Vehicle control method and device, vehicle and storage medium

Abstract

The application provides a vehicle control method and device, a vehicle and a storage medium. The method is applied to the technical field of vehicles. The method comprises the following steps: acquiring a posture angle of the vehicle when the vehicle is in a wading state and there is a person inside the vehicle; acquiring a wading depth of a wading water surface relative to the lowest part of the vehicle if the posture angle of the vehicle meets a preset posture condition; determining a safety height of the head of the person relative to the lowest part of the vehicle above the wading depth of the vehicle; acquiring the height of the head of the person relative to the lowest part of the vehicle; and controlling a seat on which the person is sitting to be lifted to make the height of the head of the person reach the safety height if the height of the head of the person is lower than the safety height. According to the application, the head of the person can be ensured to be above the wading water surface, the breathing of the person is effectively ensured, and the safety risk caused by a wading event on the person in the vehicle is reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a vehicle control method, apparatus, vehicle, and storage medium in the field of vehicle technology. Background Technology

[0002] Vehicles wading through water present a potential danger. For example, in extreme weather conditions such as heavy rain, vehicles are easily submerged; or, while driving, vehicles may accidentally fall into water. When a vehicle is submerged or falls into water, the interior space can quickly fill with water, making it impossible for occupants to breathe. Therefore, the safety risks posed to occupants by vehicles wading through water urgently need to be addressed. Summary of the Invention

[0003] This application provides a vehicle control method, device, vehicle, and storage medium. The method ensures that the head of a person is above the water surface, effectively protecting the person's breathing and reducing the safety risks to the person inside the vehicle caused by a water incident.

[0004] Firstly, a vehicle control method is provided, the method comprising:

[0005] Acquire the vehicle's attitude angles when the vehicle is in a water-filled state and there are people inside the vehicle;

[0006] If the vehicle's attitude angle meets the preset attitude conditions, then the wading depth of the vehicle relative to the lowest point of the vehicle is obtained.

[0007] Determine the safe head height of personnel relative to the lowest point of the vehicle, based on the vehicle's wading depth.

[0008] Obtain the height of the person's head relative to the lowest point of the vehicle;

[0009] If a person's head is below the safe height, the seat in which the person is sitting will be raised to bring the person's head to the safe height.

[0010] The above method monitors the vehicle's attitude angle to determine if it meets the required conditions. If the attitude angle meets the conditions, the vehicle's wading depth is then measured, and a safe height is determined above this depth. Next, the height of the occupants' heads is measured. If the occupants' heads are below the safe height, the seat is raised to bring their heads to the safe height. This ensures that the occupants' heads are above the water surface, effectively protecting their breathing and reducing the safety risks posed by water-related incidents to those inside the vehicle.

[0011] In conjunction with the first aspect, in some possible implementations, if the vehicle's attitude angle meets preset attitude conditions, the wading depth of the vehicle relative to its lowest point is obtained, including:

[0012] If the vehicle's attitude angle meets the preset attitude conditions, the vehicle's wading water pressure value is collected through the vehicle's water pressure sensor.

[0013] Based on the mapping relationship between water pressure value and wading depth, the wading depth of a vehicle corresponding to its wading water pressure value is determined.

[0014] With the above scheme, when the vehicle's attitude angle meets the preset attitude conditions, the wading depth of the vehicle can be quickly and accurately determined by using the water pressure value of the water pressure sensor and the mapping relationship between the water pressure value and the wading depth. The wading depth of the vehicle provides basic data for subsequent determination of whether the wading incident poses a safety risk to personnel and for control procedures.

[0015] Combining the first aspect and the above implementation methods, in some possible implementation methods, if the vehicle's attitude angle meets preset attitude conditions, the wading depth of the vehicle's wading surface relative to the lowest point of the vehicle is obtained, including:

[0016] Obtain the reference attitude angle of the vehicle when it is placed on a horizontal surface;

[0017] If the deviation between the vehicle's attitude angle and the reference attitude angle is less than a preset threshold, then the vehicle's attitude angle is determined to meet the preset attitude conditions.

[0018] Under the condition that the vehicle's attitude angle meets the preset attitude conditions, the wading depth of the vehicle relative to the lowest point of the vehicle is obtained.

[0019] By employing the above method, and comparing the reference attitude angles of the vehicle when it is placed on a horizontal surface with these reference angles, the stability of the vehicle's current attitude can be accurately determined. When the deviation between the vehicle's attitude angle and the reference attitude angle is less than a preset threshold, the preset attitude conditions are confirmed to be met. Based on this, the vehicle's wading depth can be further obtained, providing fundamental data for subsequent determination of whether a wading incident poses a safety risk to personnel and for establishing control procedures.

[0020] Combining the first aspect and the above-described implementation methods, in some possible implementations, determining the safe height of a person's head relative to the lowest point of the vehicle, above the vehicle's wading depth, includes:

[0021] Obtain the safe head height margin of personnel above the water surface of the vehicle;

[0022] Add the vehicle's wading depth to the safe height margin to obtain the safe head height of a person relative to the lowest point of the vehicle.

[0023] The above solution calculates the safe head height margin of personnel relative to the lowest point of the vehicle by obtaining the safe head height margin of personnel on the water surface and adding it to the wading depth of the vehicle. This solution comprehensively considers the actual situation of vehicle wading and the safety needs of personnel, ensuring that the head of personnel is in a relatively safe position at various wading depths.

[0024] Combining the first aspect and the above implementation methods, in some possible implementation methods, obtaining the height of a person's head relative to the lowest point of the vehicle includes:

[0025] Images of people are acquired, wherein the images of people are captured by the vehicle's in-vehicle camera;

[0026] Analyze the images of people to determine the pixel coordinates of the person's head in the image;

[0027] Convert the pixel coordinates of the person's head in the image of the person into the height of the person's head relative to the lowest point of the vehicle.

[0028] The above method captures images of people using an in-vehicle camera, and then uses image analysis technology to process the images in depth, accurately identifying and locating the pixel coordinates of the person's head. These pixel coordinates can then be used to convert the person's head height, making the head height calculation more precise.

[0029] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, if the height of a person's head is lower than the safe height, the seat in which the person is sitting is raised to bring the height of the person's head to the safe height, including:

[0030] If the height of a person's head is below the safe height, then determine the lifting channel of the seat the person is sitting in;

[0031] Identify the components in the vehicle that obstruct the lifting channel;

[0032] Control the relevant components to move away from the lifting channel in order to eliminate the obstruction of the lifting channel by the relevant components;

[0033] After the relevant components stop moving, the seat in which the person is sitting is raised to bring the person's head to a safe height.

[0034] The above solution first determines the seat's lifting path when the occupant's head is below the safe height. It then identifies obstructions to this path and intelligently controls these components to move away from it, effectively eliminating the obstruction and ensuring the seat can be lifted without hindrance, thus significantly improving vehicle safety.

[0035] Combining the first aspect and the above implementation methods, in some possible implementation methods, if the vehicle's attitude angle meets preset attitude conditions, after obtaining the wading depth of the vehicle's wading surface relative to the lowest point of the vehicle, the method further includes:

[0036] If the vehicle's wading depth is lower than the height of the sunroof relative to the lowest point of the vehicle, the sunroof will be opened, and the seat will be raised to its maximum height so that the sunroof can provide an exit for people when it is open.

[0037] With the above solution, in the event of a dangerous water crossing incident, the vehicle can not only raise the seats but also open the sunroof to create an escape route for the occupants, significantly improving their ability to escape safely and effectively enhancing the vehicle's safety performance.

[0038] Secondly, a vehicle control device is provided, the device comprising:

[0039] The first acquisition unit is used to acquire the vehicle's attitude angle when the vehicle is in a water-wading state and there are people inside the vehicle;

[0040] The second acquisition unit is used to acquire the wading depth of the vehicle relative to the lowest point of the vehicle if the vehicle's attitude angle meets the preset attitude conditions.

[0041] A determining unit is used to determine the safe height of a person's head relative to the lowest point of the vehicle, above the vehicle's wading depth.

[0042] The third acquisition unit is used to acquire the height of the person's head relative to the lowest point of the vehicle;

[0043] The control unit is used to raise the seat in which the person is sitting if the height of the person's head is lower than the safe height, so that the height of the person's head reaches the safe height.

[0044] Thirdly, a vehicle is provided, characterized in that the vehicle comprises:

[0045] Memory, used to store executable program code;

[0046] A processor is configured to call and run executable program code from the memory, causing the vehicle to perform the methods described in the first aspect or any possible implementation thereof.

[0047] 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.

[0048] 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

[0049] Figure 1 This is a schematic diagram of a vehicle wading through water, provided in an embodiment of this application;

[0050] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0051] Figure 3 This is an example schematic diagram of a vehicle wading through water, provided in an embodiment of this application;

[0052] Figure 4 This is an example schematic diagram of a vehicle wading through water, provided in an embodiment of this application;

[0053] Figure 5 This is a schematic diagram of a process for determining wading depth provided in an embodiment of this application;

[0054] Figure 6 This is a schematic diagram illustrating an example of a vehicle posture provided in an embodiment of this application;

[0055] Figure 7 This is a schematic diagram illustrating an example of a vehicle posture provided in an embodiment of this application;

[0056] Figure 8 This is a schematic diagram of a process for determining a safe height provided in an embodiment of this application;

[0057] Figure 9 This is a schematic diagram of a process for determining the height of the head provided in an embodiment of this application;

[0058] Figure 10 This is a schematic diagram of a process for controlling the lifting of a seat according to an embodiment of this application;

[0059] Figure 11 This is an example schematic diagram illustrating how a related component forms an obstruction, as provided in an embodiment of this application.

[0060] Figure 12This is an example schematic diagram illustrating how to eliminate obstruction from related components, provided in an embodiment of this application.

[0061] Figure 13 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0062] Figure 14 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application;

[0063] Figure 15 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0064] 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.

[0065] 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.

[0066] Driving through water is undoubtedly a highly potentially dangerous scenario. Whether in heavy rain or other extreme weather conditions, vehicles are at risk of being submerged. This is especially true in low-lying areas or areas with inadequate drainage systems, where large amounts of water can quickly submerge vehicles. Furthermore, if a vehicle inadvertently drives into deep water or encounters sudden water crossings, it may accidentally fall into the water.

[0067] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating a vehicle wading through water, as provided in an embodiment of this application. Figure 1 As shown, in these emergency situations, the water level 003 outside vehicle 001 will rise rapidly, potentially reaching the height of the windows or roof. Due to the pressure difference between the inside and outside of vehicle 001, once water begins to seep into the vehicle, this pressure difference will accelerate the influx of water, and the interior space could be filled with water in a very short time. For the occupants 002 inside the vehicle, this not only means a drastically reduced escape time, but may also directly lead to suffocation due to flooding, posing a serious threat to their lives.

[0068] To address the aforementioned issues, this application embodiment monitors the vehicle's attitude angle to determine if it meets certain conditions. If the attitude angle meets the conditions, the vehicle's wading depth is further obtained, and a safe height is determined above this depth. Then, the height of the occupants' heads is acquired, and if their head height is below the safe height, the seat is raised to bring their heads to the safe height. This ensures that the occupants' heads are above the water surface, effectively protecting their breathing and reducing the safety risks posed by wading incidents to those inside the vehicle.

[0069] based on Figure 1 The scene shown below is an illustration; the following will combine... Figure 2 - Figure 12 This application provides a detailed description of the vehicle control method provided in its embodiments.

[0070] Please see Figure 2 , Figure 2 This is a flowchart illustrating a vehicle control method provided in an embodiment of this application. Figure 2 As shown, the method in this application embodiment may include the following steps S101-S105.

[0071] S101: Acquire the vehicle's attitude angles when the vehicle is in a water-filled state and there are people inside the vehicle.

[0072] Specifically, a vehicle being in a flooded state refers to a vehicle coming into contact with water to some extent. This flooding can be caused by natural disasters (such as heavy rain or floods), road flooding, or other reasons. There are several ways to identify whether a vehicle is in a flooded state:

[0073] Water pressure detection: Water pressure sensors are installed on the vehicle chassis or key components. When these sensors are not in contact with water, they will generate a signal indicating that the vehicle is not in a wading state; when they are in contact with water, they will generate a signal indicating that the vehicle is in a wading state.

[0074] Image recognition: Using onboard cameras to capture images of the surrounding environment, image processing technology is used to identify whether there is water on the road surface and the depth of the water. If the water depth is below a certain level, the vehicle is considered not to be wading through water; if the water depth reaches a certain level, the vehicle is considered to be wading through water.

[0075] Passengers can input information about whether the vehicle is in a flooded state through the in-vehicle system, either manually or via voice command.

[0076] After confirming that a vehicle is in a flooded state, it is necessary to further determine whether there are people inside the vehicle. There are several ways to determine whether there are people inside a vehicle:

[0077] Pressure detection: Pressure sensors are installed on the seats. When people sit in the seats, the sensors detect pressure changes and generate corresponding signals to indicate the presence of people in the vehicle.

[0078] Image recognition: Using in-vehicle cameras to capture images and using image processing technology to identify whether there are people in the vehicle and the number of people.

[0079] Voice recognition: It captures sound through the microphone in the car and analyzes the sound characteristics to determine whether there is someone in the car, such as recognizing a person's breathing or speaking.

[0080] Bluetooth or Wi-Fi connection: If the mobile phones or other mobile devices of the people in the car establish a Bluetooth or Wi-Fi connection with the vehicle, this can also be used as a basis for determining whether there are people in the car.

[0081] Understandably, after the above identification process, three scenarios may occur: First, the vehicle is not in a water-filled state, in which case the vehicle does not need to make any further response; second, the vehicle is in a water-filled state, but there are no people inside, in which case the vehicle does not need to make any further response; third, the vehicle is in a water-filled state, and there are people inside, in which case the vehicle needs to further obtain the vehicle's attitude angles, based on which it will proceed to the next steps.

[0082] Specifically, a vehicle's attitude angles describe its orientation and attitude in three-dimensional space, and are important indicators for assessing vehicle stability and direction. Attitude angles typically consist of three angles:

[0083] Roll angle: This represents the angle of rotation of a vehicle about its direction of travel (i.e., the X-axis). Roll angle occurs when a vehicle tilts to one side.

[0084] Pitch: This refers to the angle of rotation of a vehicle about its lateral axis (Y-axis). Pitch occurs when the front of the vehicle lifts up or drops down.

[0085] Yaw: Represents the angle of rotation of a vehicle about its vertical axis (i.e., the Z-axis). This describes the angle of the vehicle's direction of travel relative to a reference direction (such as north).

[0086] The following are two methods for obtaining the vehicle's attitude angles:

[0087] The vehicle's attitude angles are obtained through its Inertial Measurement Unit (IMU): an IMU is a device that integrates an accelerometer, a gyroscope (and sometimes a magnetometer). The accelerometer measures the vehicle's linear acceleration, and the gyroscope measures the vehicle's angular velocity. By fusing the data from the accelerometer and gyroscope, the vehicle's attitude angles can be calculated.

[0088] Obtaining vehicle attitude angles using onboard cameras: Using onboard cameras to capture images of the surrounding environment, and combining these images with computer vision or stereo vision algorithms to estimate the vehicle attitude angles.

[0089] S102, if the vehicle's attitude angle meets the preset attitude conditions, then obtain the wading depth of the vehicle's wading surface relative to the lowest point of the vehicle.

[0090] Specifically, the main solution in this embodiment is to control the seat to lift so that the occupants can escape, meaning the seat will at least move upwards towards the vehicle. However, in some situations, it is not suitable to control the seat to lift, such as when the vehicle has severely overturned. Therefore, to determine whether it is appropriate to lift the seat further, it is necessary to determine whether the previously acquired vehicle attitude angles meet the preset attitude conditions.

[0091] More specifically, the preset attitude conditions correspond to relevant values ​​for the vehicle when it has not experienced severe rollover, such as reference attitude angles or a range of reference attitude angles. By analyzing the vehicle's attitude angles in conjunction with the relevant values ​​for the vehicle under the preset attitude conditions when it has not experienced severe rollover, it can be determined whether the vehicle's attitude angles meet the preset attitude conditions.

[0092] If the vehicle's attitude angle does not meet the preset attitude conditions, it indicates that it is not appropriate to further control the seat lifting, and the vehicle does not need to respond further.

[0093] If the vehicle's attitude angle meets the preset attitude conditions, it means that the seat can be further controlled to lift. At this time, the vehicle needs to obtain the wading depth of the vehicle's wading surface relative to the lowest point of the vehicle, and use the vehicle's wading depth as a basic data for subsequent judgment on whether the seat needs to be lifted.

[0094] The wading depth of a vehicle refers to the vertical distance from the water surface to the lowest point of the vehicle.

[0095] In some cases, a vehicle's wading depth can be determined based on water pressure. Water pressure sensors are installed on the vehicle's chassis or key components, and the wading depth is determined by analyzing the data collected by these sensors.

[0096] In some cases, a vehicle's wading depth can be determined based on images. This involves using an onboard camera to capture images of the surrounding environment, and then analyzing these images using image processing techniques to determine the vehicle's wading depth.

[0097] S103, determine the safe height of a person's head relative to the lowest point of the vehicle, above the vehicle's wading depth.

[0098] Specifically, after determining the vehicle's wading depth, to ensure that occupants have sufficient space to breathe, a safe head height relative to the lowest point of the vehicle can be determined above the wading depth. The safe head height refers to the vertical distance from a target point above the water surface to the lowest point of the vehicle. When the occupants' heads are at this safe head height, they have sufficient space to breathe without being obstructed by the water surface.

[0099] In some cases, a certain height can be added directly to the wading depth as the safety height; in others, the safety height can be dynamically adjusted based on the height of the occupants; in still others, intelligent algorithms can be used to calculate the optimal safety height by combining factors such as vehicle stability and water flow; and in some cases, the minimum safe distance recommended in industry standards or safety regulations can be used to set the safety height.

[0100] S104, Obtain the height of the person's head relative to the lowest point of the vehicle.

[0101] Specifically, the height of a person's head refers to the vertical distance from a target point on the person's head to the lowest point of the vehicle. Alternatively, the height of a person's head can be the vertical distance from the center point of the person's head to the lowest point of the vehicle.

[0102] There are several ways to obtain the height of a person's head. Here are some examples:

[0103] The height of a person's head is determined by capturing images using an in-vehicle camera and using image recognition processing technology to determine the position of the person's head. Then, combined with the spatial dimensions of the vehicle's interior, the height of the person's head relative to the lowest point of the vehicle is calculated.

[0104] Obtaining head height based on seat information: If the vehicle's seat height and position are adjustable, and the vehicle can record seat height and position, then the height of the person's head relative to the lowest point of the vehicle can be calculated by combining seat height, seat position, interior space dimensions data of the vehicle, and the person's general height information.

[0105] The height of a person's head can be obtained based on manual input or preset values: In some cases, the height of a person's head relative to the lowest point of the vehicle can be calculated by having the person in the vehicle manually input their height information, and then combining the seat height, seat position, and interior space dimensions data.

[0106] S105, if the height of a person's head is lower than the safe height, the seat in which the person is sitting will be raised to bring the height of the person's head to the safe height.

[0107] Specifically, to achieve the lifting of the seat, a mechanical device supporting the lifting needs to be installed under the seat beforehand. Below are some examples of possible mechanical devices and their implementation methods:

[0108] Electric seat lever: An electric seat lever typically consists of a motor, a lever, and a control module. When a lift command is received, the motor starts, and the lever extends or retracts via gear transmission, thereby adjusting the seat height.

[0109] Electric screw: Similar to electric push rod, electric screw is also a lifting device driven by a motor. It uses the rotational motion of the screw to convert it into linear motion, thereby raising and lowering the seat.

[0110] Hydraulic cylinder: A hydraulic cylinder uses the pressure of hydraulic oil to drive a piston, thereby raising or lowering the seat. It's important to note that hydraulic cylinders typically require auxiliary equipment such as a hydraulic pump and oil tank to provide sufficient pressure and flow.

[0111] Hydraulic struts: Similar to the principle of shock absorbers, hydraulic struts can adjust their length by adjusting the pressure of the internal hydraulic oil, thereby adjusting the seat height.

[0112] Pneumatic springs: Pneumatic springs utilize the compressibility of gas to raise and lower a seat. By increasing or decreasing the gas pressure inside the pneumatic spring, its height and stiffness can be changed.

[0113] Airbag: Similar to a pneumatic spring, an airbag is a device that uses gas pressure to adjust the height. By inflating or deflating the airbag, the seat can be raised or lowered.

[0114] Screw lift: A screw lift is a purely mechanical lifting device that raises or lowers the seat by manually or electrically rotating a screw. This device is simple in structure, reliable and durable, but the adjustment speed is relatively slow.

[0115] Rack and pinion mechanism: This mechanism uses the meshing of gears and racks to raise and lower the seat. By rotating the gears, the rack moves up and down, thus raising and lowering the seat.

[0116] After obtaining the height of a person's head, the height of the person's head can be compared with the safe height to obtain the comparison result.

[0117] If the comparison result indicates that the height of the person's head is not lower than the safe height, it means that the person has sufficient space to breathe above the water surface, and the vehicle does not need to control the seat to rise.

[0118] If the comparison result indicates that the height of the person's head is lower than the safe height, it means that the person is likely to be unable to breathe due to the water surface. In this case, the vehicle needs to control the seat to rise.

[0119] Specifically, during the vehicle-controlled seat lifting process, the vehicle first sends a lift command to the seat's mechanical system. Upon receiving the command, the mechanical system begins to operate, smoothly pushing the seat upwards. During the lifting process, the vehicle may continuously monitor the seat's position and speed to ensure a smooth and safe lift. Simultaneously, the vehicle may continuously update the occupant's head height to ensure it is raised to a suitable, safe height. Once the occupant's head height reaches or exceeds the safe height, the vehicle sends a stop command to the seat's mechanical system. Upon receiving the stop command, the mechanical system ceases operation.

[0120] To better demonstrate the safety performance of this embodiment for occupants in water-filled conditions, please refer to [link / reference needed]. Figure 3 and Figure 4 , Figure 3 and Figure 4 These are schematic diagrams illustrating an example of a vehicle wading through water, provided in an embodiment of this application. Figure 3 The water level 003 of the vehicle shown has reached the middle of the head of the person 002 inside the vehicle, which would obviously make it difficult for the person 002 to breathe. Based on the solution of this embodiment, the seat where the person 002 is sitting can be raised so that the person 002's head is above the water level 003 to ensure that the person 002 has sufficient space to breathe inside the vehicle. This can reduce the safety risks posed to the person 002 inside the vehicle by a water-related incident.

[0121] Please see Figure 5 This is a flowchart illustrating a vehicle control method provided in an embodiment of this application, as shown below. Figure 5 As shown, the method in this application embodiment may include the following steps S201-S204, wherein steps S201-S204 may be used as a method for... Figure 2 A refinement of step S102 in the illustrated embodiment.

[0122] S201, Obtain the reference attitude angle of the vehicle when it is placed on a horizontal surface;

[0123] S202, if the deviation between the vehicle's attitude angle and the reference attitude angle is less than a preset threshold, then the vehicle's attitude angle is determined to meet the preset attitude conditions.

[0124] S203, when it is determined that the vehicle's attitude angle meets the preset attitude conditions, the vehicle's wading water pressure value is collected through the vehicle's water pressure sensor;

[0125] S204, based on the mapping relationship between water pressure value and wading depth, determines the wading depth of the vehicle corresponding to the wading water pressure value.

[0126] Specifically, to determine whether a vehicle has suffered severe rollover, it is necessary to first obtain the reference attitude angles of the vehicle when it is placed on a level surface. These reference attitude angles refer to the attitude angles of the vehicle body relative to the horizontal plane when the vehicle is parked on a perfectly level and untilted surface. Attitude angles typically consist of three main components: pitch, yaw, and roll. In this case, the ideal reference attitude angles should be the angles when the vehicle is perfectly level, i.e.:

[0127] Pitch: Indicates the tilt angle of the vehicle in the forward and backward direction. It should be 0 degrees when the vehicle is placed horizontally.

[0128] Yaw: This represents the angle of rotation of the vehicle on the horizontal plane. This angle is not critical for determining the reference attitude when the vehicle is horizontal, because it describes the vehicle's direction on the horizontal plane, not its tilt. For example, it can be assumed that the yaw angle is 0 degrees when the vehicle is facing north, then if the vehicle is facing east, the yaw angle is 90 degrees.

[0129] Roll angle: Indicates the tilt angle of the vehicle in the left and right directions. It should also be 0 degrees when the vehicle is placed horizontally.

[0130] After obtaining the reference attitude angles of the vehicle when it is placed on a horizontal plane, it is necessary to further calculate the deviation between the vehicle's attitude angles and the reference attitude angles, and determine whether the deviation between the vehicle's attitude angles and the reference attitude angles is less than a preset threshold. It should be noted that the vehicle's attitude angles refer to the vehicle's attitude angles at the current moment.

[0131] If the deviation between the vehicle's attitude angle and the reference attitude angle is less than the preset threshold, it means that the vehicle has not overturned severely, and it can be determined that the vehicle's attitude angle meets the preset attitude conditions. If the deviation between the vehicle's attitude angle and the reference attitude angle is not less than the preset threshold, it means that the vehicle has overturned severely, and it can be determined that the vehicle's attitude angle does not meet the preset attitude conditions.

[0132] Here is a numerical example:

[0133] Assume the vehicle's reference attitude angles on the horizontal plane, where the pitch angle is 0 degrees and the roll angle is 0 degrees (the yaw angle does not affect the tilt judgment here, so it is not considered); the vehicle's attitude angles are a pitch angle of 0.3 degrees and a roll angle of -0.2 degrees; the preset threshold is 0.5 degrees. Then, it is necessary to calculate the deviations between the vehicle's pitch angle and roll angle and the reference attitude angles:

[0134] Pitch angle deviation = |0.3 - 0| = 0.3 degrees;

[0135] Roll angle deviation = |-0.2-0| = 0.2 degrees;

[0136] Since both pitch angle deviation and roll angle deviation are less than the preset threshold of 0.5 degrees, it can be determined that the vehicle's attitude angle meets the preset attitude conditions, that is, the vehicle's current attitude is not much different from its attitude when it is on a horizontal plane.

[0137] To facilitate understanding of the judgment process regarding preset attitude conditions in this embodiment, please refer to [link / reference]. Figure 6 and Figure 7 , Figure 6 and Figure 7 These are all illustrative diagrams illustrating a vehicle posture as provided in the embodiments of this application. Figure 6 As shown, vehicle 001 is in a very stable posture at this time. Corresponding to the reference posture angle when vehicle 001 is placed on a horizontal surface, it is appropriate to raise the seat. For example... Figure 7 As shown, vehicle 001 overturned to a certain extent. Whether the attitude angle of vehicle 001 meets the preset attitude conditions depends on whether the deviation between the attitude angle of vehicle 001 and the reference attitude angle is less than a preset threshold. In some cases, the degree of overturning of vehicle 001 can be defined as the degree of overturning that does not meet the preset attitude conditions; in other cases, the degree of overturning of vehicle 001 can also be defined as the degree of overturning that meets the preset attitude conditions.

[0138] Once the vehicle's attitude angle meets preset attitude conditions, the vehicle's wading water pressure value is collected using its water pressure sensor. Specifically, when the vehicle is wading, the water pressure sensor is submerged in water, allowing the collection of the wading water pressure value. This wading water pressure value reflects the pressure of the water on the sensor and is crucial data for subsequent calculations of wading depth. After collecting the wading water pressure value, it can be converted into the vehicle's wading depth using a known mapping relationship between water pressure and wading depth.

[0139] Here is a numerical example:

[0140] Assume that the water pressure sensor collects a wading water pressure value of 20 kPa (kilopascals) for the vehicle.

[0141] The mapping relationship between water pressure and wading depth is predetermined. For example, based on actual measurements, a water pressure of 10 kPa corresponds to a wading depth of 0.5 meters; a water pressure of 20 kPa corresponds to a wading depth of 1 meter; and so on.

[0142] Therefore, when the collected water pressure of the vehicle is 20 kPa, the wading depth of the vehicle can be determined to be 1 meter according to the mapping relationship.

[0143] Please see Figure 8 This is a flowchart illustrating a vehicle control method provided in an embodiment of this application, as shown below. Figure 8 As shown, the method in this embodiment may include the following steps S301-S302, wherein steps S301-S302 may be used as a method for... Figure 2 A refinement of step S103 in the illustrated embodiment.

[0144] S301, Obtain the safe head height margin of personnel above the water surface of the vehicle;

[0145] S302, by adding the vehicle's wading depth to the safe height margin, the safe height of a person's head relative to the lowest point of the vehicle is obtained.

[0146] Specifically, the safe head height margin of a person above the water surface of a vehicle refers to the minimum vertical distance at which a person's head should be kept above the water surface. It represents the additional safety space from the person's head to the water surface to ensure the safety of the person's life during the vehicle's wading process.

[0147] In some cases, the safety height margin can be a preset value, which is usually determined based on factors such as average human body size, safety standards, and vehicle design. For example, a general 30 centimeters can be set as the safety height margin, meaning that when a vehicle is wading through water, the head of a person should be at least 30 centimeters above the water surface. In this case, the preset safety height margin can be directly obtained.

[0148] In one scenario, the safety height margin can also be determined based on the actual situation of the personnel. First, an image containing the personnel is captured using an in-vehicle camera. Then, the image containing the personnel is analyzed using image processing technology to determine the head length of the personnel (i.e., the distance from the lowest point of the chin to the highest point of the head). The head length of the personnel is then determined as the safety height margin.

[0149] After obtaining the vehicle's wading depth and safe height margin, adding these two values ​​together will give you the safe height of a person's head relative to the lowest point of the vehicle.

[0150] Here is a numerical example:

[0151] Assume that during wading, a person's head should be at least 30 centimeters above the water surface (i.e., a safety height margin of 30 centimeters). Given that the vehicle's wading depth is 50 centimeters, adding the 50-centimeter wading depth to the 30-centimeter safety height margin gives 80 centimeters. Therefore, the safe head height of a person relative to the lowest point of the vehicle is 80 centimeters.

[0152] Please see Figure 9 This is a flowchart illustrating a vehicle control method provided in an embodiment of this application, as shown below. Figure 9 As shown, the method in this embodiment may include the following steps S401-S403, wherein steps S401-S403 may be used as a method for... Figure 2 A refinement of step S104 in the illustrated embodiment.

[0153] S401, Acquire images of people, wherein the images of people are captured by the vehicle's in-vehicle camera;

[0154] S402, Analyze the image of the person and determine the pixel coordinates of the person's head in the image;

[0155] S403 converts the pixel coordinates of the person's head in the person's image into the height of the person's head relative to the lowest point of the vehicle.

[0156] Specifically, the images of people are captured by the vehicle's in-vehicle camera. These images can be captured in real time while the vehicle is wading through water, or they can be captured in advance before the vehicle is wading through water.

[0157] To determine the height of a person's head, it is necessary to acquire an image of the person and analyze it to determine the pixel coordinates of the head within the image. Specifically, one or more image processing algorithms, such as edge detection, feature point recognition, and template matching, can be used to identify and locate the person's head in the image. The ultimate goal is to determine the specific pixel coordinates of the person's head within the image, which is typically a point containing x and y coordinates, representing the position of the head in the image.

[0158] Furthermore, the intrinsic parameters (such as focal length and optical center) and extrinsic parameters (such as the position and orientation of the in-vehicle camera in the world coordinate system) of the in-vehicle camera are obtained. Then, using the camera's intrinsic and extrinsic parameters, as well as the pixel coordinates of the person's head, the height of the person's head relative to the lowest point of the vehicle is calculated through geometric transformations (such as perspective transformation).

[0159] Here is a numerical example:

[0160] Assume the pixel coordinates of the person's head are determined to be (u,v) = (400,300). Combining the camera's intrinsic and extrinsic parameters with the pixel coordinates of the person's head, geometric transformations (such as perspective transformation) are used to calculate the corresponding spatial coordinates (X,Y,Z). Here, the Z coordinate represents the vertical distance from the person's head to the in-vehicle camera.

[0161] Given the installation height of the in-vehicle camera (let's assume it's H_camera, relative to the lowest point of the vehicle), we can calculate the height of a person's head relative to the lowest point of the vehicle: H_head = H_camera - Z.

[0162] For example, if the installation height of the in-vehicle camera H_camera is 1.5 meters, and the Z coordinate obtained after geometric transformation is 0.1 meters, then the height of a person's head relative to the lowest point of the vehicle is H_head = 1.5 meters + 0.1 meters = 1.6 meters.

[0163] Please see Figure 10 This is a flowchart illustrating a vehicle control method provided in an embodiment of this application, as shown below. Figure 10 As shown, the method in this embodiment may include the following steps S501-S504, wherein steps S501-S504 may be used as a method for... Figure 2 A refinement of step S105 in the illustrated embodiment.

[0164] S501, If ​​the height of a person's head is lower than the safe height, then determine the lifting channel of the seat the person is sitting in;

[0165] S502, Identify relevant components in the vehicle that obstruct the lifting passage;

[0166] S503, control the relevant components to move away from the lifting channel in order to eliminate the obstruction of the lifting channel by the relevant components;

[0167] S504: After the relevant components stop moving, the seat in which the person is sitting is raised to bring the person's head to a safe height.

[0168] Specifically, if a person's head is below the safe height, it indicates a potential danger, requiring further control of the seat's lifting mechanism. First, the lifting path of the seat needs to be determined. This lifting path refers to the spatial path the seat must take during lifting, ensuring the seat can rise unimpeded to the required height to guarantee the person's safety.

[0169] In reality, there may be components within the vehicle that intrude into the lifting channel, obstructing it. For example, seats other than the passenger seat, the driver's steering wheel, and seatbelts could all potentially obstruct the lifting channel.

[0170] Therefore, it is necessary to identify the relevant components in the vehicle that obstruct the lifting channel.

[0171] In some cases, distance or position sensors are installed around the seat's lift channel. When the seat attempts to lift, these sensors can detect if any components are encroaching on the lift channel. Based on the feedback signals from the distance or position sensors, the specific components causing the obstruction are identified.

[0172] In some cases, in-vehicle cameras are used to capture images of the lift-up tunnel. These images are then analyzed using image processing techniques (such as edge detection and object recognition) to identify any components that may obstruct the seat's movement.

[0173] In some cases, a mapping relationship can be established between different seats and related components, allowing the corresponding components to be directly determined based on a specific seat. For example, the related components for the driver's seat include the steering wheel.

[0174] Once the relevant components are identified, they can be controlled to move away from the lifting channel to eliminate any obstruction they may be causing. It is understood that these components have specific mechanical structures to support the vehicle's electronic control of them, such as an electric steering wheel, electric seats, and electric seatbelts.

[0175] The distance that the relevant component moves away from the lifting channel can be preset or set according to the lifting channel. In one case, the relevant component moves away from the lifting channel until it can no longer move; in another case, the relevant component moves away from the lifting channel until it exits the lifting channel.

[0176] After the relevant components stop moving, the seat in which the person is sitting can be raised to ensure that the person's head is at a safe height.

[0177] To better understand the effects of this embodiment, please refer to [link / reference]. Figure 11 and Figure 12 , Figure 12 This is an example schematic diagram illustrating how to eliminate obstruction from related components, provided in an embodiment of this application. Figure 13 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application. Figure 11As shown, before the seat 004 is raised, its corresponding raising channel 005 is entered by the related component 006 (steering wheel), which obstructs the raising channel 005. If the seat 004 is forcibly raised, it may cause the seat 004 and the related component 006 to compress the user 002.

[0178] Therefore, it is necessary to control the relevant component 006 to move away from the lifting channel 005. For example... Figure 12 As shown, the relevant component 006 has moved outside the lifting channel 005 and will not affect the lifting of the seat 004. At this time, the lifting of the seat 004 can be controlled. It should be noted that, in addition to controlling the relevant component 006 to move away from the lifting channel 005, the seat 004 can also be moved horizontally as needed (e.g., in the opposite direction of the relevant component 006) to move the relevant component 006 as far away from the lifting channel 005 as possible.

[0179] In one possible implementation, based on Figure 2 In the illustrated embodiment, after step S102 is completed, the following steps may also be performed:

[0180] If the vehicle's wading depth is lower than the height of the sunroof relative to the lowest point of the vehicle, the sunroof will be opened, and the seat will be raised to its maximum height so that the sunroof can provide an exit for people when it is open.

[0181] Specifically, in some dangerous water-crossing scenarios, in addition to controlling the vehicle's seat to rise, the sunroof can be opened to create more opportunities for people inside the vehicle to escape.

[0182] First, it is necessary to determine whether the vehicle's wading depth is lower than the height of the sunroof relative to the lowest point of the vehicle.

[0183] If the wading depth of a vehicle is not less than the height of its sunroof, it means the water level is above the sunroof. Opening the sunroof in this situation would allow water from outside to flow into the vehicle, posing a greater safety risk to the occupants. Therefore, the sunroof will not be opened in this case.

[0184] If the wading depth of a vehicle is lower than the height of its sunroof, it means the water level is below the sunroof, and opening the sunroof in this situation is relatively safe. Therefore, in this case, the sunroof can be opened. Simultaneously, the seats can be raised to their maximum height, bringing the occupants' heads as close to or above the sunroof as possible. The open sunroof provides an escape route for those trapped inside. Understandably, occupants can use this exit to call for help or exit the vehicle.

[0185] Based on the above Figure 1 The following is a scene illustration, which will be combined with... Figure 13 The vehicle control device provided in the embodiments of this application will be described in detail. It should be noted that... Figure 13 The vehicle control device in the application is used to perform the functions described herein. Figure 2 - Figure 12 The methods shown in the embodiments are for illustrative purposes only, illustrating the parts relevant to the embodiments of this application. For specific technical details not disclosed, please refer to this application. Figure 2 - Figure 12 The illustrated embodiment. Specifically, the vehicle control device 800 may include a first acquisition unit 801, a second acquisition unit 802, a determination unit 803, a third acquisition unit 804, and a control unit 805, as detailed below:

[0186] The first acquisition unit 801 is used to acquire the vehicle's attitude angle when the vehicle is in a water-wading state and there are people inside the vehicle;

[0187] The second acquisition unit 802 is used to acquire the wading depth of the vehicle relative to the lowest point of the vehicle if the vehicle's attitude angle meets the preset attitude conditions.

[0188] The determining unit 803 is used to determine the safe height of a person's head relative to the lowest point of the vehicle above the vehicle's wading depth.

[0189] The third acquisition unit 804 is used to acquire the height of the person's head relative to the lowest point of the vehicle;

[0190] The control unit 805 is used to raise the seat in which the person is sitting if the height of the person's head is lower than the safe height, so that the height of the person's head reaches the safe height.

[0191] Optionally, in some embodiments, the second acquisition unit 802 may be used to: if the vehicle's attitude angle meets the preset attitude conditions, collect the vehicle's wading water pressure value through the vehicle's water pressure sensor; and determine the vehicle's wading depth corresponding to the vehicle's wading water pressure value based on the mapping relationship between the water pressure value and the wading depth.

[0192] Optionally, in some embodiments, the second acquisition unit 802 may be used to: acquire a reference attitude angle when the vehicle is placed on a horizontal surface; if the deviation between the vehicle's attitude angle and the reference attitude angle is less than a preset threshold, determine that the vehicle's attitude angle meets the preset attitude conditions; and, if the vehicle's attitude angle meets the preset attitude conditions, acquire the wading depth of the vehicle relative to the lowest point of the vehicle.

[0193] Optionally, in some embodiments, the determining unit 803 may be used to: obtain the safe height margin of the person's head above the water surface of the vehicle; and add the water depth of the vehicle to the safe height margin to obtain the safe height of the person's head relative to the lowest point of the vehicle.

[0194] Optionally, in some embodiments, the third acquisition unit 804 may be used to: acquire an image of a person, wherein the image of the person is captured by an in-vehicle camera of the vehicle; analyze the image of the person to determine the pixel coordinates of the person's head in the image of the person; and convert the pixel coordinates of the person's head in the image of the person into the height of the person's head relative to the lowest point of the vehicle.

[0195] Optionally, in some embodiments, the control unit 805 may be used to: determine the lifting channel of the seat in which the person is sitting if the height of the person's head is lower than the safe height; identify relevant components in the vehicle that obstruct the lifting channel; control the relevant components to move away from the lifting channel to eliminate the obstruction of the lifting channel by the relevant components; and control the seat in which the person is sitting to be raised after the relevant components stop moving so that the height of the person's head reaches the safe height.

[0196] Optionally, in some embodiments, the vehicle control device 800 may be used to: if the wading depth of the vehicle is lower than the height of the sunroof relative to the lowest point of the vehicle, control the sunroof to enter the open state and control the seat to rise to the maximum height supported by the seat, so that the sunroof forms an exit for personnel when it is in the open state.

[0197] Please see Figure 14 This provides a structural schematic diagram of a vehicle according to an embodiment of this application. Figure 14 As shown, the vehicle 900 includes a processor 901 and a memory 902. The processor 901 and the memory 902 are electrically connected.

[0198] The processor 901 is the control center of the vehicle 900 and may include one or more processing cores. The processor 901 connects to various parts of the vehicle 900 via various interfaces and lines. It executes various functions and processes data of the vehicle 900 by running or calling computer programs stored in the memory 902 and by calling data stored in the memory 902, thereby providing overall control of the vehicle 900. Optionally, the processor 901 may be implemented using at least one of the following hardware forms: Digital Signal Processing (DSP), Field Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 901 may integrate one or more of the following: CPU, Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user page, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 901 and may be implemented separately through a communication chip.

[0199] The memory 902 can be used to store software programs and modules. The processor 901 executes various functional applications and data processing by running the computer programs and modules stored in the memory 902. The memory 902 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function, etc.; the data storage area may store data created based on the use of the vehicle 900, etc.

[0200] Furthermore, memory 902 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, memory 902 may also include a memory controller to provide processor 901 with access to memory 902.

[0201] In this embodiment, the processor 901 in the vehicle 900 loads the instructions corresponding to the processes of one or more computer programs into the memory 902 according to the following steps, and the processor 901 runs the computer programs stored in the memory 902 to realize various functions, as follows:

[0202] Acquire the vehicle's attitude angles when the vehicle is in a water-filled state and there are people inside the vehicle;

[0203] If the vehicle's attitude angle meets the preset attitude conditions, then the wading depth of the vehicle relative to the lowest point of the vehicle is obtained.

[0204] Determine the safe head height of personnel relative to the lowest point of the vehicle, based on the vehicle's wading depth.

[0205] Obtain the height of the person's head relative to the lowest point of the vehicle;

[0206] If a person's head is below the safe height, the seat in which the person is sitting will be raised to bring the person's head to the safe height.

[0207] Optionally, when the processor 901 executes the action of obtaining the wading depth of the vehicle relative to the lowest point of the vehicle if the vehicle's attitude angle meets the preset attitude conditions, it specifically performs the following: if the vehicle's attitude angle meets the preset attitude conditions, it collects the vehicle's wading water pressure value through the vehicle's water pressure sensor; based on the mapping relationship between the water pressure value and the wading depth, it determines the wading depth of the vehicle corresponding to the wading water pressure value.

[0208] Optionally, when the processor 901 executes the action of obtaining the wading depth of the vehicle relative to the lowest point of the vehicle if the vehicle's attitude angle meets the preset attitude conditions, it specifically performs the following steps: obtaining the reference attitude angle of the vehicle when it is placed on a horizontal surface; if the deviation between the vehicle's attitude angle and the reference attitude angle is less than a preset threshold, then determining that the vehicle's attitude angle meets the preset attitude conditions; and if the vehicle's attitude angle meets the preset attitude conditions, obtaining the wading depth of the vehicle relative to the lowest point of the vehicle.

[0209] Optionally, when the processor 901 determines the safe height of a person's head relative to the lowest point of the vehicle above the vehicle's wading depth, it specifically performs the following: obtaining the safe height margin of the person's head above the vehicle's wading surface; and adding the vehicle's wading depth to the safe height margin to obtain the safe height of the person's head relative to the lowest point of the vehicle.

[0210] Optionally, when the processor 901 executes the process of obtaining the height of the person's head relative to the lowest point of the vehicle, it specifically performs the following: obtaining an image of the person, wherein the image of the person is captured by the vehicle's in-vehicle camera; analyzing the image of the person to determine the pixel coordinates of the person's head in the image of the person; and converting the pixel coordinates of the person's head in the image of the person into the height of the person's head relative to the lowest point of the vehicle.

[0211] Optionally, when the processor 901 executes the action of raising the seat of the person sitting if the height of the person's head is lower than the safe height, it specifically performs the following steps: if the height of the person's head is lower than the safe height, it determines the lifting channel of the seat of the person sitting; identifies relevant components in the vehicle that obstruct the lifting channel; controls the relevant components to move away from the lifting channel to eliminate the obstruction; and after the relevant components stop moving, it controls the seat of the person sitting to be raised so that the height of the person's head reaches the safe height.

[0212] Optionally, after the processor 901 executes the following steps: if the vehicle's attitude angle meets the preset attitude conditions, then the processor 901 obtains the wading depth of the vehicle relative to the lowest point of the vehicle. If the wading depth of the vehicle is lower than the height of the sunroof relative to the lowest point of the vehicle, then the processor 901 controls the sunroof to enter the open state and controls the seat to be raised to the maximum height supported by the seat, so that the sunroof forms an exit for the occupants when it is in the open state.

[0213] Please see Figure 15 This provides a structural schematic diagram of a vehicle according to an embodiment of this application. Figure 15 As shown, the vehicle 900 includes: a processor 901, a memory 902, a display screen 903, a camera assembly 904, an audio circuit 905, a sensor 906, and a power supply 907. The processor 901 is electrically connected to the display screen 903, the camera assembly 904, the audio circuit 905, the sensor 906, and the power supply 907.

[0214] The display screen 903 can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the vehicle 900, which can be composed of images, text, icons, videos, and any combination thereof.

[0215] The camera assembly 904 may include image processing circuitry, which may be implemented using hardware and / or software components and may include various processing units defining an image signal processing (ISP) pipeline. The image processing circuitry may include at least: multiple cameras, an image signal processor (ISP), control logic, and image memory. Each camera may include at least one or more lenses and an image sensor. The image sensor may include a color filter array (such as a Bayer filter). The image sensor acquires light intensity and wavelength information captured by each imaging pixel of the image sensor and provides a set of raw image data that can be processed by the image signal processor.

[0216] Audio circuit 905 provides an audio interface between the user and vehicle 900 via a speaker and microphone. Audio circuit 905 includes a microphone. The microphone is electrically connected to processor 901. The microphone is used to receive voice input from the user.

[0217] Sensor 906 is used to collect information about the vehicle 900 itself, user information, or external environmental information. For example, sensor 906 may include one or more of the following sensors: vibration sensor, temperature sensor, distance sensor, magnetic field sensor, light sensor, acceleration sensor, fingerprint sensor, Hall sensor, position sensor, gyroscope, inertial sensor, attitude sensor, barometer, heart rate sensor, etc.

[0218] Power supply 907 is used to supply power to various components of vehicle 900. In some embodiments, power supply 907 can be logically connected to processor 901 through power management system, thereby enabling functions such as charging, discharging, and power consumption management through power management system.

[0219] It should be understood that the apparatus provided in this application embodiment is used to execute the above-described vehicle control method, and therefore can achieve the same effect as the above-described implementation method.

[0220] 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 relevant program code.

[0221] The processing module may be a processor or a controller, which can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0222] In addition, the device provided in this application embodiment 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 control method provided in the above embodiment.

[0223] This application 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 a vehicle control method provided in the above embodiments.

[0224] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle control method provided in the above embodiment.

[0225] 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.

[0226] 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.

[0227] 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 apparatus, 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 apparatuses or units may be electrical, mechanical, or other forms.

[0228] 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 vehicle control method, characterized in that, The method includes: When the vehicle is in a water-filled state and there are people inside the vehicle, the attitude angle of the vehicle is obtained; If the vehicle's attitude angle meets the preset attitude conditions, then the wading depth of the vehicle relative to the lowest point of the vehicle is obtained. Determine the safe height of the person's head relative to the lowest point of the vehicle, above the wading depth of the vehicle. Obtain the height of the person's head relative to the lowest point of the vehicle; If the height of the person's head is lower than the safe height, the seat in which the person is sitting will be raised so that the height of the person's head reaches the safe height.

2. The method according to claim 1, characterized in that, If the vehicle's attitude angle meets preset attitude conditions, then obtaining the wading depth of the vehicle's wading surface relative to the lowest point of the vehicle includes: If the vehicle's attitude angle meets the preset attitude conditions, the vehicle's wading water pressure value is collected through the vehicle's water pressure sensor. Based on the mapping relationship between water pressure value and wading depth, the wading depth of the vehicle corresponding to the wading water pressure value is determined.

3. The method according to claim 1, characterized in that, If the vehicle's attitude angle meets preset attitude conditions, then obtaining the wading depth of the vehicle's wading surface relative to the lowest point of the vehicle includes: Obtain the reference attitude angle of the vehicle when it is placed on a horizontal plane; If the deviation between the vehicle's attitude angle and the reference attitude angle is less than a preset threshold, then the vehicle's attitude angle is determined to meet the preset attitude condition. If the vehicle's attitude angle meets the preset attitude conditions, the wading depth of the vehicle is obtained relative to the lowest point of the vehicle.

4. The method according to claim 1, characterized in that, Determining the safe height of the person's head relative to the lowest point of the vehicle, above the wading depth of the vehicle, includes: Obtain the safe head height margin of the person in the vehicle above the water surface; The safe height of the person's head relative to the lowest point of the vehicle is obtained by adding the wading depth of the vehicle to the safe height margin.

5. The method according to claim 1, characterized in that, The step of obtaining the height of the person's head relative to the lowest point of the vehicle includes: The image of the person is acquired, wherein the image of the person is captured by the in-vehicle camera of the vehicle; The image of the person is analyzed to determine the pixel coordinates of the person's head in the image; The pixel coordinates of the person's head in the image of the person are converted into the height of the person's head relative to the lowest point of the vehicle.

6. The method according to claim 1, characterized in that, If the height of the person's head is lower than the safe height, then controlling the seat where the person is sitting to rise so that the height of the person's head reaches the safe height includes: If the height of the person's head is lower than the safe height, then the lifting channel of the seat in which the person is sitting is determined; Identify relevant components in the vehicle that obstruct the lifting channel; Control the relevant components to move away from the lifting channel in order to eliminate the obstruction of the lifting channel by the relevant components; After the relevant components stop moving, the seat in which the person is sitting is raised so that the person's head reaches the safe height.

7. The method according to claim 1, characterized in that, If the vehicle's attitude angle meets preset attitude conditions, then after obtaining the wading depth of the vehicle's wading surface relative to the lowest point of the vehicle, the method further includes: If the wading depth of the vehicle is lower than the height of the sunroof relative to the lowest point of the vehicle, the sunroof is controlled to open, and the seat is controlled to rise to the maximum height supported by the seat, so that the sunroof forms an escape exit for the occupants when it is in the open state.

8. A vehicle control device, characterized in that, The device includes: The first acquisition unit is used to acquire the attitude angle of the vehicle when the vehicle is in a water-wading state and there are people inside the vehicle; The second acquisition unit is used to acquire the wading depth of the vehicle relative to the lowest point of the vehicle if the vehicle's attitude angle meets the preset attitude conditions. A determining unit is used to determine the safe height of the person's head relative to the lowest point of the vehicle above the wading depth of the vehicle; The third acquisition unit is used to acquire the height of the person's head relative to the lowest point of the vehicle; A control unit is configured to raise the seat in which the person is sitting if the height of the person's head is lower than the safe height, so that the height of the person's head reaches the safe height.

9. A vehicle, characterized in that, 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 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program code that, when executed, implements the method as described in any one of claims 1 to 7.

Images