Vehicle wading control method and device, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicle driving, in particular to a vehicle wading control method and device, a vehicle and a storage medium. The method comprises the steps that the fording depth of a current vehicle is obtained; determining the current wading early warning level of the current vehicle according to the depth interval of the current wading depth; and determining a reminding strategy and / or a control strategy of the current vehicle according to the current wading early warning level, performing wading reminding according to the reminding strategy, and / or controlling the current vehicle to leave the wading pavement according to the control strategy. Therefore, whether the driving environment has the wading condition or not is intelligently identified, the driver is helped to control the vehicle to safely pass through the wading road section, and meanwhile early warning is performed on road conditions such as deep pits, so that the problem that judgment errors exist when the driver subjectively judges whether the vehicle can pass through the wading road section or not is solved. Therefore, the problem that the vehicle body wire harness or the interior of the vehicle body is submerged is solved, and the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle driving technology, and in particular to a vehicle wading control method, device, vehicle and storage medium. Background Art

[0002] When a vehicle passes through off-road roads such as flooded potholes or rivers after heavy rain, on the one hand, the accumulated water will enter the vehicle or cause the engine to stall, causing damage to vehicle parts; on the other hand, excessive wading depth will make it difficult for the driver to escape, resulting in life-threatening danger.

[0003] In the related art, when encountering a flooded section during driving, the driver often does not understand the depth of the water. In most cases, they will choose to pull over and observe: first, to observe the depth of the water when other vehicles pass by; second, to find a vehicle similar to their own vehicle for comparison. If a vehicle similar to their own vehicle can pass safely, then it is very likely that their own vehicle can pass smoothly.

[0004] However, this method relies on the driver's subjective judgment of whether the vehicle can pass through the flooded section, and has a high probability of misjudgment. Misjudgment may cause the vehicle wiring harness or the interior of the vehicle to be submerged, which needs to be solved urgently. Summary of the invention

[0005] The present application provides a vehicle wading control method, device, vehicle and storage medium to solve the problem that the driver may make misjudgment when subjectively judging whether the vehicle can pass through a wading section, thereby causing the vehicle body wiring harness or the interior of the vehicle to be submerged, thereby improving driving safety.

[0006] To achieve the above-mentioned purpose, a first embodiment of the present application provides a vehicle wading control method, comprising the following steps:

[0007] Get the current vehicle's wading depth;

[0008] Determining a current wading warning level of the current vehicle according to a depth interval of the current wading depth;

[0009] The reminder strategy and / or control strategy of the current vehicle is determined according to the current water wading warning level, and a water wading reminder is performed according to the reminder strategy, and / or the current vehicle is controlled to leave the flooded road surface according to the control strategy.

[0010] Through the above-mentioned technical means, real-time monitoring of the wading depth and taking corresponding reminder and control strategies can significantly reduce the possibility of danger when the vehicle is wading and improve driving safety.

[0011] According to an embodiment of the present application, determining the current wading warning level of the current vehicle according to the depth interval in which the current wading depth is located includes:

[0012] If the depth interval of the current wading depth is the first depth interval, the current wading warning level is the first level warning;

[0013] If the depth interval of the current wading depth is the second depth interval, the current wading warning level is a level 2 warning, wherein the lower limit value of the second depth interval is greater than the upper limit value of the first depth interval, and the level of the level 2 warning is higher than the level of the level 1 warning;

[0014] If the depth interval of the current wading depth is the third depth interval, the current wading warning level is a third-level warning, wherein the lower limit value of the third depth interval is greater than the upper limit value of the second depth interval, and the third-level warning level is higher than the second-level warning level.

[0015] Through the above-mentioned technical means, the water depth is monitored in real time and different warning levels are divided. The system can issue a warning in advance before the water situation worsens, leaving the driver with sufficient reaction time; different levels of warnings correspond to different response measures, which helps the driver make more reasonable judgments and decisions based on actual conditions, thereby improving the safety and intelligence level of vehicle wading.

[0016] According to an embodiment of the present application, determining a reminder strategy and / or a control strategy of the current vehicle according to the current wading warning level, and performing a wading reminder according to the reminder strategy, and / or controlling the current vehicle to leave the wading road according to the control strategy, includes:

[0017] If the current wading warning level is the first-level warning, controlling the current vehicle to display the current wading depth and the current wading warning level;

[0018] If the current wading warning level is the second-level warning, the current vehicle is controlled to display the current wading depth and the current wading warning level, and the current vehicle is controlled to voice broadcast the current wading depth at a first frequency, and the ambient light of the current vehicle is controlled to flash at a second frequency;

[0019] If the current wading warning level is the third-level warning, the current vehicle is controlled to display the current wading depth and the current wading warning level, and the current vehicle is controlled to voice broadcast the current wading depth at a third frequency, and the ambient light of the current vehicle is controlled to flash at a fourth frequency, wherein the first frequency is less than the third frequency, and the second frequency is less than the fourth frequency.

[0020] Through the above technical means, corresponding reminder strategies and control strategies are implemented according to the water wading warning level to improve the safety of vehicle wading.

[0021] According to an embodiment of the present application, when the current water wading warning level is the third warning level, the method further includes:

[0022] Determining whether the current vehicle is in an automatic control mode;

[0023] If the current vehicle is in the automatic control mode, the current vehicle is controlled to travel according to a preset gear, and / or the engine of the current vehicle is turned off, and / or a driving motor is used to provide driving force for the current vehicle.

[0024] Through the above-mentioned technical means, the risks brought by wading can be minimized to the greatest extent and the safety of vehicles and passengers can be protected.

[0025] According to one embodiment of the present application, after determining whether the current vehicle is in the automatic control mode, the method further includes:

[0026] If the current vehicle is not in the automatic control mode, sending an automatic control request to a preset mobile terminal;

[0027] If a confirmation instruction sent by the driver based on the automatic control request is received, the vehicle is controlled to enter the automatic driving mode.

[0028] Through the above-mentioned technical means, when the water wading warning level reaches level three, a more intelligent and convenient solution can be provided to the driver to ensure the safety of the vehicle and passengers.

[0029] According to one embodiment of the present application, after sending the automatic control request to the preset mobile terminal, the method further includes:

[0030] The cumulative duration of not receiving the confirmation instruction;

[0031] If the duration is greater than a preset duration, the voice is controlled to broadcast the automatic control request.

[0032] Through the above-mentioned technical means, the system can interact with the driver more effectively and improve the driver's response efficiency to automatic control requests, thereby providing more reliable safety protection for the vehicle and passengers in water emergencies.

[0033] According to the vehicle wading control method proposed in the embodiment of the present application, the wading depth of the current vehicle is obtained, and the current wading warning level of the current vehicle is determined according to the depth interval of the current wading depth, and the reminder strategy and / or control strategy of the current vehicle is determined according to the current wading warning level, and a wading reminder is given according to the reminder strategy, and / or the current vehicle is controlled to leave the wading road according to the control strategy. Therefore, by intelligently identifying whether there is wading in the driving environment, and helping the driver to control the vehicle to safely pass the wading section, and at the same time giving early warnings for road conditions such as deep water pits, the problem of the driver's subjective judgment of whether the vehicle can pass the wading section, which may cause the body wiring harness or the interior of the body to be submerged, is solved, thereby improving driving safety.

[0034] To achieve the above-mentioned purpose, a second embodiment of the present application provides a vehicle wading control device, comprising:

[0035] An acquisition module is used to obtain the wading depth of the current vehicle;

[0036] A determination module, configured to determine a current wading warning level of the current vehicle according to a depth interval of the current wading depth;

[0037] A control module is used to determine a reminder strategy and / or a control strategy for the current vehicle according to the current water wading warning level, and to provide a water wading reminder according to the reminder strategy, and / or to control the current vehicle to leave the flooded road according to the control strategy.

[0038] According to an embodiment of the present application, the determining module is specifically used to:

[0039] When the depth interval of the current wading depth is the first depth interval, the current wading warning level is a first-level warning;

[0040] When the depth interval of the current wading depth is the second depth interval, the current wading warning level is a level 2 warning, wherein the lower limit value of the second depth interval is greater than the upper limit value of the first depth interval, and the level of the level 2 warning is higher than the level of the level 1 warning;

[0041] When the depth interval of the current wading depth is the third depth interval, the current wading warning level is a third-level warning, wherein the lower limit value of the third depth interval is greater than the upper limit value of the second depth interval, and the third-level warning level is higher than the second-level warning level.

[0042] According to one embodiment of the present application, the control module includes:

[0043] A first control unit, configured to control the current vehicle to display the current wading depth and the current wading warning level when the current wading warning level is the first-level warning;

[0044] a second control unit, configured to control the current vehicle to display the current wading depth and the current wading warning level when the current wading warning level is the second-level warning, and to control the current vehicle to voice broadcast the current wading depth at a first frequency, and to control the ambient light of the current vehicle to flash at a second frequency;

[0045] The third control unit is used to control the current vehicle to display the current wading depth and the current wading warning level when the current wading warning level is the third warning level, and to control the current vehicle to voice broadcast the current wading depth at a third frequency, and to control the ambient light of the current vehicle to flash at a fourth frequency, wherein the first frequency is less than the third frequency, and the second frequency is less than the fourth frequency.

[0046] According to an embodiment of the present application, when the current water wading warning level is the third warning level, the third control unit further includes:

[0047] A judging subunit, used to judge whether the current vehicle is in an automatic control mode;

[0048] A control subunit is used to control the current vehicle to travel according to a preset gear when the current vehicle is in the automatic control mode, and / or to shut down the engine of the current vehicle, and / or to provide driving force for the current vehicle through a driving motor.

[0049] According to one embodiment of the present application, after determining whether the current vehicle is in the automatic control mode, the determination subunit is further configured to:

[0050] When the current vehicle is not in the automatic control mode, sending an automatic control request to a preset mobile terminal;

[0051] Upon receiving a confirmation instruction sent by the driver based on the automatic control request, the vehicle is controlled to enter the automatic driving mode.

[0052] According to one embodiment of the present application, after sending the automatic control request to the preset mobile terminal, the judging subunit is further configured to:

[0053] The cumulative duration of not receiving the confirmation instruction;

[0054] If the duration is greater than a preset duration, the voice is controlled to broadcast the automatic control request.

[0055] According to the vehicle wading control device proposed in the embodiment of the present application, by obtaining the wading depth of the current vehicle, and determining the current wading warning level of the current vehicle according to the depth range of the current wading depth, the reminder strategy and / or control strategy of the current vehicle is determined according to the current wading warning level, and a wading reminder is given according to the reminder strategy, and / or the current vehicle is controlled to leave the wading road according to the control strategy. Thus, by intelligently identifying whether there is wading in the driving environment, and helping the driver to control the vehicle to safely pass the wading section, and at the same time giving early warnings for road conditions such as deep water pits, the problem of the driver's subjective judgment error when judging whether the vehicle can pass the wading section, which leads to the submergence of the vehicle body harness or the interior of the vehicle body, is solved, thereby improving driving safety.

[0056] To achieve the above objectives, the third aspect of the present application proposes a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle wading control method as described in the above embodiments.

[0057] To achieve the above objectives, the fourth aspect of the present application proposes a computer-readable storage medium on which a computer program is stored. The program is executed by a processor to implement the vehicle wading control method as described in the above embodiments.

[0058] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0060] Figure 1 A flow chart of a vehicle wading control method provided according to an embodiment of the present application;

[0061] Figure 2 is a block diagram of a vehicle wading control system according to an embodiment of the present application;

[0062] Figure 3 A flowchart of another vehicle wading control method provided according to an embodiment of the present application;

[0063] Figure 4 A schematic block diagram of a vehicle wading control device provided according to an embodiment of the present application;

[0064] Figure 5 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application.

[0065] Explanation of the reference numerals: 10 - vehicle wading control device, 100 - acquisition module, 200 - determination module, 300 - control module, 501 - memory, 502 - processor, 503 - communication interface. DETAILED DESCRIPTION

[0066] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0067] The following describes a vehicle wading control method, device, vehicle, and storage medium according to an embodiment of the present application with reference to the accompanying drawings.

[0068] Figure 1 It is a flow chart of a vehicle wading control method according to an embodiment of the present application.

[0069] Before introducing the vehicle wading control method proposed in the embodiment of the present application, the vehicle wading control system involved in the method is first introduced.

[0070] like Figure 2 As shown, the vehicle wading control system includes a power module, a detection module, an information processing module, an intelligent control module, a wading warning module and a wading driving control module, wherein the detection module includes a rain sensor, a camera, an ultrasonic sensor and a sonar sensor; the wading warning module includes a sound prompt unit, an HMI (Human Machine Interface), a light prompt unit and a HUD (Head-Up Display); and the wading driving control module is a body control system for adjusting vehicle speed and gear position, etc.

[0071] Among them, the ultrasonic sensor is located at the position of the vehicle's rearview mirror, one on each side, to monitor the wading depth of the vehicle body. The height of the ultrasonic probe from the ground is A. The ultrasonic sensor sends out ultrasonic signals, which will be reflected back when encountering obstacles (such as water surface). The sensor receives the reflected ultrasonic signal and calculates the distance B from the water surface based on the time difference between the sending and receiving of the signal. From this, the wading depth of the vehicle body can be calculated as X = AB. The camera is used to capture images around the vehicle and analyze the images through image processing technology. By identifying the water surface features in the image (such as reflection, color change, etc.), the camera can determine whether there is a wading road condition in front of the vehicle. The camera plays a role in assisting in determining whether the vehicle is currently in a wading road condition, especially in special occasions where the ultrasonic sensor may not be able to accurately identify the wading state. The camera can provide additional information to ensure the accuracy of wading detection. The sonar sensor is installed under the bumper, tilted forward, and is used for underwater detection to assist in determining the vehicle's wading conditions when it is driving on a sloped road or there are puddles in front and behind. The sonar sensor can emit sound wave signals that propagate in the water and are reflected back when encountering obstacles. By analyzing the reflected sound wave signals, it is possible to determine whether there are puddles under the vehicle and whether the vehicle body is submerged in water. When the vehicle is driving on a sloped road and the water surface overflows the sensor, the sonar sensor can quickly determine whether the vehicle has entered the water and provide detailed feedback on information such as puddles in front and behind.

[0072] Therefore, the embodiments of the present application utilize external vehicle sensors, including cameras, ultrasonic radars, sonar radars and other sensors, and adopt multi-sensor fusion technology to judge water-related scenes and assist the driver in passing through water-related sections, avoiding traffic accidents caused by the driver's inability to accurately judge the water depth and other problems.

[0073] For example, Figure 1 As shown, the vehicle wading control method includes the following steps:

[0074] In step S101, the current wading depth of the vehicle is obtained.

[0075] It is understandable that detecting the current vehicle's wading depth can generally rely on sensors installed on the vehicle, such as water level sensors, ultrasonic sensors or cameras, etc. These sensors can detect the water depth around the vehicle in real time and transmit the data to the vehicle's control system for analysis, thereby accurately obtaining the current vehicle's wading depth.

[0076] Specifically, the embodiments of the present application utilize the synergistic effect of the camera, ultrasonic sensor and sonar sensor in the vehicle's wading control system. The ultrasonic sensor is used to provide accurate wading depth information, the camera is used to provide additional visual verification in complex environments, and the sonar sensor focuses on underwater detection and puddle judgment. The three work together to ensure that the vehicle can obtain comprehensive and accurate wading information during wading driving.

[0077] In step S102, the current wading warning level of the current vehicle is determined according to the depth interval of the current wading depth.

[0078] That is to say, after obtaining the wading depth, the control system can compare it with the preset wading depth interval to determine the wading warning level of the current vehicle. The preset wading depth interval can be set according to the specific parameters of the vehicle (such as ground clearance, tire size and air intake position, etc.) and divided into different warning levels.

[0079] The following describes in detail how to determine the current wading warning level of the current vehicle according to the depth interval of the current wading depth.

[0080] As a possible implementation method, in some embodiments, the current water wading warning level of the current vehicle is determined according to the depth interval in which the current wading depth is located, including: if the depth interval in which the current wading depth is located is the first depth interval, the current water wading warning level is a first-level warning; if the depth interval in which the current wading depth is located is the second depth interval, the current water wading warning level is a second-level warning, wherein the lower limit value of the second depth interval is greater than the upper limit value of the first depth interval, and the level of the second-level warning is higher than the level of the first-level warning; if the depth interval in which the current wading depth is located is the third depth interval, the current water wading warning level is a third-level warning, wherein the lower limit value of the third depth interval is greater than the upper limit value of the second depth interval, and the level of the third-level warning is higher than the level of the second-level warning.

[0081] It is understandable that when a vehicle encounters a flooded road condition during driving, in order to ensure driving safety, the corresponding water wading warning level can be determined according to the different depth intervals of the current water wading depth, and the driver can be alarmed and reminded based on the water wading warning level and the corresponding control strategy can be taken.

[0082] Specifically, the embodiment of the present application divides the wading warning level into three levels, which correspond to different degrees of wading depth. The maximum wading depth of the vehicle is set to Y according to the maximum wading capability of the vehicle or relevant safety standards, wherein the first depth interval is set to Y'≤Y / 3, the interval with the shallowest wading depth. If the current wading depth is within the first depth interval, the system will issue a first-level warning, which usually indicates that the current wading situation is relatively minor, but the driver still needs to pay attention; the lower limit value of the second depth interval is greater than the upper limit value of the first depth interval, which indicates that the wading depth has increased. The second depth interval is set to Y / 3<Y'≤3Y / 4. If the current wading depth is within the second depth interval, the system will issue a second-level warning. The level of the second-level warning is higher than the level of the first-level warning, indicating that the wading situation is relatively serious; the third depth interval is Y'>3Y / 4, the interval with the deepest wading depth. If the current wading depth is within the third depth interval, the system will issue a third-level warning. The level of the third-level warning is the highest, indicating that the current wading situation is extremely severe and the vehicle may face serious safety risks.

[0083] Therefore, by real-time monitoring of the wading depth and dividing it into different warning levels, the system can issue a warning in advance before the wading situation worsens, leaving the driver with sufficient reaction time; different levels of warnings correspond to different response measures, which helps the driver make more reasonable judgments and decisions based on actual conditions, and improve the safety and intelligence level of vehicle wading.

[0084] In step S103, a reminder strategy and / or control strategy of the current vehicle is determined according to the current wading warning level, and a wading reminder is performed according to the reminder strategy, and / or the current vehicle is controlled to leave the flooded road surface according to the control strategy.

[0085] That is to say, according to the current water wading warning level, the control system can adopt corresponding reminder strategies, such as only reminding the driver through prompt information or sound on the dashboard at low risk levels, and reminding the driver in a more eye-catching way at high risk levels. At the same time, the control system can also adopt corresponding control strategies according to the current water wading warning level, such as reducing the speed, to ensure that the vehicle can safely pass through the water wading area or stop in time.

[0086] It is understandable that during the process of vehicle wading, determining and executing corresponding reminder strategies and control strategies based on the current water wading warning level is an important part of ensuring driving safety.

[0087] Next, it is described in detail how to determine the reminder strategy and / or control strategy of the current vehicle according to the current wading warning level, and to perform wading reminder according to the reminder strategy, and / or to control the current vehicle to leave the wading road according to the control strategy.

[0088] As a possible implementation method, in some embodiments, the reminder strategy and / or control strategy of the current vehicle is determined according to the current water wading warning level, and a water wading reminder is performed according to the reminder strategy, and / or the current vehicle is controlled to leave the flooded road surface according to the control strategy, including: if the current water wading warning level is a level one warning, the current vehicle is controlled to display the current water wading depth and the current water wading warning level; if the current water wading warning level is a level two warning, the current vehicle is controlled to display the current water wading depth and the current water wading warning level, and the current vehicle is controlled to voice broadcast the current water wading depth at a first frequency, and the current vehicle's ambient light is controlled to flash at a second frequency; if the current water wading warning level is a level three warning, the current vehicle is controlled to display the current water wading depth and the current water wading warning level, and the current vehicle is controlled to voice broadcast the current water wading depth at a third frequency, and the current vehicle's ambient light is controlled to flash at a fourth frequency, wherein the first frequency is less than the third frequency, and the second frequency is less than the fourth frequency.

[0089] Specifically, the embodiment of the present application utilizes the sound prompts, light prompts and HMI (such as the central control instrument displaying the current wading depth and wading level of the vehicle) in the vehicle wading control system. When the current wading warning level is the first-level warning, the system controls the current vehicle to display the current wading depth and the current wading warning level through the HMI and HUD. This intuitive display method allows the driver to quickly understand the current wading situation. Usually, no additional control strategy is required at this warning level, but the system should continuously monitor the wading depth so that the warning level can be upgraded in time when the situation deteriorates. When the current wading warning level is the second-level warning, in addition to controlling the vehicle to display the current wading depth and the current wading warning level through the HMI and HUD, the current wading depth can also be cyclically voice broadcast at a first frequency (lower frequency). This voice reminder method can further attract the driver's attention, and at the same time control the vehicle's ambient light to flash at a second frequency (lower frequency). The flashing of the ambient light serves as another visual reminder method, complementing the voice broadcast. When the current wading warning level is level three, the vehicle is controlled to display the current wading depth and the current wading warning level through the HMI and HUD, and the current wading depth is broadcast in a loop at a third frequency (the third frequency is greater than the first frequency), indicating that the current wading situation is serious and the driver needs to take immediate measures. At the same time, the vehicle's ambient light is controlled to flash at a fourth frequency (the fourth frequency is greater than the second frequency) to prompt the driver to respond quickly. In addition, under the third level warning, the system should immediately take more active control measures to maximize the protection of the vehicle and the driver's safety.

[0090] Furthermore, in some embodiments, when the current wading warning level is the third warning, it also includes: determining whether the current vehicle is in automatic control mode; if the current vehicle is in automatic control mode, controlling the current vehicle to travel according to a preset gear, and / or shutting down the engine of the current vehicle, and / or providing driving force for the current vehicle through a drive motor.

[0091] Specifically, when the current water wading warning level is the third level warning, first determine whether the current vehicle is in the automatic control mode. When the current vehicle is in the automatic control mode, the system can take over the gear control of the vehicle and control the current vehicle to drive according to the preset gear, that is, switch the vehicle to a low gear to reduce water resistance. If the current vehicle is a pure electric vehicle, the motor output torque and speed can be adjusted to meet the needs of wading driving. In addition, in the case of the third level warning, the system can automatically shut down the engine to prevent water from entering the engine and causing damage; for electric vehicles or hybrid vehicles, the system can also provide driving force for the vehicle through the drive motor to help the owner safely drive away from the wading road.

[0092] Furthermore, in some embodiments, after determining whether the current vehicle is in the automatic control mode, it also includes: if the current vehicle is not in the automatic control mode, sending an automatic control request to a preset mobile terminal; if a confirmation instruction sent by the driver based on the automatic control request is received, controlling the vehicle to enter the automatic driving mode.

[0093] That is to say, if the current vehicle is not in automatic control mode, an automatic control request can be sent to a preset mobile terminal (such as the driver's mobile phone, etc.) through the vehicle's communication module (such as on-board Wi-Fi, Bluetooth, etc.). The request may include information such as the urgency of the current wading situation and the type of automatic driving mode recommended. After receiving the automatic control request, the driver can send a confirmation instruction to the vehicle through the preset mobile terminal based on the actual situation and judgment. After receiving the confirmation instruction, the system controls the vehicle to enter the automatic driving mode.

[0094] Furthermore, in some embodiments, after sending the automatic control request to the preset mobile terminal, it also includes: accumulating the duration of not receiving the confirmation instruction; if the duration is greater than the preset duration, controlling the voice to broadcast the automatic control request.

[0095] It is understandable that when the system receives a confirmation command, it should set a reasonable timeout (i.e., a preset time) from the time the automatic control request is sent. If the duration of not receiving a confirmation command is longer than the preset time, the system can make a voice broadcast of the automatic control request to remind the driver again. If the confirmation command is still not received for a long time after the voice broadcast, the system can forcibly take over the vehicle and enter the automatic driving mode.

[0096] To facilitate those skilled in the art to further understand the vehicle wading control method proposed in the embodiment of the present application, the following is a Figure 3 For further elaboration.

[0097] like Figure 3 As shown, the vehicle wading control method may further include the following steps:

[0098] Step S301, determine whether the vehicle wading control system is turned on. If so, execute step S302, otherwise, the process ends.

[0099] Step S302, determine whether the vehicle wading control system performs self-check. If yes, execute step S303a, otherwise, execute steps S303b to S304b, and then execute step S303a.

[0100] Step S303a, controlling the vehicle wading control system to enter a standby state.

[0101] Step S303b, system failure.

[0102] Step S304b, fault repair.

[0103] Step S304a, determining whether the current slope satisfies the vehicle wading control system activation. If so, executing step S305, otherwise, executing step S303a.

[0104] Step S305, determine whether the current wading depth Y1 is less than or equal to Y / 3 (Y is the maximum wading depth). If yes, execute steps S306a and S310, otherwise, execute step S306b.

[0105] Step S306a: The HMI / HDU displays the current wading depth and wading warning level.

[0106] Step S306b, determine whether the current wading depth Y1 is greater than Y / 3 and less than or equal to 3Y / 4. If yes, execute steps S307a and S310, otherwise, execute step S307b.

[0107] Step S307a: The HMI / HDU displays the current wading depth and wading warning level, the ambient light flashes at a low frequency, and a sound prompts the current wading depth.

[0108] Step S307b: The HMI / HDU displays the current wading depth and wading warning level, the ambient light flashes at a high frequency, and a sound prompts the current wading depth.

[0109] Step S308, making the vehicle enter the automatic control mode.

[0110] Step S309, controlling the vehicle to drive away from the flooded road surface.

[0111] Step S310, completing water wading warning.

[0112] According to the vehicle wading control method proposed in the embodiment of the present application, the wading depth of the current vehicle is obtained, and the current wading warning level of the current vehicle is determined according to the depth interval of the current wading depth, and the reminder strategy and / or control strategy of the current vehicle is determined according to the current wading warning level, and a wading reminder is given according to the reminder strategy, and / or the current vehicle is controlled to leave the wading road according to the control strategy. Therefore, by intelligently identifying whether there is wading in the driving environment, and helping the driver to control the vehicle to safely pass the wading section, and at the same time giving early warnings for road conditions such as deep water pits, the problem of the driver's subjective judgment of whether the vehicle can pass the wading section, which may cause the body wiring harness or the interior of the body to be submerged, is solved, thereby improving driving safety.

[0113] Next, the vehicle wading control device proposed in accordance with the embodiment of the present application will be described with reference to the accompanying drawings.

[0114] Figure 4 It is a block diagram of a vehicle wading control device according to an embodiment of the present application.

[0115] like Figure 4 As shown, the vehicle wading control device 10 includes: an acquisition module 100 , a determination module 200 and a control module 300 .

[0116] Wherein, the acquisition module 100 is used to obtain the current wading depth of the vehicle;

[0117] A determination module 200, configured to determine a current wading warning level of the current vehicle according to a depth interval of the current wading depth;

[0118] The control module 300 is used to determine the reminder strategy and / or control strategy of the current vehicle according to the current wading warning level, and to provide wading reminders according to the reminder strategy, and / or to control the current vehicle to leave the flooded road according to the control strategy.

[0119] According to an embodiment of the present application, the determination module 200 is specifically configured to:

[0120] When the depth interval of the current wading depth is the first depth interval, the current wading warning level is the first level warning;

[0121] When the depth interval of the current wading depth is the second depth interval, the current wading warning level is a second-level warning, wherein the lower limit value of the second depth interval is greater than the upper limit value of the first depth interval, and the level of the second-level warning is higher than the level of the first-level warning;

[0122] When the depth interval of the current wading depth is the third depth interval, the current wading warning level is a level three warning, wherein the lower limit value of the third depth interval is greater than the upper limit value of the second depth interval, and the level of the level three warning is higher than the level of the level two warning.

[0123] According to one embodiment of the present application, the control module 300 includes:

[0124] A first control unit is used to control the current vehicle to display the current wading depth and the current wading warning level when the current wading warning level is level one warning;

[0125] A second control unit is used to control the current vehicle to display the current wading depth and the current wading warning level when the current wading warning level is level 2 warning, and to control the current vehicle to voice broadcast the current wading depth at a first frequency, and to control the atmosphere light of the current vehicle to flash at a second frequency;

[0126] The third control unit is used to control the current vehicle to display the current wading depth and the current wading warning level when the current wading warning level is the third warning level, and to control the current vehicle to voice broadcast the current wading depth at a third frequency, and to control the ambient light of the current vehicle to flash at a fourth frequency, wherein the first frequency is less than the third frequency, and the second frequency is less than the fourth frequency.

[0127] According to an embodiment of the present application, when the current water wading warning level is level 3 warning, the third control unit further includes:

[0128] A judging subunit, used to judge whether the current vehicle is in an automatic control mode;

[0129] The control subunit is used to control the current vehicle to travel according to a preset gear when the current vehicle is in an automatic control mode, and / or shut down the engine of the current vehicle, and / or provide driving force for the current vehicle through a driving motor.

[0130] According to one embodiment of the present application, after determining whether the current vehicle is in the automatic control mode, the determination subunit is further configured to:

[0131] When the current vehicle is not in the automatic control mode, sending an automatic control request to a preset mobile terminal;

[0132] When receiving a confirmation instruction sent by the driver based on the automatic control request, the vehicle is controlled to enter the automatic driving mode.

[0133] According to one embodiment of the present application, after sending the automatic control request to the preset mobile terminal, the judgment subunit is further used to:

[0134] The cumulative duration of not receiving confirmation instructions;

[0135] If the duration is longer than the preset duration, the control voice broadcasts the automatic control request.

[0136] It should be noted that the aforementioned explanation of the vehicle wading control method embodiment is also applicable to the vehicle wading control device of this embodiment, and will not be repeated here.

[0137] According to the vehicle wading control device proposed in the embodiment of the present application, by obtaining the wading depth of the current vehicle, and determining the current wading warning level of the current vehicle according to the depth range of the current wading depth, the reminder strategy and / or control strategy of the current vehicle is determined according to the current wading warning level, and a wading reminder is given according to the reminder strategy, and / or the current vehicle is controlled to leave the wading road according to the control strategy. Thus, by intelligently identifying whether there is wading in the driving environment, and helping the driver to control the vehicle to safely pass the wading section, and at the same time giving early warnings for road conditions such as deep water pits, the problem of the driver's subjective judgment error when judging whether the vehicle can pass the wading section, which leads to the submergence of the vehicle body harness or the interior of the vehicle body, is solved, thereby improving driving safety.

[0138] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0139] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0140] When the processor 502 executes the program, the vehicle wading control method provided in the above embodiment is implemented.

[0141] Furthermore, the vehicle also includes:

[0142] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0143] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0144] The memory 501 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0145] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0146] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0147] The processor 502 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0148] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the above-mentioned vehicle wading control method is implemented.

[0149] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0150] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0151] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle wading control method, characterized in that: The following steps are involved: Get the current vehicle's wading depth; Determining a current wading warning level of the current vehicle according to a depth interval of the current wading depth; The reminder strategy and / or control strategy of the current vehicle is determined according to the current water wading warning level, and a water wading reminder is performed according to the reminder strategy, and / or the current vehicle is controlled to leave the flooded road surface according to the control strategy.

2. The method according to claim 1, characterized in that The determining the current wading warning level of the current vehicle according to the depth interval of the current wading depth includes: If the depth interval of the current wading depth is the first depth interval, the current wading warning level is the first level warning; If the depth interval of the current wading depth is the second depth interval, the current wading warning level is a level 2 warning, wherein the lower limit value of the second depth interval is greater than the upper limit value of the first depth interval, and the level of the level 2 warning is higher than the level of the level 1 warning; If the depth interval of the current wading depth is the third depth interval, the current wading warning level is a third-level warning, wherein the lower limit value of the third depth interval is greater than the upper limit value of the second depth interval, and the third-level warning level is higher than the second-level warning level.

3. The method according to claim 2, characterized in that Determining a reminder strategy and / or a control strategy for the current vehicle according to the current water wading warning level, and performing a water wading reminder according to the reminder strategy, and / or controlling the current vehicle to leave the water wading road according to the control strategy, includes: If the current wading warning level is the first-level warning, controlling the current vehicle to display the current wading depth and the current wading warning level; If the current wading warning level is the second-level warning, the current vehicle is controlled to display the current wading depth and the current wading warning level, and the current vehicle is controlled to voice broadcast the current wading depth at a first frequency, and the ambient light of the current vehicle is controlled to flash at a second frequency; If the current wading warning level is the third-level warning, the current vehicle is controlled to display the current wading depth and the current wading warning level, and the current vehicle is controlled to voice broadcast the current wading depth at a third frequency, and the ambient light of the current vehicle is controlled to flash at a fourth frequency, wherein the first frequency is less than the third frequency, and the second frequency is less than the fourth frequency.

4. The method according to claim 3, characterized in that: When the current water-related warning level is the third warning level, the method further includes: Determining whether the current vehicle is in an automatic control mode; If the current vehicle is in the automatic control mode, the current vehicle is controlled to travel according to a preset gear, and / or the engine of the current vehicle is turned off, and / or a driving motor is used to provide driving force for the current vehicle.

5. The method according to claim 4, characterized in that After determining whether the current vehicle is in the automatic control mode, the method further includes: If the current vehicle is not in the automatic control mode, sending an automatic control request to a preset mobile terminal; If a confirmation instruction sent by the driver based on the automatic control request is received, the vehicle is controlled to enter the automatic driving mode.

6. The method according to claim 5, characterized in that After sending the automatic control request to the preset mobile terminal, the method further includes: The cumulative duration of not receiving the confirmation instruction; If the duration is greater than a preset duration, the voice is controlled to broadcast the automatic control request.

7. A vehicle wading control device, characterized in that: include: An acquisition module is used to obtain the wading depth of the current vehicle; A determination module, configured to determine a current wading warning level of the current vehicle according to a depth interval of the current wading depth; A control module is used to determine a reminder strategy and / or a control strategy for the current vehicle according to the current water wading warning level, and to provide a water wading reminder according to the reminder strategy, and / or to control the current vehicle to leave the flooded road according to the control strategy.

8. The device according to claim 7, characterized in that The determination module is specifically used for: When the depth interval of the current wading depth is the first depth interval, the current wading warning level is a first-level warning; When the depth interval of the current wading depth is the second depth interval, the current wading warning level is a level 2 warning, wherein the lower limit value of the second depth interval is greater than the upper limit value of the first depth interval, and the level of the level 2 warning is higher than the level of the level 1 warning; When the depth interval of the current wading depth is the third depth interval, the current wading warning level is a third-level warning, wherein the lower limit value of the third depth interval is greater than the upper limit value of the second depth interval, and the third-level warning level is higher than the second-level warning level.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle wading control method as described in any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle wading control method as described in any one of claims 1-6.

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