the vehicle is in first gear.

[0122] At this point, the water surface in front of the vehicle has not come into contact with the vehicle. As long as you maintain a low speed and avoid splashing water into the exhaust pipe, there is no risk of the engine stalling or water entering the exhaust pipe.

[0123] In some embodiments, the fourth depth threshold is 0.2m.

[0124] Furthermore, step 204 also includes: informing the driver via a voice broadcast that the vehicle has been driven through water and controlling the vehicle speed to below 10 km / h.

[0125] In some embodiments, the vehicle wading risk avoidance control method provided in this application further includes: acquiring information ahead of the vehicle; in response to the presence of a traffic participant in the information ahead of the vehicle, determining the distance between the vehicle and the traffic participant and the speed of the traffic participant; in response to the traffic participant's speed being greater than the vehicle's speed and the distance between the vehicle and the traffic participant being greater than a preset distance, determining the vehicle's speed to be any speed less than a preset speed and not zero; in response to the traffic participant's speed being less than the vehicle's speed and the preset speed, and the distance between the vehicle and the traffic participant being greater than a preset distance, determining the vehicle's speed to be the speed of the traffic participant; in response to the traffic participant's speed being zero and the distance between the vehicle and the traffic participant being less than or equal to a preset distance, controlling the braking system to brake the vehicle, and determining the vehicle's gear to be parking and the engine speed to be a preset speed.

[0126] When driving through water, if there are other vehicles ahead and their speed is faster than your vehicle, maintain your speed below the preset speed to avoid stalling or water ingress. If other vehicles are slower than you, match their speed to avoid collisions. However, if other vehicles are moving at zero speed and the distance is less than the preset distance, brake immediately, ensure the vehicle is in park and the engine is at the preset speed to avoid collisions and maintain even exhaust output to prevent stalling or water ingress.

[0127] In some embodiments, the distance between the vehicle and the traffic participant can also be determined by ultrasonic radar detection. In response to the traffic participant's speed being zero, the distance between the vehicle and the traffic participant being less than or equal to a preset distance, and the ultrasonic radar detection showing that the distance between the vehicle and the traffic participant is within a preset range, the braking system is controlled to brake the vehicle, and the vehicle gear is determined to be in parking gear and the engine speed is a preset speed.

[0128] In some embodiments, the preset distance can be 8 meters, the preset speed can be 10 km / h, and the preset range can be 6 to 8 meters.

[0129] In summary, the vehicle water wading risk avoidance control method provided in this application combines the water depth at the front of the vehicle, the water depth in the middle of the vehicle, the distance from the front bumper to the water surface, and the vehicle's pitch angle to determine the water depth more accurately. This method can assist drivers in autonomous driving vehicles to actively avoid water wading risks and ensure the personal safety of passengers.

[0130] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0131] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0132] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A control method for avoiding vehicle water wading risks, characterized in that, The method includes: The depth of water accumulation at the front of the vehicle is obtained, where the front of the vehicle refers to the location of the front bumper. The depth of the water in the middle of the vehicle and the distance from the front bumper of the vehicle to the water surface are obtained, wherein the middle of the vehicle refers to the location of the rearview mirror; In response to the water depth at the front of the vehicle being greater than or equal to a first depth threshold, and the distance from the front bumper of the vehicle to the water surface being zero, the vehicle is determined to be in first gear and the engine speed is set to a preset speed, and the low-speed cruise driving assistance system is activated. In response to the water depth at the front of the vehicle being greater than or equal to the first depth threshold and less than or equal to the second depth threshold, and the water depth at the middle of the vehicle being less than the third depth threshold, the vehicle is determined to be in first gear and the engine speed is set to a preset speed, and the low-speed cruise driving assistance system is activated, wherein the first depth threshold is the minimum distance between the vehicle and the ground. In response to the water depth at the front of the vehicle being greater than a second depth threshold, the braking system is controlled to brake the vehicle, and the vehicle is determined to be in parking gear and the engine speed is at idle speed, wherein the second depth threshold is greater than the first depth threshold.

2. The control method for avoiding vehicle water wading risks according to claim 1, characterized in that, The method further includes: Obtain the vehicle's pitch angle.

3. The control method for avoiding vehicle water wading risks according to claim 2, characterized in that, The step of responding to the water depth at the front of the vehicle being greater than or equal to a first depth threshold, and the distance from the front bumper of the vehicle to the water surface being zero, determining that the vehicle is in first gear and the engine speed is a preset speed, and activating the low-speed cruise control system includes: In response to the water depth at the front of the vehicle being greater than or equal to the first depth threshold, the distance from the front bumper of the vehicle to the water surface being zero, and the pitch angle of the vehicle being less than or equal to the first angle threshold, the vehicle is determined to be in first gear and the engine speed is set to a preset speed, and the low-speed cruise driving assistance system is activated.

4. The control method for avoiding vehicle water wading risks according to claim 2, characterized in that, The step of determining that the vehicle is in first gear and the engine speed is a preset speed in response to the water depth at the front of the vehicle being greater than or equal to the first depth threshold and less than or equal to the second depth threshold, and the water depth at the middle of the vehicle being less than the third depth threshold, and then activating the low-speed cruise driving assistance system includes: In response to the water depth at the front of the vehicle being greater than or equal to the first depth threshold and less than or equal to the second depth threshold, the water depth at the middle of the vehicle being less than the third depth threshold, and the vehicle's pitch angle being greater than or equal to the first angle threshold and less than or equal to the second angle threshold, the vehicle's gear is determined to be in first gear and the engine speed is set to a preset speed, and the low-speed cruise driving assistance system is activated.

5. The control method for avoiding vehicle water wading risks according to claim 2, characterized in that, The method further includes: In response to the water depth at the front of the vehicle being greater than or equal to the first depth threshold and less than or equal to the second depth threshold, the water depth at the middle of the vehicle being less than the third depth threshold, and the vehicle's pitch angle being greater than the second angle threshold, the braking system is controlled to brake the vehicle, and the vehicle gear is determined to be in parking gear and the engine speed is determined to be idle speed.

6. The control method for avoiding vehicle water wading risks according to claim 1, characterized in that, The method further includes: In response to the fact that the depth of water accumulation at the front of the vehicle is less than the first depth threshold and greater than the fourth depth threshold, the vehicle is determined to be in first gear.

7. The control method for avoiding vehicle water wading risks according to claim 1, characterized in that, The method further includes: Obtain information about the vehicle ahead; In response to the presence of a traffic participant in the information ahead of the vehicle, the distance between the vehicle and the traffic participant and the speed of the traffic participant are determined. In response to the fact that the speed of the traffic participant is greater than the speed of the vehicle and the distance between the vehicle and the traffic participant is greater than a preset distance, the speed of the vehicle is determined to be any speed that is less than the preset speed and not zero. In response to the fact that the speed of the traffic participant is less than the speed of the vehicle and the preset speed, and the distance between the vehicle and the traffic participant is greater than the preset distance, the speed of the vehicle is determined to be the speed of the traffic participant. In response to the fact that the speed of the traffic participant is zero and the distance between the vehicle and the traffic participant is less than or equal to the preset distance, the braking system is controlled to brake the vehicle, and the vehicle gear is determined to be in parking gear and the engine speed is the preset speed.

8. A vehicle for implementing the control method for avoiding water wading risks according to any one of claims 1-7, characterized in that, The vehicles include: The first radar, installed on the side of the front bumper facing the ground, is used to measure the depth of water accumulation in front of the vehicle. The second radar is installed on the side of the rearview mirror facing the ground and is used to measure the depth of water accumulation in the middle of the vehicle. An inertial measurement unit, installed on the side of the vehicle body facing the ground, is used to measure the vehicle's pitch angle; A vision sensor, mounted on the windshield, is used to measure information about the area in front of the vehicle.

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