A method, control device, and vehicle for controlling vehicle wading through water.

Abstract

This application provides a method, device, and vehicle for controlling vehicle wading through water. The method, applied in the field of vehicle driving, includes: acquiring a first reference wading height at the current moment, where the first reference wading height is the height collected by a sensor; determining whether the vehicle meets preset control conditions based on the first reference wading height and a second reference wading height from the previous moment; if the vehicle meets the preset control conditions, determining a target lifting height for the vehicle's chassis based on the vehicle's location type, the first reference wading height, and the second reference wading height; and controlling the chassis to rise based on the target lifting height. This method can raise the vehicle's chassis when wading through water, minimizing the area of ​​the vehicle covered by water, preventing damage to vehicle components due to prolonged immersion in water, and ensuring vehicle and occupant safety.

Description

Technical Field

[0001] This application relates to the field of vehicle driving, and more specifically, to a control method, control device, and vehicle for vehicle wading in the field of vehicle driving. Background Technology

[0002] When a vehicle encounters flooded areas (such as mountainous terrain, muddy roads, or puddles) or sections of road with heavy rainfall, it may be forced to drive through water. In cases of severe water damage, some vehicle components may rust, age, or malfunction due to prolonged water exposure. This can even cause electronic control units (ECUs) to fail, preventing the vehicle from controlling its operation and jeopardizing the safety of the vehicle and its occupants.

[0003] Therefore, ensuring vehicle safety when wading through water has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides a method, device, and vehicle for controlling vehicle wading through water. The method can raise the chassis of the vehicle when it is wading through water, thereby minimizing the area of ​​the vehicle covered by water, preventing damage to the performance of vehicle components caused by prolonged immersion in water, and ensuring the safety of the vehicle and its occupants.

[0005] In a first aspect, a method for controlling vehicle wading through water is provided. The method includes: acquiring a first reference wading height of the vehicle at the current moment, the first reference wading height being the height collected by a sensor; determining whether the vehicle meets preset control conditions based on the first reference wading height and a second reference wading height of the vehicle at the previous moment; if the vehicle meets the preset control conditions, determining a target lifting height of the vehicle's chassis based on the location type of the vehicle's location, the first reference wading height, and the second reference wading height, the location type being used to indicate whether there are height-restricted objects at the vehicle's location; and controlling the chassis to rise based on the target lifting height.

[0006] The above technical solution proposes a method for controlling vehicle wading through water. It obtains the vehicle's first reference wading height at the current moment, specifically the height collected by sensors. Further, by combining the first reference wading height with the vehicle's second reference wading height at the previous moment, it determines whether the vehicle meets preset control conditions. If the vehicle meets the preset control conditions, the target lifting height of the vehicle's chassis is determined based on the vehicle's current location type, the first reference wading height, and the second reference wading height. The location type indicates whether there are height-restricted objects at the vehicle's location. This method of determining the target lifting height considers both the current environment of the vehicle and the difference between the reference wading heights at two different times, ensuring the accuracy and rationality of the target lifting height determination. Furthermore, controlling the vehicle chassis lifting based on the target lifting height can minimize the vehicle's wading height or allow the vehicle to escape wading conditions, avoiding aging and performance degradation of vehicle components due to prolonged water immersion, while also ensuring vehicle safety and the safety of the occupants.

[0007] In conjunction with the first aspect, in some possible implementations, determining whether a vehicle meets preset control conditions based on the first reference wading height and the vehicle's second reference wading height at the previous moment includes: determining that the vehicle meets the preset control conditions when the first reference wading height is greater than the second reference wading height and the first reference wading height is greater than the first preset height; and determining that the vehicle does not meet the preset control conditions when the first reference wading height is less than or equal to the second reference wading height, or when the first reference wading height is less than or equal to the first preset height.

[0008] The aforementioned technical solution specifically outlines a process for determining whether a vehicle meets preset control conditions. In this application, a critical value for the vehicle's reference wading height can be pre-defined as a first preset height. When both the first reference wading height and the second reference wading height are greater than the first preset height, the vehicle is determined to meet the preset control conditions; otherwise, it is determined that the vehicle does not meet the preset control conditions. The statement that the first reference wading height is greater than the second reference wading height indicates that the water level at the current moment is rising relative to the water level at the previous moment. Simultaneously, the first reference wading height being greater than the first preset height indicates that the vehicle's reference wading height has exceeded the critical value, requiring the chassis to be raised. Therefore, the aforementioned determination process achieves the effect of timely vehicle control based on real-time changes in the reference wading height, preventing severe vehicle damage due to failure to take timely measures when the vehicle is severely flooded.

[0009] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, determining the target lifting height of the vehicle chassis based on the location type of the vehicle's location, the first reference wading height, and the second reference wading height includes: determining a first height difference between the first reference wading height and the second reference wading height; when the location type indicates that there is no height-restricted object at the vehicle's location, determining a predicted lifting height based on the first height difference and a first mapping relationship, wherein the first mapping relationship represents the correspondence between the first height difference and the predicted lifting height; determining the target lifting height as the predicted lifting height; when the location type indicates that there is a height-restricted object at the vehicle's location, obtaining the height restriction height corresponding to the height restriction object; and determining the target lifting height based on the vehicle's current height, the first height difference, and the height restriction height.

[0010] In the above technical solution, when determining the target lifting height of the vehicle chassis, the first height difference between the first reference wading height and the second reference wading height is first calculated to determine the specific degree of water level change between the current and previous moments. Furthermore, when the location type indicates that there are no height-restricted objects at the vehicle's location, it means that the vehicle's location may be an open area. In this case, the target lifting height can be obtained based on the first height difference and the first mapping relationship, thus correlating the vehicle's height increase with the water level difference to achieve precise control over the vehicle's lifting. When the location type indicates that there are height-restricted objects at the vehicle's location, this application can first obtain the height restriction corresponding to the height restriction object, and then combine the vehicle's current height, the first height difference, and the height restriction height to determine the target lifting height. The above process ensures that when there are obstacles at the vehicle's location, the actual location's impact on chassis lifting is considered, avoiding conflicts between the target lifting height and height-restricted objects.

[0011] In conjunction with the first aspect and the above-described implementation methods, in some possible implementation methods, determining the target lifting height based on the vehicle's current height, the first height difference, and the height restriction includes: determining the predicted lifting height based on the first height difference and the first mapping relationship; determining the second height difference between the height restriction and the second preset height; determining the sum of the vehicle's current height and the predicted lifting height; if the sum is less than or equal to the second height difference, determining the target lifting height as the predicted lifting height; if the sum is greater than the second height difference, determining the third height difference between the second height difference and the vehicle's current height; and determining the target lifting height as the third height difference.

[0012] In the above technical solution, when determining the target lifting height based on the vehicle's current height, a first height difference, and a height restriction, the predicted lifting height is first obtained by combining the first height difference and a first mapping relationship. To consider the safety of height-restricted objects, this application can set a second preset height, thus using the second height difference corresponding to the height restriction and the second preset height as the maximum height the vehicle can rise to when a height-restricted object is present. Further, by using the vehicle's current height and the predicted lifting height, the ideal height reached by the vehicle after lifting is obtained and compared with the second height difference. If the sum is less than or equal to the second height difference, the predicted lifting height is determined as the target lifting height. If the sum is greater than the second height difference, a third height difference between the second height difference and the vehicle's current height is determined as the target lifting height, thereby ensuring vehicle safety during the lifting process when a height-restricted object is present, as well as the accuracy and rationality of the target lifting height determination.

[0013] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, before controlling the chassis to rise based on the target lifting height, the method further includes: acquiring the vehicle speed; and controlling the chassis to rise based on the target lifting height includes: controlling the chassis to rise to the target lifting height when the vehicle speed is less than or equal to a preset vehicle speed; controlling the vehicle speed to decrease to the preset vehicle speed when the vehicle speed is greater than the preset vehicle speed; and controlling the chassis to rise to the target lifting height.

[0014] In the above technical solution, before controlling the vehicle chassis to rise, this application can first obtain the vehicle speed. When the vehicle speed is less than or equal to a preset speed, the chassis is directly controlled to rise to the target height. When the vehicle speed is greater than the preset speed, the vehicle speed is first controlled to decrease to the preset speed before controlling the chassis to rise. This takes into account the influence of vehicle speed on chassis raising, avoiding vehicle instability caused by directly raising the chassis at excessive speed, thus ensuring the safety of the vehicle and its occupants.

[0015] In combination with the first aspect and the above implementation methods, in some possible implementation methods, obtaining the first reference wading height of the vehicle at the current moment includes: obtaining the first reference wading height in response to a triggering operation of the vehicle's wading control function, wherein the triggering operation includes any one of a click operation, a voice command, a rotation operation, and a gesture adjustment operation.

[0016] The above technical solution proposes a method for obtaining a first reference wading height, which can be obtained in response to a trigger operation of the vehicle's wading control function. The trigger operation includes any one of the following: a click operation, a voice command, a rotation operation, and a gesture adjustment operation. Therefore, the above process not only ensures automated control of the vehicle's wading control, but also guarantees the diversity and flexibility of triggering methods during automated control.

[0017] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, the sensor includes a pressure sensor and a liquid level sensor, and the acquisition of the first reference wading height of the vehicle at the current moment includes: acquiring the pressure collected by the pressure sensor on the vehicle at the current moment; determining the first reference wading height based on the pressure; and / or acquiring the first reference wading height collected by the liquid level sensor.

[0018] The above technical solution proposes two methods for obtaining the first reference wading height. The first method involves collecting the vehicle's pressure at the current moment using a pressure sensor, and then obtaining the first reference wading height based on the pressure. The second method involves obtaining the first reference wading height from a liquid level sensor. These two methods ensure the flexibility of the first reference wading height and avoid the monotony of using only one method.

[0019] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, after controlling the chassis to rise based on the target lifting height, the method further includes: acquiring a preset number of third reference wading heights continuously collected; for any third reference wading height among the plurality of third reference wading heights, if the third reference wading height is less than or equal to the first reference wading height and the third reference wading height is less than or equal to the first preset height, determining a fourth height difference between the first reference wading height and the third reference wading height; determining a target descent height for the chassis based on the fourth height difference; and controlling the chassis to descend based on the target descent height.

[0020] In the above technical solution, after controlling the vehicle chassis to rise, this application also proposes a method for controlling the chassis to descend. Specifically, after raising the vehicle, multiple third reference wading heights are continuously collected at a preset number. When multiple third reference wading heights are all less than or equal to the first reference wading height and multiple third reference wading heights are all less than or equal to the first preset height, it is determined that the vehicle no longer poses a safety hazard, and the chassis can be controlled to descend. Thus, by collecting multiple third reference wading heights, the above process can ensure accurate judgment of the timing of chassis descent through multiple judgments and comparisons, achieving accurate and reasonable control of vehicle raising and lowering.

[0021] In summary, this application proposes a method for controlling vehicle wading through water. It obtains the vehicle's first reference wading height at the current moment, specifically the height collected by sensors. Further, by combining the first reference wading height with the vehicle's second reference wading height at the previous moment, it determines whether the vehicle meets preset control conditions. If the vehicle meets the preset control conditions, the target lifting height of the vehicle's chassis is determined based on the vehicle's current location type, the first reference wading height, and the second reference wading height. The location type indicates whether there are height-restricted objects at the vehicle's location. This method of determining the target lifting height considers both the current environment of the vehicle and the difference between the reference wading heights at two different times, ensuring the accuracy and rationality of the target lifting height determination. Furthermore, controlling the vehicle chassis lifting based on the target lifting height can minimize the vehicle's wading height or allow the vehicle to escape wading conditions, avoiding aging and performance degradation of vehicle components due to prolonged water immersion, while also ensuring vehicle safety and the safety of the occupants.

[0022] Specifically, in determining whether a vehicle meets the preset control conditions, this application pre-defines a critical value for the vehicle's reference wading height as the first preset height. When both the first reference wading height and the second reference wading height are greater than the first preset height, the vehicle is determined to meet the preset control conditions; otherwise, it is determined that the vehicle does not meet the preset control conditions. The statement that the first reference wading height is greater than the second reference wading height indicates that the water level at the current moment is rising relative to the water level at the previous moment. Simultaneously, the statement that the first reference wading height is greater than the first preset height indicates that the vehicle's reference wading height has exceeded the critical value, requiring the chassis to be raised. Therefore, the above determination process can achieve the effect of timely vehicle control based on real-time changes in the reference wading height, avoiding serious vehicle damage due to failure to take timely measures when the vehicle is severely flooded.

[0023] When determining the target lifting height of the vehicle chassis, the first step is to calculate the first height difference between the first reference wading height and the second reference wading height to determine the specific degree of water level change between the current and previous moments. Furthermore, when the location type indicates that there are no height-restricted objects at the vehicle's location, it means that the vehicle's location may be an open area. In this case, the target lifting height can be obtained based on the first height difference and the first mapping relationship, thus correlating the vehicle's height increase with the water level difference to achieve precise control over the vehicle's lifting. When the location type indicates that there are height-restricted objects at the vehicle's location, this application first obtains the height restriction corresponding to the height restriction object, and then combines the vehicle's current height, the first height difference, and the height restriction height to determine the target lifting height. The above process ensures that when there are obstacles at the vehicle's location, the actual location's impact on chassis lifting is considered, avoiding conflicts between the target lifting height and height-restricted objects.

[0024] When determining the target lifting height based on the vehicle's current height, a first height difference, and the height restriction, the predicted lifting height is first obtained by combining the first height difference and a first mapping relationship. To consider the safety of the height-restricted object, this application can set a second preset height, thus using the second height difference corresponding to the height restriction and the second preset height as the maximum height the vehicle can rise to when the height-restricted object is present. Further, by using the vehicle's current height and the predicted lifting height, the ideal height reached by the vehicle after lifting is obtained and compared with the second height difference. If the sum is less than or equal to the second height difference, the predicted lifting height is determined as the target lifting height. If the sum is greater than the second height difference, a third height difference between the second height difference and the vehicle's current height is determined as the target lifting height, thereby ensuring vehicle safety during the lifting process when a height-restricted object is present, as well as the accuracy and rationality of the target lifting height determination.

[0025] Before raising the vehicle chassis, this application can first obtain the vehicle speed. When the vehicle speed is less than or equal to a preset speed, the chassis is directly raised to the target lifting height. When the vehicle speed is greater than the preset speed, the vehicle speed is first reduced to the preset speed before the chassis is raised. This takes into account the impact of vehicle speed on chassis raising, avoiding vehicle instability caused by directly raising the chassis at excessive speed, thus ensuring the safety of the vehicle and its occupants.

[0026] Furthermore, this application proposes a method for obtaining a first reference wading height, which can be obtained in response to a trigger operation of the vehicle's wading control function. The trigger operation includes any one of a click operation, voice command, rotation operation, and gesture adjustment operation. Therefore, the above process not only ensures automated control of the vehicle's wading control, but also guarantees the diversity and flexibility of triggering methods when using automated control.

[0027] When obtaining the first reference wading height, there are two methods: First, a pressure sensor is used to collect the vehicle's pressure at the current moment, and the first reference wading height is obtained based on this pressure. Second, a level sensor is used to collect the first reference wading height. These two methods ensure the flexibility of obtaining the first reference wading height and avoid the monotony of using only one method.

[0028] After raising the vehicle chassis, this application also proposes a method for lowering the chassis. Specifically, after raising the vehicle, multiple preset third reference wading heights are continuously collected. When all the third reference wading heights are less than or equal to the first reference wading height and all the third reference wading heights are less than or equal to the first preset height, it is determined that the vehicle no longer poses a safety hazard, and the chassis can be lowered. Thus, by collecting multiple third reference wading heights, the above process can ensure accurate judgment of the timing of chassis descent through multiple judgments and comparisons, achieving accurate and reasonable control of vehicle raising and lowering.

[0029] Secondly, a vehicle wading control device is provided, comprising: a first acquisition module for acquiring a first reference wading height of the vehicle at the current moment, the first reference wading height being the height collected by a sensor; a judgment module for determining whether the vehicle meets preset control conditions based on the first reference wading height and the vehicle's second reference wading height at the previous moment; a determination module for determining, when the vehicle meets the preset control conditions, a target lifting height of the vehicle's chassis based on the location type of the vehicle's location, the first reference wading height, and the second reference wading height, the location type indicating whether there are height-restricted objects at the vehicle's location; and a first control module for controlling the chassis to rise based on the target lifting height.

[0030] In conjunction with the second aspect, in some possible implementations, the judgment module is specifically used to: determine that the vehicle meets the preset control conditions when the first reference wading height is greater than the second reference wading height and the first reference wading height is greater than the first preset height; and determine that the vehicle does not meet the preset control conditions when the first reference wading height is less than or equal to the second reference wading height, or when the first reference wading height is less than or equal to the first preset height.

[0031] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the determining module is specifically used to: determine a first height difference between the first reference wading height and the second reference wading height; when the location type indicates that there is no height-restricted object at the vehicle's location, determine a predicted lifting height based on the first height difference and a first mapping relationship, wherein the first mapping relationship is used to represent the correspondence between the first height difference and the predicted lifting height; determine the target lifting height as the predicted lifting height; when the location type indicates that there is a height-restricted object at the vehicle's location, obtain the height restriction height corresponding to the height restriction object; and determine the target lifting height based on the vehicle's current height, the first height difference, and the height restriction height.

[0032] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the determining module is further configured to: determine the predicted lifting height based on the first height difference and the first mapping relationship; determine the second height difference between the height limit height and the second preset height; determine the sum of the current height of the vehicle and the predicted lifting height; if the sum is less than or equal to the second height difference, determine the target lifting height as the predicted lifting height; if the sum is greater than the second height difference, determine the third height difference between the second height difference and the current height of the vehicle; and determine the target lifting height as the third height difference.

[0033] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, before controlling the chassis to rise based on the target lifting height, the device further includes: a second acquisition module for acquiring the vehicle speed; and the control module is specifically used to: control the chassis to rise to the target lifting height when the vehicle speed is less than or equal to a preset vehicle speed; control the vehicle speed to decrease to the preset vehicle speed when the vehicle speed is greater than the preset vehicle speed; and control the chassis to rise to the target lifting height.

[0034] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the first acquisition module is specifically used to: acquire the first reference wading height in response to a trigger operation of the vehicle's wading control function, wherein the trigger operation includes any one of a click operation, a voice command, a rotation operation, and a gesture adjustment operation.

[0035] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the sensor includes a pressure sensor and a liquid level sensor, and the acquisition module is further configured to: acquire the pressure collected by the pressure sensor on the vehicle at the current moment; determine the first reference wading height based on the pressure; and / or acquire the first reference wading height collected by the liquid level sensor.

[0036] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, after controlling the chassis to rise based on the target lifting height, the device further includes: a second control module, configured to acquire a plurality of continuously collected preset number of third reference wading heights; for any third reference wading height among the plurality of third reference wading heights, if the third reference wading height is less than or equal to the first reference wading height and the third reference wading height is less than or equal to the first preset height, determine a fourth height difference between the first reference wading height and the third reference wading height; determine the target descent height of the chassis based on the fourth height difference; and control the chassis to descend based on the target descent height.

[0037] Thirdly, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the methods described in the first aspect or any possible implementation thereof.

[0038] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0039] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of a vehicle wading through water, provided in an embodiment of this application;

[0041] Figure 2 This is a schematic flowchart of a vehicle wading control method provided in an embodiment of this application;

[0042] Figure 3 This is a schematic diagram of a scenario for collecting a first reference wading height, provided in an embodiment of this application.

[0043] Figure 4 This is a schematic diagram of the structure of a vehicle wading control device provided in an embodiment of this application;

[0044] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0045] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0046] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0047] Figure 1 This is a schematic diagram of a vehicle wading through water, provided in an embodiment of this application.

[0048] For example, such as Figure 1 As shown, when vehicle 101 is traveling on road 102, encountering flooded sections may cause vehicle 101 to wade through water. When vehicle 101 wades through water, on the one hand, water splashes up during its movement, obstructing the driver's view and creating significant resistance, affecting normal driving. On the other hand, if the water level 103 is high, major components inside vehicle 101 may be submerged for extended periods, potentially leading to corrosion and rust, rendering them unusable and severely impacting the lifespan of vehicle 101.

[0049] Based on the above, this application proposes a vehicle wading control method that can raise the vehicle chassis when the vehicle is wading, thereby minimizing the area of ​​the vehicle covered by water, preventing damage to the performance of vehicle components caused by prolonged immersion in water, and ensuring the safety of the vehicle and its occupants.

[0050] The following describes a vehicle wading control method provided by an embodiment of this application.

[0051] Figure 2 This is a schematic flowchart illustrating a vehicle wading control method provided in an embodiment of this application. It should be understood that this method can be applied to... Figure 1The method can be applied to any electronic control unit (ECU) in the vehicle 101. The following embodiment of this application takes the ECU executing the method as the vehicle control unit (VCU, also known as the "vehicle controller") as an example to describe in detail the vehicle wading control method provided by this embodiment.

[0052] For example, such as Figure 2 As shown, the method 200 includes:

[0053] 201. Obtain the vehicle's first reference wading height at the current moment. The first reference wading height is the height collected by the sensor.

[0054] It should be understood that the "current moment" in this application embodiment specifically refers to any moment when the method flow needs to be executed. When it is necessary to determine whether the vehicle is in danger of wading through water at the current moment, the VCU can do so by collecting the vehicle's first reference wading height at the current moment.

[0055] It should also be understood that the vehicle wading control method provided in this application is an intelligent control method. Compared with the manual control method by the driver, the control process of this application can reduce the driver's workload and does not interfere with the driver's driving process.

[0056] Specifically, in this embodiment, the intelligent control method can be achieved by activating the wading control function in the vehicle. After the wading control function is activated, the VCU can obtain the vehicle's first reference wading height at the current moment when wading control is required.

[0057] One possible implementation involves obtaining the vehicle's first reference wading depth at the current moment, including:

[0058] In response to a triggering operation of the vehicle's wading control function, a first reference wading height is obtained. The triggering operation includes any one of a click operation, a voice command, a rotation operation, and a gesture adjustment operation.

[0059] The trigger operation is used to activate the water wading control function.

[0060] For example, if a vehicle is equipped with a physical button for wading control, the driver can select the button by clicking it. The VCU receives the click operation and, in response, activates the wading control function.

[0061] In another example, if a vehicle is equipped with a virtual button for wading control, the driver can click to control the vehicle's display device to show the configuration interface for the wading control function. This configuration interface displays the virtual button for wading control. The driver can select this virtual button by clicking, and the VCU receives and responds to this click by activating the wading control function.

[0062] As another example, in the case of a vehicle equipped with a physical knob for wading control, the driver can rotate the physical knob to the on position. The VCU receives this rotation operation and, in response, activates the wading function.

[0063] Another example is when the vehicle's remote key has a physical button for wading control. When the driver enters the signal range of the remote key, the driver can select the physical button by clicking it, and the transmitter in the remote key can emit a signal. The receiver in the vehicle receives the signal and sends a value to the VCU. The VCU demodulates and matches the received signal. When the signals match, the VCU can control the wading function to be activated.

[0064] In another example, when a virtual button for wading control is configured in a vehicle control application (App), and the driver's terminal device establishes a connection with the vehicle (e.g., via Bluetooth), the driver can select the virtual button on the terminal device by clicking it. Based on this click, the terminal device generates an activation command for the wading control function and sends it to the VCU in the vehicle via the vehicle's Telematics Service Provider (TSP) and the vehicle's Telematics Box (T-Box). The VCU responds to the activation command sent by the terminal device and activates the wading control function.

[0065] Another example is that after the VCU has pre-stored the image of the gesture adjustment operation corresponding to the wading control function, the driver can make the gesture adjustment operation. When the VCU obtains the image of the driver through the image acquisition device in the vehicle (such as a camera) and successfully matches it, it controls the wading control function to be activated.

[0066] As another example, the driver can also activate the wading control function via voice command, such as "activate wading control function". After receiving the voice command, the VCU can activate the wading control function.

[0067] The above technical solution proposes a method for obtaining a first reference wading height, which can be obtained in response to a trigger operation of the vehicle's wading control function. The trigger operation includes any one of the following: a click operation, a voice command, a rotation operation, and a gesture adjustment operation. Therefore, the above process not only ensures automated control of the vehicle's wading control, but also guarantees the diversity and flexibility of triggering methods during automated control.

[0068] It should be understood that in the embodiments of this application, the first reference wading height specifically refers to the height data collected by the sensor.

[0069] Specifically, during sensor installation, there is a corresponding reference position or reference height, which is the height of the sensor above the ground. The reference height of the sensor installation can be adjusted according to actual data collection needs. After the sensor is installed, during data collection, if the first reference wading height has reached the range that the sensor can collect, that is, the first reference wading height has exceeded the sensor's reference position, the data collected by the sensor is valid. Based on the first reference wading height collected by the sensor and the sensor's reference position, the water level height when the vehicle is wading can be calculated. In another case, if the first reference wading height has not reached the range that the sensor can collect, that is, the first reference wading height has not exceeded the sensor's reference position, the data collected by the sensor is invalid. In this case, this embodiment assumes that the current vehicle wading situation is not serious and no action is taken.

[0070] Generally, to ensure the sensor's data collection range is applicable to various vehicle wading scenarios, technicians can broaden the sensor's range by incorporating a large amount of height data collected during actual vehicle wading. Therefore, in wading situations, the first reference wading height typically does not exceed the sensor's data collection range.

[0071] Optionally, the types of sensors include pressure sensors and level sensors, and the process by which different sensors obtain the first reference wading height is slightly different.

[0072] Optionally, this application embodiment does not limit the number of pressure sensors or liquid level sensors.

[0073] One possible implementation involves obtaining the first reference wading height, including:

[0074] Acquire the pressure experienced by the vehicle at the current moment, as collected by the pressure sensor;

[0075] Determine the first reference wading height based on pressure; and / or,

[0076] Obtain the first reference wading height collected by the liquid level sensor.

[0077] For example, when the type of sensor is a pressure sensor and the number of pressure sensors is one, the VCU can specifically obtain the first reference wading height by the following formula (1).

[0078] P=ρgh formula (1)

[0079] In formula (1):

[0080] P: Pressure of the vehicle at the current moment as measured by the pressure sensor, in Pascals (Pa);

[0081] ρ: Density of water, unit: kilograms per cubic meter (Kg / m³) 3 The value is 1000 kg / m 3 ;

[0082] g: acceleration due to gravity, unit: meters per second 2 m / s 2 The value is 9.8 m / s 2 ;

[0083] h: First reference wading height, unit: meters (m).

[0084] Based on the above formula, the VCU can obtain the first reference wading height. For example, assuming the vehicle's pressure at the current moment is 980 Pa, the first reference wading height can be calculated as h = 980 / (9.8 * 1000) = 0.1 m = 10 cm.

[0085] Another example is that when the type of sensor is a pressure sensor and there are multiple pressure sensors, the VCU can also obtain the reference wading height collected by each pressure sensor through the above formula (1), and calculate the average value of multiple reference wading heights or take the maximum value as the first reference wading height.

[0086] As another example, when the type of sensor is a liquid level sensor and the number of liquid level sensors is one, the VCU directly acquires the first reference wading height through the liquid level sensor.

[0087] In another example, when the type of sensor is a liquid level sensor and there are multiple liquid level sensors, the VCU obtains multiple reference wading heights collected by multiple liquid level sensors, and takes the average or the maximum value of multiple reference wading heights to obtain the first reference wading height.

[0088] It should be understood that regardless of whether the sensor is a pressure sensor or a level sensor, when there are multiple sensors, whether the first reference wading height is the average or the maximum of these multiple reference wading heights can be determined by the vehicle's driving status. The vehicle's driving status specifically refers to the road slope during vehicle movement. For example, when the vehicle's slope indicates that it is on a level road, the front and rear of the vehicle contact the same water level during wading; in this case, the average of the multiple reference wading heights can be taken as the first reference wading height. When the vehicle's slope indicates that it is on an uphill or downhill section, the front and rear of the vehicle are not at the same level, and the water levels they contact are also different; in this case, the maximum of the multiple reference wading heights can be taken as the first reference wading height.

[0089] As another example, when the types of sensors include both level sensors and pressure sensors, the VCU can collect two acquisition results through the two types of sensors respectively, and then take the average value as the first reference wading height.

[0090] Figure 3 This is a schematic diagram of a scenario for collecting a first reference wading height, provided in an embodiment of this application.

[0091] For example, such as Figure 3 As shown, a sensor 104 is installed in the vehicle 101. Regardless of whether the sensor 104 is a pressure sensor or a liquid level sensor, it can acquire the first reference wading height through the aforementioned corresponding acquisition methods. Figure 3 As shown, H1 is the first reference wading height, and H2 represents the height of the sensor above the ground, i.e., the reference height of the sensor. Therefore, for vehicle 101, the height of the water surface 103 (that is, the height of the tires of vehicle 101 above the water surface 103) is H1 + H2.

[0092] The above technical solution proposes two methods for obtaining the first reference wading height. The first method involves collecting the vehicle's pressure at the current moment using a pressure sensor, and then obtaining the first reference wading height based on the pressure. The second method involves obtaining the first reference wading height from a liquid level sensor. These two methods ensure the flexibility of the first reference wading height and avoid the monotony of using only one method.

[0093] Through the above process, the VCU can obtain the first reference wading height.

[0094] 202. Based on the first reference wading height and the vehicle's second reference wading height at the previous moment, determine whether the vehicle meets the preset control conditions.

[0095] Generally, determining whether the water level (or water surface) has risen can be achieved by comparing the water levels at two different times. Based on the above method, this embodiment of the application can control a vehicle's wading through water by using a first reference wading height at the current time and a second reference wading height at the previous time.

[0096] Optionally, the time difference between the current moment and the previous moment can be the sensor's acquisition period or a water wading control time period preset by the technician. This application embodiment does not limit this.

[0097] The process for acquiring the second reference fording height is exactly the same as that for acquiring the first reference fording height, as detailed in the preceding text, and will not be repeated here. Based on the historical reference fording heights, the VCU can obtain the second reference fording height at the previous moment.

[0098] In one possible implementation, after obtaining the second reference wading height, the VCU can determine whether the vehicle meets preset control conditions based on the first and second reference wading heights, specifically including:

[0099] If the first reference wading height is greater than the second reference wading height, and the first reference wading height is greater than the first preset height, then the vehicle is determined to meet the preset control conditions.

[0100] If the first reference wading height is less than or equal to the second reference wading height, or if the first reference wading height is less than or equal to the first preset height, it is determined that the vehicle does not meet the preset control conditions.

[0101] It should be understood that if the first reference wading height is greater than the second reference wading height, it indicates that the current water level is higher than the previous water level. In this case, it is also necessary to further consider whether the current water level meets the wading control conditions. If the current water level is higher than the previous water level, but the vehicle is still in a safe condition, the VCU (Vehicle Control Unit) does not need to control the vehicle. Similarly, if the current water level is less than or equal to the previous water level, it indicates that the water level is lower, and when determining whether the vehicle needs to descend, it is also necessary to consider whether the vehicle is currently in a safe condition.

[0102] Specifically, the first preset height can be determined based on the maximum wading height (i.e., the vehicle's wading depth standard) pre-calibrated during the vehicle's manufacturing process and the sensor's position above the ground.

[0103] The maximum wading depth is usually related to the vehicle type. For example, the maximum wading depth of a regular car is usually 20-30cm, that of a rugged off-road vehicle is usually 70-100cm, and that of a sport utility vehicle (SUV) is usually 30-60cm. For ease of explanation in this embodiment, the maximum wading depth of the vehicle is denoted as "H".

[0104] For example, such as Figure 3 As shown, the first reference wading height is H1, and the sensor's height above the ground is H2. Based on the vehicle's maximum wading height H, this embodiment determines a first preset height H3 = H - H2 - x. Here, x is set to account for situations where the water surface is dynamic, potentially splashing to a higher height, causing the water level to exceed the maximum wading height. Optionally, in this embodiment, x is set to 10 cm, but it can be adjusted according to actual needs. Therefore, in this embodiment, the first preset height H3 = H - H2 - 10.

[0105] For example, assuming the vehicle in this embodiment is an SUV with a maximum wading depth H of 40cm and H2 of 20cm, then the first preset height H3 = 10cm. If the sensor collects a first reference wading depth of H1 = 15cm, and the previous second reference wading depth was 10cm, then the first reference wading depth is greater than the second reference wading depth, and the first reference wading depth is also greater than the first preset height, indicating that the vehicle meets the preset control conditions.

[0106] If the sensor collects H1 = 10cm, and the second reference wading height at the previous moment was 15cm, then it is determined that the vehicle does not meet the preset control conditions.

[0107] The aforementioned technical solution specifically outlines a process for determining whether a vehicle meets preset control conditions. In this application, a critical value for the vehicle's reference wading height can be pre-defined as a first preset height. When both the first reference wading height and the second reference wading height are greater than the first preset height, the vehicle is determined to meet the preset control conditions; otherwise, it is determined that the vehicle does not meet the preset control conditions. The statement that the first reference wading height is greater than the second reference wading height indicates that the water level at the current moment is rising relative to the water level at the previous moment. Simultaneously, the first reference wading height being greater than the first preset height indicates that the vehicle's reference wading height has exceeded the critical value, requiring the chassis to be raised. Therefore, the aforementioned determination process achieves the effect of timely vehicle control based on real-time changes in the reference wading height, preventing severe vehicle damage due to failure to take timely measures when the vehicle is severely flooded.

[0108] 203. When the vehicle meets the preset control conditions, the target lifting height of the vehicle chassis is determined according to the location type of the vehicle's location, the first reference wading height, and the second reference wading height. The location type is used to indicate whether there are height-restricted objects at the vehicle's location.

[0109] When step 202 determines that the vehicle meets the preset control conditions, it indicates that the VCU needs to control the vehicle wading through water. During the control process, this embodiment primarily raises the vehicle body by controlling the vehicle's chassis.

[0110] It should be understood that during the chassis raising process, it is also necessary to consider whether there are height-restricted objects (obstacles) around the vehicle based on its location. For example, when the vehicle is driving on an open and spacious road, there are no height restrictions during the chassis raising process. However, when the vehicle is parked in an underground garage, the garage height is limited, and the impact of the garage height must be taken into account when raising the chassis.

[0111] In one possible implementation, when the VCU determines the target lifting height of the chassis based on the vehicle's location type, a first reference wading depth, and a second reference wading depth, it specifically includes:

[0112] Determine the first height difference between the first reference wading height and the second reference wading height;

[0113] When the location type indicates that there are no height-restricted objects at the vehicle's location, the predicted lifting height is determined based on the first height difference and the first mapping relationship. The first mapping relationship is used to represent the correspondence between the first height difference and the predicted lifting height.

[0114] The target ascent height is determined as the predicted ascent height;

[0115] If the location type indicates that there is a height restriction object at the vehicle's location, obtain the height restriction height corresponding to the height restriction object; determine the target lifting height based on the vehicle's current height, the first height difference, and the height restriction height.

[0116] When determining the required lifting height of the chassis, the height of the water level rise between the previous moment and the current moment can be determined based on the first and second reference wading heights. The vehicle can then be controlled appropriately based on the height of the water level rise.

[0117] For example, regarding the location type of the vehicle's current position, the VCU can first acquire image information of the vehicle's current position through image acquisition devices installed in the vehicle (such as external cameras, lidar, millimeter-wave radar, etc.), analyze and identify the image to obtain the location type of the current position, that is, whether the vehicle's current position is occupied by a height-limited object.

[0118] For example, assuming the first reference wading height is 15cm and the second reference wading height is 10cm, the VCU can determine that the first height difference is 5cm.

[0119] In this embodiment of the application, technicians can, based on experience, pre-set the correspondence between the lifting height of the chassis and the unit height difference of the water surface at adjacent times.

[0120] In one scenario, when the vehicle is located in an area without height restrictions (e.g., in an open area), after obtaining the first height difference, the VCU can determine the first mapping relationship corresponding to the current first height difference based on the aforementioned correspondence, thus obtaining the corresponding target lifting height. For example, if the unit height difference is 2.5cm, and the corresponding chassis lifting height is 2cm, then when the first height difference is 5cm, the VCU can determine the target lifting height as 4cm based on the first mapping relationship: first height difference 5cm - target lifting height 4cm.

[0121] In another scenario, when the vehicle is located in an area with height restrictions (such as in an underground parking garage or tunnel), the VCU needs to obtain the height restriction height of the object before calculating the target's rising height.

[0122] For example, regarding height restrictions, warning signs are often posted on roads indicating these restrictions. In such cases, the VCU can use road images captured by an image acquisition device to perform text recognition and determine the height restriction. Furthermore, the VCU can also obtain the height restriction of the vehicle's current location on the navigation map based on the navigation controller.

[0123] After obtaining the height limit, this embodiment of the application can combine the vehicle's current height, the first height difference, and the height limit to calculate the target lifting height that the chassis needs to be raised.

[0124] In the above technical solution, when determining the target lifting height of the vehicle chassis, the first height difference between the first reference wading height and the second reference wading height is first calculated to determine the specific degree of water level change between the current and previous moments. Furthermore, when the location type indicates that there are no height-restricted objects at the vehicle's location, it means that the vehicle's location may be an open area. In this case, the target lifting height can be obtained based on the first height difference and the first mapping relationship, thus correlating the vehicle's height increase with the water level difference to achieve precise control over the vehicle's lifting. When the location type indicates that there are height-restricted objects at the vehicle's location, this application can first obtain the height restriction corresponding to the height restriction object, and then combine the vehicle's current height, the first height difference, and the height restriction height to determine the target lifting height. The above process ensures that when there are obstacles at the vehicle's location, the actual location's impact on chassis lifting is considered, avoiding conflicts between the target lifting height and height-restricted objects.

[0125] Specifically, when determining the target lifting height based on the vehicle's current height, the first height difference, and the height restriction, the following steps are taken:

[0126] The predicted lift height is determined based on the first height difference and the first mapping relationship;

[0127] Determine the difference between the height limit and the second preset height;

[0128] The sum of the vehicle's current height and the predicted lifting height;

[0129] If the summation result is less than or equal to the second height difference, the target ascent height is determined as the predicted ascent height;

[0130] If the summation result is greater than the second height difference, determine the third height difference between the second height difference and the vehicle's current height; determine the target's rising height as the third height difference.

[0131] In this application, the current vehicle height can be understood as the sum of the initial vehicle height before the chassis is raised and the height of the vehicle chassis after it is raised. The initial vehicle height refers to the height difference between the bottom of the tires (i.e., the ground) and the highest point of the vehicle. Generally, when a vehicle is parked on a level road, the highest point of the vehicle is at the middle of the vehicle body.

[0132] For example, for a vehicle, with a fixed model, the vehicle height, tire type, and other parameters are all fixed. Therefore, the VCU can obtain the initial vehicle height based on the vehicle's own configuration information.

[0133] Regarding the height the chassis has risen, if the vehicle chassis has never risen at the current moment, the current vehicle height is equal to the initial vehicle height. If the vehicle chassis has risen at the current moment, the VCU can accumulate historical data from each chassis rise to obtain the historical rise height of the chassis during the historical rise process. Combining the historical rise height with the initial vehicle height, the current vehicle height is obtained.

[0134] The method described above for determining the vehicle's current height can be applied to driving scenarios on roads without inclines. When a vehicle is traveling uphill or downhill, it is tilted, and the highest point may be either the front or rear of the vehicle. To ensure the accuracy of the vehicle's current height determination, external LiDAR sensors can be used to scan and obtain the vehicle's current height. Specifically, the VCU can obtain the distances from the LiDAR scans at the front, rear, and sides of the vehicle.

[0135] Since LiDAR scanning obtains the distance between different parts of the vehicle and the height limit, the VCU can select the vehicle height corresponding to the minimum distance as the current vehicle height after obtaining different distances.

[0136] For example, suppose the height restriction at the current location of the vehicle is 300cm. The VCU obtains the following distances from the LiDAR sensors: 50cm for the front, 150cm for the body, and 250cm for the rear. The front LiDAR sensor has the shortest distance, indicating the front of the vehicle is closest to the height restriction object, suggesting the vehicle may be on an uphill section. Furthermore, by calculating the difference between the height restriction and the minimum distance, the vehicle's current height can be calculated as 300 - 50 = 250cm.

[0137] Since height restrictions may affect chassis lifting, the VCU can determine the maximum height the vehicle can reach when there is a height restriction at its location by using the height restriction height and a second preset height. The purpose of setting the second preset height is to allow for some leeway and space when the vehicle is raised. Optionally, in this embodiment, the second preset height is 50cm.

[0138] Assuming the height limit is 250cm, then the VCU can obtain a second height difference of 200cm.

[0139] For example, after obtaining the first height difference between the first reference wading height and the second reference wading height, the VCU can obtain the predicted lift height of the vehicle chassis based on the aforementioned first mapping relationship. The predicted lift height is essentially the target lift height when the vehicle is positioned on an infinitely tall object.

[0140] The VCU can sum the current vehicle height and the predicted lift height, which is the ideal height that the vehicle can reach when the chassis is raised.

[0141] Assuming the current vehicle height is 185cm and the predicted lift height is 4cm, the sum of the two is 189cm, which is less than or equal to the second height difference of 200cm. This means that the vehicle chassis will not exceed the critical height (second height difference) set for the height limit this time. At this time, the predicted lift height can be directly used as the target lift height.

[0142] Assuming the vehicle's current height is 197cm and the predicted lift height is 4cm, the sum of these two values ​​is 201cm, which is greater than the second height difference of 200cm. This indicates that the vehicle chassis will lift more than the second height difference. In this case, the VCU can redetermine the third height difference based on the second height difference and the vehicle's current height, using this third height difference as the target lift height. Specifically, if the second height difference is 200cm, the current vehicle height is 197cm, and the third height difference is 3cm, then the target lift height is 3cm.

[0143] If the summation result is greater than the second height difference, in order to prevent vehicle safety issues caused by the chassis not rising as expected, a target prompt message can be generated to remind the driver that the current vehicle chassis has not risen as ideally calculated, so that the driver can take timely preventive measures and handle the situation.

[0144] For example, the VCU can generate target prompt information based on the predicted rise height and the target rise height, such as "predicted rise height is 4cm, target rise height is 3cm".

[0145] The VCU can control the vehicle's display device to show the target prompt information, or the vehicle's audio playback device to broadcast the target prompt information. Alternatively, the VCU can also send the target prompt information to the driver's terminal device via T-Box and TSP to achieve the purpose of prompting the driver.

[0146] In the above technical solution, when determining the target lifting height based on the vehicle's current height, a first height difference, and a height restriction, the predicted lifting height is first obtained by combining the first height difference and a first mapping relationship. To consider the safety of height-restricted objects, this application can set a second preset height, thus using the second height difference corresponding to the height restriction and the second preset height as the maximum height the vehicle can rise to when a height-restricted object is present. Further, by using the vehicle's current height and the predicted lifting height, the ideal height reached by the vehicle after lifting is obtained and compared with the second height difference. If the sum is less than or equal to the second height difference, the predicted lifting height is determined as the target lifting height. If the sum is greater than the second height difference, a third height difference between the second height difference and the vehicle's current height is determined as the target lifting height, thereby ensuring vehicle safety during the lifting process when a height-restricted object is present, as well as the accuracy and rationality of the target lifting height determination.

[0147] 204. Based on the target lifting height, control the chassis height.

[0148] Through step 203, the VCU can obtain the target lifting height that the chassis needs to be raised.

[0149] When controlling the vehicle by raising it to the target height, in order to ensure the safety of the vehicle, it is also necessary to take into account the vehicle speed to prevent the vehicle body from becoming unstable due to excessive speed raising the chassis.

[0150] In one possible implementation, the process of controlling the chassis lifting is specifically as follows:

[0151] Get the vehicle's speed;

[0152] And, based on the target lifting height, control the chassis rise, including:

[0153] When the vehicle speed is less than or equal to the preset vehicle speed, control the chassis to raise the target lifting height;

[0154] If the vehicle speed is greater than the preset speed, control the vehicle speed to decrease to the preset speed; control the chassis to raise the target lifting height.

[0155] For example, the VCU can collect the vehicle speed through the vehicle speed sensor. Assuming the preset speed is 10 km / h and the actual vehicle speed is 5 km / h, the VCU can directly control the vehicle chassis to raise to the target lifting height. Assuming the speed is 30 km / h, which is 10 km / h higher than the preset speed, the VCU can first control the vehicle speed to decrease to the preset speed of 10 km / h, and then control the chassis to raise to the target lifting height.

[0156] In the above technical solution, before controlling the vehicle chassis to rise, this application can first obtain the vehicle speed. When the vehicle speed is less than or equal to a preset speed, the chassis is directly controlled to rise to the target height. When the vehicle speed is greater than the preset speed, the vehicle speed is first controlled to decrease to the preset speed before controlling the chassis to rise. This takes into account the influence of vehicle speed on chassis raising, avoiding vehicle instability caused by directly raising the chassis at excessive speed, thus ensuring the safety of the vehicle and its occupants.

[0157] Furthermore, during the process of raising the vehicle chassis by controlling the vehicle speed, if the vehicle is equipped with intelligent driving functions (such as Adaptive Cruise Control (ACC)), when the ACC function is activated, if the chassis needs to be raised to reduce the vehicle speed to a preset speed, the VCU can send a vehicle speed control command to the intelligent driving controller based on the preset speed, so that the intelligent driving controller can control the vehicle speed to the preset speed according to the vehicle speed control command.

[0158] Thus, through the above process, the problem of vehicle damage caused by prolonged immersion in water can be prevented by raising the vehicle's chassis when it is in water.

[0159] It should be understood that in the embodiments of this application, when the water level rises, the chassis rises, and when the water level falls, the VCU can also automatically control the chassis to fall.

[0160] In one possible implementation, the specific process of VCU controlling the chassis descent is as follows:

[0161] Acquire a preset number of third reference wading heights through continuous data collection;

[0162] For any third reference wading height among multiple third reference wading heights, if the third reference wading height is less than or equal to the first reference wading height and the third reference wading height is less than or equal to the first preset height, a fourth height difference between the first reference wading height and the third reference wading height is determined.

[0163] The target descent height of the chassis is determined based on the fourth height difference.

[0164] Control the chassis descent based on the target descent height.

[0165] After raising the vehicle, the VCU can acquire multiple preset third reference wading heights and compare them with the first reference wading height to determine if the water level has dropped. However, a drop in water level does not necessarily mean the vehicle is safe. For example, if the reference wading height acquired by the sensors is still higher than the first preset height, it indicates that the vehicle is still in a dangerous situation at the current water level. Therefore, when the water level drops, the VCU needs to further determine whether the vehicle is safe under the current water level conditions to decide whether to lower the chassis.

[0166] Optionally, the preset number can be 5, meaning the VCU can further acquire 5 consecutively collected third reference wading heights. The time interval between the preset number of acquisitions can be the sensor's acquisition cycle or a preset time interval; this embodiment does not limit this.

[0167] The process for collecting the third reference wading height is exactly the same as that for the first and second reference wading heights, and will not be repeated here.

[0168] Assume the VCU acquires five third reference wading heights of 5cm, 5cm, 5cm, 4cm, and 4cm, respectively. The first reference wading height is 10cm. This means that any third reference wading height is less than or equal to the first reference wading height. Furthermore, if any third reference wading height is less than or equal to the first preset height of 10cm, then the VCU determines that chassis descent is necessary.

[0169] Specifically, when controlling the chassis descent, similar to controlling the chassis ascent, the VCU can obtain the fourth height difference based on any current third reference wading height and first reference wading height.

[0170] When determining the target descent altitude based on the fourth altitude difference, technicians can also pre-set the correspondence between the fourth altitude difference and the target descent altitude so that the VCU can obtain the target descent altitude based on the above correspondence when it obtains the fourth altitude difference.

[0171] In another approach, the VCU can calculate the fourth height difference between the first reference fording height and each of the multiple third reference fording heights, obtaining multiple fourth height differences, and then calculate the average of these multiple fourth height differences. The target descent height is then obtained based on the average of these multiple fourth height differences.

[0172] Finally, the VCU can control the vehicle's chassis to automatically descend based on the target descent height.

[0173] In the above technical solution, after controlling the vehicle chassis to rise, this application also proposes a method for controlling the chassis to descend. Specifically, after raising the vehicle, multiple third reference wading heights are continuously collected at a preset number. When multiple third reference wading heights are all less than or equal to the first reference wading height and multiple third reference wading heights are all less than or equal to the first preset height, it is determined that the vehicle no longer poses a safety hazard, and the chassis can be controlled to descend. Thus, by collecting multiple third reference wading heights, the above process can ensure accurate judgment of the timing of chassis descent through multiple judgments and comparisons, achieving accurate and reasonable control of vehicle raising and lowering.

[0174] In summary, this application proposes a method for controlling vehicle wading through water. It obtains the vehicle's first reference wading height at the current moment, specifically the height collected by sensors. Further, by combining the first reference wading height with the vehicle's second reference wading height at the previous moment, it determines whether the vehicle meets preset control conditions. If the vehicle meets the preset control conditions, the target lifting height of the vehicle's chassis is determined based on the vehicle's current location type, the first reference wading height, and the second reference wading height. The location type indicates whether there are height-restricted objects at the vehicle's location. This method of determining the target lifting height considers both the current environment of the vehicle and the difference between the reference wading heights at two different times, ensuring the accuracy and rationality of the target lifting height determination. Furthermore, controlling the vehicle chassis lifting based on the target lifting height can minimize the vehicle's wading height or allow the vehicle to escape wading conditions, avoiding the aging and performance degradation of vehicle components due to prolonged water immersion, while also ensuring vehicle safety and the safety of the occupants.

[0175] Specifically, in determining whether a vehicle meets the preset control conditions, this application pre-defines a critical value for the vehicle's reference wading height as the first preset height. When both the first reference wading height and the second reference wading height are greater than the first preset height, the vehicle is determined to meet the preset control conditions; otherwise, it is determined that the vehicle does not meet the preset control conditions. The statement that the first reference wading height is greater than the second reference wading height indicates that the water level at the current moment is rising relative to the water level at the previous moment. Simultaneously, the statement that the first reference wading height is greater than the first preset height indicates that the vehicle's reference wading height has exceeded the critical value, requiring the chassis to be raised. Therefore, the above determination process can achieve the effect of timely vehicle control based on real-time changes in the reference wading height, avoiding serious vehicle damage due to failure to take timely measures when the vehicle is severely flooded.

[0176] When determining the target lifting height of the vehicle chassis, the first step is to calculate the first height difference between the first reference wading height and the second reference wading height to determine the specific degree of water level change between the current and previous moments. Furthermore, when the location type indicates that there are no height-restricted objects at the vehicle's location, it means that the vehicle's location may be an open area. In this case, the target lifting height can be obtained based on the first height difference and the first mapping relationship, thus correlating the vehicle's height increase with the water level difference to achieve precise control over the vehicle's lifting. When the location type indicates that there are height-restricted objects at the vehicle's location, this application first obtains the height restriction corresponding to the height restriction object, and then combines the vehicle's current height, the first height difference, and the height restriction height to determine the target lifting height. The above process ensures that when there are obstacles at the vehicle's location, the actual location's impact on chassis lifting is considered, avoiding conflicts between the target lifting height and height-restricted objects.

[0177] When determining the target lifting height based on the vehicle's current height, a first height difference, and the height restriction, the predicted lifting height is first obtained by combining the first height difference and a first mapping relationship. To consider the safety of the height-restricted object, this application can set a second preset height, thus using the second height difference corresponding to the height restriction and the second preset height as the maximum height the vehicle can rise to when the height-restricted object is present. Further, by using the vehicle's current height and the predicted lifting height, the ideal height reached by the vehicle after lifting is obtained and compared with the second height difference. If the sum is less than or equal to the second height difference, the predicted lifting height is determined as the target lifting height. If the sum is greater than the second height difference, a third height difference between the second height difference and the vehicle's current height is determined as the target lifting height, thereby ensuring vehicle safety during the lifting process when a height-restricted object is present, as well as the accuracy and rationality of the target lifting height determination.

[0178] Before raising the vehicle chassis, this application can first obtain the vehicle speed. When the vehicle speed is less than or equal to a preset speed, the chassis is directly raised to the target lifting height. When the vehicle speed is greater than the preset speed, the vehicle speed is first reduced to the preset speed before the chassis is raised. This takes into account the impact of vehicle speed on chassis raising, avoiding vehicle instability caused by directly raising the chassis at excessive speed, thus ensuring the safety of the vehicle and its occupants.

[0179] Furthermore, this application proposes a method for obtaining a first reference wading height, which can be obtained in response to a trigger operation of the vehicle's wading control function. The trigger operation includes any one of a click operation, voice command, rotation operation, and gesture adjustment operation. Therefore, the above process not only ensures automated control of the vehicle's wading control, but also guarantees the diversity and flexibility of triggering methods when using automated control.

[0180] When obtaining the first reference wading height, there are two methods: First, a pressure sensor is used to collect the vehicle's pressure at the current moment, and the first reference wading height is obtained based on this pressure. Second, a level sensor is used to collect the first reference wading height. These two methods ensure the flexibility of obtaining the first reference wading height and avoid the monotony of using only one method.

[0181] After raising the vehicle chassis, this application also proposes a method for lowering the chassis. Specifically, after raising the vehicle, multiple preset third reference wading heights are continuously collected. When all the third reference wading heights are less than or equal to the first reference wading height and all the third reference wading heights are less than or equal to the first preset height, it is determined that the vehicle no longer poses a safety hazard, and the chassis can be lowered. Thus, by collecting multiple third reference wading heights, the above process can ensure accurate judgment of the timing of chassis descent through multiple judgments and comparisons, achieving accurate and reasonable control of vehicle raising and lowering.

[0182] Figure 4 This is a schematic diagram of the structure of a vehicle wading control device provided in an embodiment of this application.

[0183] For example, such as Figure 4 As shown, the device 400 includes:

[0184] The first acquisition module 401 is used to acquire the first reference wading height of the vehicle at the current moment, which is the height collected by the sensor;

[0185] The judgment module 402 is used to determine whether the vehicle meets the preset control conditions based on the first reference wading height and the second reference wading height of the vehicle at the previous moment.

[0186] The determination module 403 is used to determine the target lifting height of the vehicle chassis based on the location type of the vehicle's location, the first reference wading height, and the second reference wading height, when the vehicle meets the preset control conditions. The location type is used to indicate whether there are height-restricted objects at the vehicle's location.

[0187] The first control module 404 is used to control the chassis to rise based on the target lifting height.

[0188] In one possible implementation, the judgment module 402 is specifically used to: determine that the vehicle meets the preset control conditions when the first reference wading height is greater than the second reference wading height and the first reference wading height is greater than the first preset height; and determine that the vehicle does not meet the preset control conditions when the first reference wading height is less than or equal to the second reference wading height, or when the first reference wading height is less than or equal to the first preset height.

[0189] In one possible implementation, the determining module 403 is specifically used to: determine a first height difference between the first reference wading height and the second reference wading height; when the location type indicates that there is no height-restricted object at the vehicle's location, determine a predicted lifting height based on the first height difference and a first mapping relationship, wherein the first mapping relationship represents the correspondence between the first height difference and the predicted lifting height; determine the target lifting height as the predicted lifting height; when the location type indicates that there is a height-restricted object at the vehicle's location, obtain the height restriction height corresponding to the height restriction object; and determine the target lifting height based on the vehicle's current height, the first height difference, and the height restriction height.

[0190] In one possible implementation, the determining module 403 is further configured to: determine the predicted lifting height based on the first height difference and the first mapping relationship; determine the second height difference between the height limit height and the second preset height; determine the sum of the current height of the vehicle and the predicted lifting height; if the sum is less than or equal to the second height difference, determine the target lifting height as the predicted lifting height; if the sum is greater than the second height difference, determine the third height difference between the second height difference and the current height of the vehicle; and determine the target lifting height as the third height difference.

[0191] Optionally, before controlling the chassis to rise based on the target lifting height, the device further includes: a second acquisition module for acquiring the vehicle speed; and the control module is specifically used to: control the chassis to rise to the target lifting height when the vehicle speed is less than or equal to a preset vehicle speed; control the vehicle speed to decrease to the preset vehicle speed when the vehicle speed is greater than the preset vehicle speed; and control the chassis to rise to the target lifting height.

[0192] In one possible implementation, the first acquisition module 401 is specifically used to: acquire the first reference wading height in response to a trigger operation of the vehicle's wading control function, wherein the trigger operation includes any one of a click operation, a voice command, a rotation operation, and a gesture adjustment operation.

[0193] In one possible implementation, the sensor includes a pressure sensor and a liquid level sensor, and the acquisition module 401 is further configured to: acquire the pressure experienced by the vehicle at the current moment as collected by the pressure sensor; determine the first reference wading height based on the pressure; and / or acquire the first reference wading height collected by the liquid level sensor.

[0194] Optionally, after controlling the chassis to rise based on the target lifting height, the device further includes: a second control module, configured to acquire a preset number of third reference wading heights continuously collected; for any third reference wading height among the plurality of third reference wading heights, if the third reference wading height is less than or equal to the first reference wading height and the third reference wading height is less than or equal to the first preset height, to determine a fourth height difference between the first reference wading height and the third reference wading height; to determine the target descent height of the chassis based on the fourth height difference; and to control the chassis to descend based on the target descent height.

[0195] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0196] For example, such as Figure 5 As shown, the vehicle 101 includes a memory 501 and a processor 502. The memory 501 stores executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform a vehicle wading control method.

[0197] Furthermore, this application also protects an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a vehicle wading control method provided in this application.

[0198] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0199] When the functional modules are divided according to their respective functions, the device may further include a first acquisition module, a judgment module, a determination module, and a first control module. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced to the functional description of the corresponding functional module, and will not be repeated here.

[0200] It should be understood that the device provided in this embodiment is used to execute the above-described vehicle wading control method, and therefore can achieve the same effect as the above-described implementation method.

[0201] When using an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing program code, etc.

[0202] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and microprocessors, etc., and the storage module may be a memory.

[0203] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a vehicle wading control method provided in the above embodiments.

[0204] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement the vehicle wading control method provided in the above embodiment.

[0205] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement the vehicle wading control method provided in the above embodiment.

[0206] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0207] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0208] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0209] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling vehicle wading through water, characterized in that, The method includes: Obtain the vehicle's first reference wading height at the current moment, where the first reference wading height is the height collected by the sensor; Based on the first reference wading height and the vehicle's second reference wading height at the previous moment, determine whether the vehicle meets the preset control conditions; When the vehicle meets the preset control conditions, the target lifting height of the vehicle chassis is determined according to the location type of the vehicle's location, the first reference wading height, and the second reference wading height. The location type is used to indicate whether there are height-restricted objects at the vehicle's location. Based on the target lifting height, control the chassis to rise; The step of determining whether the vehicle meets the preset control conditions based on the first reference wading height and the vehicle's second reference wading height at the previous moment includes: If the first reference wading height is greater than the second reference wading height, and the first reference wading height is greater than the first preset height, then the vehicle is determined to meet the preset control conditions. If the first reference wading height is less than or equal to the second reference wading height, or if the first reference wading height is less than or equal to the first preset height, it is determined that the vehicle does not meet the preset control conditions. And, determining the target lifting height of the vehicle's chassis based on the location type of the vehicle's location, the first reference wading height, and the second reference wading height includes: Determine the first height difference between the first reference wading height and the second reference wading height; When the location type indicates that there are no height-restricted objects at the vehicle's location, the predicted lifting height is determined based on the first height difference and the first mapping relationship, where the first mapping relationship represents the correspondence between the first height difference and the predicted lifting height; the target lifting height is determined as the predicted lifting height. If the location type indicates that there is a height restriction object at the location of the vehicle, obtain the height restriction height corresponding to the height restriction object; determine the target lifting height based on the current height of the vehicle, the first height difference and the height restriction height.

2. The method according to claim 1, characterized in that, Determining the target lifting height based on the vehicle's current height, the first height difference, and the height restriction includes: The predicted lifting height is determined based on the first height difference and the first mapping relationship; Determine the second height difference between the height limit and the second preset height; Determine the sum of the vehicle's current height and the predicted lifting height; If the summation result is less than or equal to the second height difference, the target rise height is determined as the predicted rise height; If the summation result is greater than the second height difference, a third height difference is determined between the second height difference and the current height of the vehicle; the target lifting height is determined as the third height difference.

3. The method according to claim 1, characterized in that, Before controlling the chassis to rise based on the target lifting height, the method further includes: Obtain the vehicle speed; And, the step of controlling the chassis to rise based on the target lifting height includes: When the vehicle speed is less than or equal to a preset vehicle speed, the chassis is controlled to raise the target lifting height. If the vehicle speed is greater than the preset vehicle speed, control the vehicle speed to decrease to the preset vehicle speed; control the chassis to raise the target lifting height.

4. The method according to claim 1, characterized in that, The acquisition of the vehicle's first reference wading depth at the current moment includes: In response to a triggering operation of the vehicle's wading control function, the first reference wading height is obtained, wherein the triggering operation includes any one of a click operation, a voice command, a rotation operation, and a gesture adjustment operation.

5. The method according to claim 1, characterized in that, The sensors include a pressure sensor and a liquid level sensor, and obtaining the vehicle's first reference wading depth at the current moment includes: The pressure experienced by the vehicle at the current moment is acquired by the pressure sensor. The first reference wading height is determined based on the pressure; and / or, Obtain the first reference wading height collected by the liquid level sensor.

6. The method according to claim 1, characterized in that, After controlling the chassis to rise based on the target lifting height, the method further includes: Acquire a preset number of third reference wading heights through continuous data collection; For any third reference wading height among the plurality of third reference wading heights, if the third reference wading height is less than or equal to the first reference wading height and the third reference wading height is less than or equal to the first preset height, a fourth height difference between the first reference wading height and the third reference wading height is determined. The target descent height of the chassis is determined based on the fourth height difference. Based on the target descent height, control the chassis to descend.

7. A control device for vehicle wading through water, characterized in that, The device includes: The first acquisition module is used to acquire the first reference wading height of the vehicle at the current moment, wherein the first reference wading height is the height collected by the sensor; The judgment module is used to determine whether the vehicle meets the preset control conditions based on the first reference wading height and the second reference wading height of the vehicle at the previous moment. The determination module is used to determine the target lifting height of the vehicle chassis based on the location type of the vehicle's location, the first reference wading height, and the second reference wading height, when the vehicle meets the preset control conditions. The location type is used to indicate whether there are height-restricted objects at the vehicle's location. The first control module is used to control the chassis to rise based on the target lifting height; Specifically, the judgment module is used for: If the first reference wading height is greater than the second reference wading height, and the first reference wading height is greater than the first preset height, then the vehicle is determined to meet the preset control conditions. If the first reference wading height is less than or equal to the second reference wading height, or if the first reference wading height is less than or equal to the first preset height, it is determined that the vehicle does not meet the preset control conditions. And, the determining module is specifically used for: Determine the first height difference between the first reference wading height and the second reference wading height; When the location type indicates that there are no height-restricted objects at the vehicle's location, the predicted lifting height is determined based on the first height difference and the first mapping relationship, where the first mapping relationship represents the correspondence between the first height difference and the predicted lifting height; the target lifting height is determined as the predicted lifting height. If the location type indicates that there is a height restriction object at the location of the vehicle, obtain the height restriction height corresponding to the height restriction object; determine the target lifting height based on the current height of the vehicle, the first height difference and the height restriction height.

8. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 6.

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