Vehicle wading control method and system, storage medium and vehicle

Abstract

The invention provides a vehicle wading control method and system, a storage medium and a vehicle, and belongs to the technical field of vehicles. The vehicle wading control method comprises the steps that when it is detected that the wading depth of the vehicle is larger than a preset depth, the wading depth of the vehicle is determined to be larger than the preset depth through the driving direction of the vehicle and the road surface gradient of a road; and the wading depth change trend of the vehicle after the current moment is determined, and then inflation control is conducted on the inflation sealing strip according to the wading depth change trend. Under the condition that the fording depth is larger than the preset depth, the fording depth change trend of the vehicle in a period of time in the future is pre-judged according to the driving direction of the vehicle and the road surface gradient of the road, and then inflation of the inflation sealing strip is controlled according to the pre-judgment result of the fording depth so that the vehicle door of the vehicle can be sealed. Therefore, frequent inflation of the inflatable sealing strip is avoided, and the service life of the inflatable sealing strip is prolonged.

Description

Technical Field

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

[0002] In the field of vehicle technology, water protection for vehicles is a point that needs attention. Water protection for vehicles means: when a vehicle enters a flooded road, the wading depth of the vehicle is detected. If the wading depth reaches the bottom of the door, the vehicle needs to be protected to prevent water from entering the vehicle through the door gap, causing water leakage and affecting the electronic components on the vehicle.

[0003] In the related art, a circle of inflatable sealing strips is generally placed around the vehicle door, and its volume can be changed by inflation or deflation. When the vehicle is wading, the volume of the inflatable sealing strip is increased by inflating the inflatable sealing strip, thereby increasing the airtightness between the door and the vehicle body and preventing water from entering the vehicle. However, in this case, the energy consumption of the vehicle in the wading environment is relatively large. If the inflatable sealing strip is inflated frequently, the pressure of the inflatable sealing strip will increase frequently, which will affect the life of the inflatable sealing strip. Summary of the invention

[0004] Based on this, the present application provides a vehicle wading control method, system, storage medium and vehicle to solve the problem of how to extend the service life of the inflatable sealing strip.

[0005] In a first aspect of an embodiment of the present application, a vehicle wading control method is provided, which is applied to a vehicle, wherein an inflatable sealing strip is arranged around an edge of a door of the vehicle, and the method comprises:

[0006] When the vehicle meets the target operating condition and is in a water-logged environment, obtaining a wading depth of the vehicle;

[0007] When the wading depth is greater than a first preset depth, based on the driving direction of the vehicle and the road slope of the road on which the vehicle is traveling, determining the wading change information of the vehicle; wherein the wading change information is used to characterize the wading depth change trend of the vehicle after the current moment;

[0008] determining whether to perform inflation control on the vehicle based on the water wading change information;

[0009] When it is determined to perform inflation control on the vehicle, an inflation seal strip of at least one of the vehicle doors is inflated to seal the vehicle door.

[0010] Optionally, when it is determined to perform inflation control on the vehicle, the method further includes:

[0011] Obtaining a body roll angle of the vehicle;

[0012] Determining a target door from the plurality of doors based on the vehicle body roll angle;

[0013] The step of inflating at least one inflatable sealing strip of a vehicle door comprises:

[0014] The inflatable sealing strip of the target vehicle door is inflated.

[0015] Optionally, determining a target door from the plurality of doors based on the vehicle body roll angle comprises:

[0016] determining whether the vehicle body roll angle is greater than a preset roll angle;

[0017] When the vehicle body roll angle is greater than the preset roll angle, determining a door located on one side of the vehicle roll direction as the target door;

[0018] In a case where the vehicle body roll angle is less than or equal to the preset roll angle, the plurality of vehicle doors are determined as the target vehicle doors.

[0019] Optionally, the determining whether to perform inflation control on the vehicle based on the water wading change information includes:

[0020] Determine whether the wading change information meets a preset condition; wherein the preset condition is that the wading depth of the vehicle after the current moment tends to deepen;

[0021] When the water wading change information meets the preset condition, determining to perform inflation control on the vehicle;

[0022] When the water wading change information does not meet a preset condition, it is determined not to perform inflation control on the vehicle.

[0023] Optionally, after inflating at least one of the inflatable sealing strips of the vehicle door, the method further comprises:

[0024] Determining whether the vehicle meets a deflation condition based on a driving condition of the vehicle and / or a real-time wading depth of the vehicle;

[0025] When the vehicle meets the deflation condition, at least one of the inflatable sealing strips of the vehicle door is deflated.

[0026] Optionally, determining whether the vehicle meets a deflation condition based on the driving condition includes:

[0027] Determining whether the vehicle is currently in a climbing condition;

[0028] When the vehicle is in a climbing condition, if the vehicle speed is greater than a preset speed, it is determined that the vehicle meets the deflation condition.

[0029] Optionally, determining whether the vehicle meets the deflation condition based on the real-time wading depth includes:

[0030] When the real-time wading depth is less than or equal to the second preset depth, the out-of-water time duration starts to be counted;

[0031] When the time period out of water is greater than a preset time period, it is determined that the vehicle meets the deflation condition.

[0032] A second aspect of the embodiments of the present application provides a vehicle wading control system, including:

[0033] An acquisition module, used for acquiring a wading depth of the vehicle when the vehicle meets a target operating condition and is in a water-logged environment;

[0034] a processing module, configured to determine the wading change information of the vehicle based on the driving direction of the vehicle and the road slope of the road on which the vehicle is traveling, when the wading depth is greater than a first preset depth; wherein the wading change information is used to characterize the wading depth change trend of the vehicle after the current moment;

[0035] A first decision module, configured to determine whether to perform inflation control on the vehicle based on the water wading change information;

[0036] The execution module is used for inflating an inflatable sealing strip of at least one of the vehicle doors to seal the vehicle door when it is determined to execute the inflation control on the vehicle.

[0037] According to a third aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. The program is executed by a processor to implement the steps of the vehicle wading control method described in the first aspect of the embodiment of the present application.

[0038] According to a fourth aspect of the embodiments of the present application, a vehicle is provided, comprising the vehicle wading control system described in the second aspect of the embodiments of the present application.

[0039] The present application provides a vehicle wading control method, system, storage medium and vehicle, the method comprising: when the vehicle meets a target operating condition and is in a water-accumulated environment, obtaining the wading depth of the vehicle; when the wading depth is greater than a first preset depth, determining the wading change information of the vehicle based on the driving direction of the vehicle and the road slope of the road; wherein the wading change information is used to characterize the wading depth change trend of the vehicle after a current moment; based on the wading change information, determining whether to perform inflation control on the vehicle; when it is determined that inflation control is to be performed on the vehicle, inflating an inflation sealing strip of at least one of the vehicle doors to seal the door.

[0040] In the case where the wading depth of the vehicle is detected to be greater than the preset depth, the present application determines the changing trend of the wading depth of the vehicle after the current moment through the driving direction of the vehicle and the road surface slope of the road, and then controls the inflation of the inflatable sealing strip according to the changing trend of the wading depth. In the case where the wading depth is greater than the preset depth, the present application predicts the changing trend of the wading depth of the vehicle in a future period of time according to the driving direction of the vehicle and the road surface slope of the road, and then determines the wading time of the vehicle in the future period of time according to the predicted result of the wading depth, and finally forms a technical solution for determining whether to inflate the inflatable sealing strip according to the wading time of the vehicle in the future period of time when the wading depth of the vehicle is greater than the first preset depth, thereby avoiding redundant control of the inflation of the inflatable sealing strip when the wading time is short, reducing the number of inflations of the inflatable sealing strip, and extending the service life of the inflatable sealing strip. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 This is a step diagram of a vehicle wading control method provided by an embodiment of the present application;

[0043] Figure 2 It is a step diagram of a method for inflating a target door inflatable sealing strip provided by an embodiment of the present application;

[0044] Figure 3 is a step diagram of a method for determining a target door provided by an embodiment of the present application;

[0045] Figure 4 is a step diagram of a method for determining whether to perform inflation control on a vehicle provided by an embodiment of the present application;

[0046] Figure 5 is a step diagram of another vehicle wading control method provided in an embodiment of the present application;

[0047] Figure 6 This is a step diagram of a method for determining deflation conditions based on driving conditions provided in an embodiment of the present application;

[0048] Figure 7 It is a step diagram of a method for determining deflation conditions based on real-time wading depth provided in an embodiment of the present application;

[0049] Figure 8 This is a flow chart of a vehicle wading control method provided by an embodiment of the present application;

[0050] Fig. 9 It is a schematic diagram of the structure of a vehicle wading control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] In the field of vehicle technology, water protection for vehicles is a point that needs attention. Water protection for vehicles means: when a vehicle enters a flooded road, the wading depth of the vehicle is detected. If the wading depth reaches the bottom of the door, the vehicle needs to be protected to prevent water from entering the vehicle through the door gap, causing water leakage and affecting the electronic components on the vehicle.

[0053] Generally, an inflatable sealing strip is placed around the car door to prevent water from entering the vehicle. An inflatable sealing strip is a sealing strip that surrounds the car door and whose volume can be changed by inflation or deflation. The inflatable sealing strip is set in the groove of the door frame where the car door contacts the car body, and an air pump is connected to it to inflate the inflatable sealing strip. The air pump connected to the inflatable sealing strip can rotate forward and reverse respectively. When the car door is closed, the air pump rotates forward to inflate the inflatable sealing strip, thereby increasing the volume of the inflatable sealing strip, increasing the airtightness between the car door and the car body, and preventing water from entering the vehicle.

[0054] In the related art, when a vehicle is wading, the volume of the inflatable sealing strip is increased by inflating the inflatable sealing strip, thereby increasing the airtightness between the door and the body of the vehicle to prevent water from entering the vehicle. However, in this case, the energy consumption of the vehicle in the wading environment is relatively large. If the sealing strip is inflated frequently, the pressure of the sealing strip is frequently increased, which will also affect the life of the sealing strip.

[0055] Based on this, the present application proposes a vehicle wading control method, system, storage medium and vehicle. When the wading depth is greater than a preset depth, the vehicle's wading depth change trend in the future is predicted based on the vehicle's driving direction and the road slope. Then, the wading time of the vehicle in the future is determined based on the predicted result of the wading depth. Finally, when the vehicle's wading depth is greater than a first preset depth, a technical solution is formed to determine whether to inflate the inflatable sealing strip based on the vehicle's wading time in the future. This avoids unnecessary control of the inflation of the inflatable sealing strip when the wading time is short, reduces the number of inflations of the inflatable sealing strip, and extends the service life of the inflatable sealing strip. This solves the problem of how to achieve precise control of the inflation of the inflatable sealing strip. The details are as follows:

[0056] The first aspect of the present application proposes an embodiment, such as Figure 1 As shown in the step diagram of a vehicle wading control method, the method is applied to a vehicle controller, and the main steps include:

[0057] Step S101, when the vehicle meets the target operating condition and is in a water environment, obtaining the wading depth of the vehicle.

[0058] The target operating condition refers to the operating condition in which the vehicle allows the on-board controller to obtain the wading depth and control the inflation of the inflatable sealing strip. According to the objective needs of the on-board controller to obtain the wading depth and control the inflation of the inflatable sealing strip, the target operating condition should at least include the power-on condition and the door-closed condition, that is, the wading depth of the vehicle is obtained when the vehicle at least simultaneously satisfies the conditions of being in the power-on condition, in the door-closed condition, and in a water-accumulated environment. Among them, the on-board controller can determine whether the vehicle is in the power-on condition through the electric side step, the driving mode, the folding state of the left and right rear exterior mirrors, and the parking system state. When the electric side step is deployed, or the driving mode is turned on, or the left and right rear exterior mirrors are in the deployed state, it is determined that the vehicle is in the power-on condition.

[0059] When the vehicle is in the target working condition, if the vehicle is on a flooded road, the ultrasonic sensor installed on the vehicle can detect the wading depth of the vehicle. The on-board controller determines the difference between the time when the ultrasonic sensor emits the ultrasonic wave and the time when the ultrasonic wave is reflected by the water surface, and then combines the propagation speed of the sound wave in the air to determine the wading depth of the vehicle.

[0060] In an optional implementation, the vehicle wading depth can also be displayed on the vehicle's central control screen, so that the user can manually control the inflatable seal according to the wading depth. At the same time, in order to improve the accuracy of the wading depth, the wading depth obtained by the ultrasonic sensor can be further calculated based on the air suspension height, vehicle speed and other information to obtain the final wading depth.

[0061] Step S102, when the wading depth is greater than a first preset depth, determining the wading change information of the vehicle based on the driving direction of the vehicle and the road slope of the road; wherein the wading change information is used to characterize the wading depth change trend of the vehicle after the current moment.

[0062] The preset depth is a depth preset by a technician and can be determined in combination with the power of the air pump and the inflation volume of the inflatable sealing strip, wherein the preset depth should be lower than or equal to the bottom height of the vehicle door.

[0063] The road slope of the vehicle can be determined based on the current location of the vehicle by searching a map search system that contains information on the slopes of various roads, or by measuring the longitudinal inclination angle of the vehicle using a gyroscope on the vehicle. After the road slope is determined, the height change trend of the vehicle during continued driving is determined based on the driving direction and the road slope, and the wading depth change trend is then determined.

[0064] Wading change information refers to information used to characterize the changing trend of the wading depth of the vehicle after the current moment. The changing trend of the wading depth includes at least: a trend of deepening wading depth, a trend of unchanged wading depth, and a trend of decreasing wading depth. If, based on the driving direction and the road slope, it is determined that the height of the vehicle's position will gradually decrease as it continues to drive, then it is determined that the wading depth is deepening; if, based on the driving direction and the road slope, it is determined that the height of the vehicle's position will gradually increase as it continues to drive, then it is determined that the wading depth is decreasing; if, based on the driving direction and the road slope, it is determined that the height of the vehicle's position will remain unchanged as it continues to drive, then it is determined that the wading depth is remaining unchanged.

[0065] Different wading depth change trends represent different probabilities that the wading depth of the vehicle will be higher than the bottom height of the door after the current moment. When the wading depth is increasing, the possibility of water seeping into the vehicle is high while the vehicle continues to drive; when the wading depth is unchanged or decreasing, the possibility of water seeping into the vehicle is low while the vehicle continues to drive.

[0066] Step S103: determining whether to perform inflation control on the vehicle based on the water wading change information.

[0067] Since the wading change information represents the changing trend of the wading depth of the vehicle after the current moment, the possibility of water infiltration during the vehicle's continued driving can be predicted based on the wading change information, and then whether to perform inflation control on the vehicle can be determined based on the prediction result. Among them, performing inflation control on the vehicle refers to inflation control on the inflation sealing strip.

[0068] Step S104, when it is determined to perform inflation control on the vehicle, inflate an inflation sealing strip of at least one of the vehicle doors to seal the vehicle door.

[0069] When it is determined to perform inflation control on the vehicle, the on-board controller sends an inflation control signal to the inflation pump connected to the inflation seal strip. Under the triggering of the inflation control signal, the inflation pump performs a forward rotation action, and then blows air into the inflation seal strip. When the internal pressure of the inflation seal strip reaches the preset pressure value, the pressure sensor set in the inflation seal strip sends an inflation completion signal to the on-board controller, and the inflation pump stops working under the control of the on-board controller. Under the action of the blown air, the volume of the inflation seal strip begins to increase. At the same time, the adhesion between the inflation seal strip and the edge of the door and the door frame of the vehicle body increases with the increase in volume, and finally improves the airtightness between the door and the body, and realizes the sealing of the door.

[0070] In the case where the wading depth of the vehicle is detected to be greater than the preset depth, the present application determines the changing trend of the wading depth of the vehicle after the current moment through the driving direction of the vehicle and the road surface slope of the road, and then controls the inflation of the inflatable sealing strip according to the changing trend of the wading depth. In the case where the wading depth is greater than the preset depth, the present application predicts the changing trend of the wading depth of the vehicle in a future period of time according to the driving direction of the vehicle and the road surface slope of the road, and then determines the wading time of the vehicle in the future period of time according to the predicted result of the wading depth, and finally forms a technical solution for determining whether to inflate the inflatable sealing strip according to the wading time of the vehicle in the future period of time when the wading depth of the vehicle is greater than the first preset depth, thereby avoiding redundant control of the inflation of the inflatable sealing strip when the wading time is short, reducing the number of inflations of the inflatable sealing strip, and extending the service life of the inflatable sealing strip.

[0071] The second aspect of the present application proposes an embodiment, which, in addition to the embodiment proposed in the first aspect of the present application, also includes:

[0072] Optionally, when it is determined to perform inflation control on the vehicle, such as Figure 2 A method for inflating a target door inflatable sealing strip is shown in the step diagram, the method comprising:

[0073] Step S201, obtaining the body roll angle of the vehicle.

[0074] The body roll angle refers to the angle between the plane where the body is located and the horizontal plane in the lateral direction of the vehicle, where the lateral direction of the vehicle refers to the direction from the left side of the body to the right side of the body, or from the right side of the body to the left side of the body. The body roll angle can be obtained by a gyroscope installed on the vehicle.

[0075] Step S202: determining a target door from the plurality of doors based on the vehicle body roll angle.

[0076] When the vehicle body tilts, different doors of the vehicle have different relative heights to the water surface at the same wading depth, which results in different possibilities of water seepage into different doors. Therefore, in order to further achieve precise control of the inflatable seal, when the vehicle faces the risk of water seepage, it is also possible to determine which door is more likely to be penetrated by water according to the body roll angle, and then determine the door with the greater possibility of water seepage from among multiple doors as the target door.

[0077] Step S203, inflating the inflatable sealing strip of the target vehicle door.

[0078] After determining the target door, the on-board controller can send an inflation control signal to the target air pump corresponding to the target door through the target door's identification. The target air pump, triggered by the inflation control signal, performs a forward rotation action, and then blows air into the inflation seal strip located at the target door. Under the action of the blown air, the volume of the inflation seal strip begins to increase. At the same time, the adhesion between the inflation seal strip and the edge of the target door and the edge of the door frame increases with the increase in volume, ultimately improving the airtightness between the target door and the body, and achieving the sealing of the target door.

[0079] Alternatively, if Figure 3 As shown in the step diagram of a method for determining a target door, the step S202 of determining a target door from a plurality of doors based on the vehicle body roll angle includes:

[0080] Step S2021, determining whether the vehicle body roll angle is greater than a preset roll angle.

[0081] Different body roll angles indicate that the relative heights between the doors on both sides of the vehicle and the water surface are different, and the relative height difference between the doors on both sides and the water surface increases with the increase of the body roll angle, which leads to a certain difference in the possibility of water seeping in from the doors on both sides. When the body roll angle is greater than the preset roll angle, it indicates that the possibility of water seeping into the doors on both sides is significantly different; when the body roll angle is less than or equal to the preset roll angle, it indicates that the possibility of water seeping into the doors on both sides is slightly different.

[0082] Based on this, the possibility of water seeping into the doors on both sides can be judged according to whether the body roll angle is greater than the preset roll angle, and then different controls can be taken according to the different sizes of the possibility differences to further improve the accuracy of the inflation control of the inflatable sealing strip.

[0083] When the vehicle body roll angle is greater than the preset roll angle, proceed to step S2022; when the vehicle body roll angle is less than or equal to the preset roll angle, proceed to step S2023.

[0084] Step S2022: When the vehicle body roll angle is greater than the preset roll angle, a door located on one side of the vehicle roll direction is determined as the target door.

[0085] When the body roll angle is greater than the preset roll angle, the possibility of water infiltration into the left and right doors of the vehicle is quite different, and the door on the side with a greater possibility of water infiltration has a higher inflation urgency, so the door on the side of the vehicle roll direction should be determined as the target door. For example, when the body roll angle is greater than the preset roll angle, if the vehicle tilts to the left, the door on the left side of the vehicle is determined as the target door; if the vehicle tilts to the right, the door on the right side of the vehicle is determined as the target door.

[0086] Step S2023, when the vehicle body roll angle is less than or equal to the preset roll angle, the plurality of vehicle doors are determined as the target vehicle doors.

[0087] When the vehicle body roll angle is less than or equal to the preset roll angle, the possibility of water infiltration into the left and right doors of the vehicle is basically the same, so multiple doors on the vehicle should be identified as target doors.

[0088] Alternatively, if Figure 4 As shown in the step diagram of a method for determining whether to perform inflation control on a vehicle, the step S103 of determining whether to perform inflation control on the vehicle based on the wading change information includes:

[0089] Step S1031, determining whether the wading change information meets a preset condition; wherein the preset condition is that the wading depth of the vehicle after the current moment tends to deepen.

[0090] The preset condition refers to the tendency of the vehicle's wading depth to increase after the current moment. When the vehicle's wading depth increases after the current moment, the risk of water infiltration will increase with the passage of time as the vehicle continues to travel. If the risk of water infiltration increases with the passage of time, it indicates that inflation control should be performed on the vehicle to prevent water from entering the cab when the wading depth is higher than the bottom height of the door. Therefore, it can be determined whether to perform inflation control on the vehicle based on whether the wading change information meets the preset condition.

[0091] When the water-related change information meets the preset conditions, the process proceeds to step S1032 ; when the water-related change information does not meet the preset conditions, the process proceeds to step S1032 .

[0092] Step S1032, when the water wading change information meets the preset condition, determine to perform inflation control on the vehicle.

[0093] When the water change information meets the preset conditions, the risk of water infiltration will increase with the passage of time as the vehicle continues to drive. At this time, in order to prevent water from entering the cab, the vehicle should be inflated.

[0094] Step S1033, when the water wading change information does not meet the preset conditions, determine not to perform inflation control on the vehicle.

[0095] The wading change information does not meet the preset conditions, that is, the wading depth of the vehicle after the current moment shows a constant trend or a decreasing trend. When the wading change information does not meet the preset conditions, the risk of water infiltration will decrease with the passage of time or remain unchanged as the vehicle continues to drive. At this time, since the risk of water infiltration will no longer increase with the passage of time, there is no need to control the inflation of the vehicle.

[0096] Alternatively, if Figure 5 Another vehicle wading control method is shown in the step diagram, the method comprising:

[0097] Step S301, when the vehicle meets the target operating condition and is in a water-logged environment, obtaining the wading depth of the vehicle.

[0098] The specific implementation of step S301 is the same as that of step S101, and the details may refer to the description of step S101.

[0099] Step S302, when the wading depth is greater than a first preset depth, determining the wading change information of the vehicle based on the driving direction of the vehicle and the road slope of the road; wherein the wading change information is used to characterize the wading depth change trend of the vehicle after the current moment.

[0100] The specific implementation of step S302 is the same as that of step S102, and the details may refer to the description of step S102.

[0101] Step S303: determining whether to perform inflation control on the vehicle based on the water wading change information.

[0102] The specific implementation of step S303 is the same as that of step S103, and the details can be referred to the description of step S103.

[0103] Step S304: when it is determined to perform inflation control on the vehicle, an inflation sealing strip of at least one of the vehicle doors is inflated to seal the vehicle door.

[0104] The specific implementation of step S304 is the same as that of step S104, and the details can be referred to the description of step S104.

[0105] Step S305: determining whether the vehicle meets the deflation condition based on the driving condition of the vehicle and / or the real-time wading depth of the vehicle.

[0106] The driving condition reflects the overall condition of the vehicle during driving, so it is possible to judge whether the vehicle meets the deflation condition based on the overall condition of the vehicle reflected by the driving condition. The real-time wading depth of the vehicle refers to the real-time wading depth detected during driving, which reflects the current wading depth of the vehicle at each moment. Therefore, based solely on the real-time wading depth of the vehicle and any one of the driving conditions of the vehicle, the timing of deflation of the inflatable sealing strip can be predicted after the inflatable sealing strip is inflated, and then precise control can be achieved during the deflation stage of the inflatable sealing strip. At the same time, it is also possible to judge whether the vehicle meets the deflation condition in combination with the real-time wading depth and the driving condition. When judging whether the vehicle meets the deflation condition in combination with the real-time wading depth and the driving condition, if it is determined that the vehicle meets the deflation condition by the real-time wading depth and any one of the driving conditions, it is considered that the vehicle meets the deflation condition.

[0107] During vehicle driving, if whether the vehicle meets the deflation condition is determined based solely on either the vehicle's real-time wading depth or the vehicle's driving condition, it is only necessary to monitor the real-time wading depth, and when it is monitored that the real-time wading depth meets the deflation condition, it is determined that the vehicle meets the deflation condition, or it is only necessary to monitor the driving condition, and when it is monitored that the driving condition meets the deflation condition, it is determined that the vehicle meets the deflation condition; if whether the vehicle meets the deflation condition is determined based on both the wading depth and the driving condition, it is necessary to monitor the real-time wading depth and the driving condition at the same time, and when it is monitored that the real-time wading depth meets the vehicle's deflation condition, and when it is monitored that the driving condition meets the vehicle's deflation condition, it is determined that the vehicle meets the deflation condition.

[0108] Step S306, when the vehicle meets the deflation condition, deflate the inflatable sealing strip of at least one of the vehicle doors.

[0109] When the vehicle meets the deflation conditions, the on-board controller sends a deflation control signal to the air pump connected to the inflatable seal strip. The air pump, triggered by the deflation control signal, performs a reverse action to extract the air in the inflatable seal strip until the internal pressure of the inflatable seal strip drops to the initial pressure value.

[0110] Alternatively, if Figure 6 As shown in the step diagram of a method for determining a deflation condition based on a driving condition, step S305 determines whether the vehicle meets the deflation condition based on the driving condition, including:

[0111] Step S3051, determining whether the vehicle is currently in a climbing condition.

[0112] The climbing condition refers to the condition in which the vehicle is in a state of moving from a relatively low position to a relatively high position, which can be determined by a gyroscope installed on the vehicle. When the vehicle speed is greater than zero and the gyroscope determines that the vehicle is tilted backward, it is determined that the vehicle is in a climbing condition. When in a climbing condition, it indicates that the wading depth of the vehicle is gradually decreasing, that is, the possibility of accumulated water entering the cab is gradually decreasing. Therefore, it can be determined whether the vehicle is currently in a climbing condition, and whether the possibility of accumulated water entering the cab is in a state of gradually decreasing. Then, when the vehicle is in a climbing condition, the process proceeds to step S3052.

[0113] Step S3052, when the vehicle is in a climbing condition, if the vehicle speed is greater than a preset speed, it is determined that the vehicle meets the deflation condition.

[0114] When the vehicle is in a climbing condition, it is determined that the wading depth of the vehicle is gradually decreasing. Further, in this case, the speed at which the wading depth of the vehicle decreases is determined according to the vehicle speed. When the vehicle speed is greater than a preset speed, it is considered that the wading depth can be reduced to below the height of the bottom of the door in a short time, and at this time it is determined that the vehicle meets the deflation condition.

[0115] Alternatively, if Figure 7 As shown in the step diagram of a method for determining a deflation condition based on real-time wading depth, step S305 determines whether the vehicle meets the deflation condition based on the real-time wading depth, including:

[0116] Step S3053, when the real-time wading depth is less than or equal to the second preset depth, start timing the out-of-water time.

[0117] When the real-time wading depth is less than or equal to the second preset depth, it indicates that the vehicle is no longer at risk of water infiltration. At this time, considering the variability of road conditions and the hysteresis of the inflation of the inflatable sealing strip, the water-out time should be counted when the wading depth is less than or equal to the second preset depth, and whether to deflate the inflatable sealing strip should be determined based on the water-out time, so as to avoid the inflatable sealing strip being repeatedly inflated and deflated in a short period of time when the vehicle is driving on a road with a variable water depth.

[0118] Step S3054, when the time out of water is longer than a preset time, determining that the vehicle meets the deflation condition.

[0119] When the time out of water is longer than the preset time, it is considered that the possibility of accumulated water seeping into the cab is low while the vehicle continues to move forward. Therefore, when the time out of water is longer than the preset time, it is determined that the vehicle meets the deflation conditions.

[0120] The third aspect of the present application proposes an embodiment, such as Figure 8 As shown in the flow chart of a vehicle wading control method, the method includes:

[0121] When the vehicle meets the target working condition and is in a water-logged environment, the method of the present application is started to be executed. First, the wading depth of the vehicle is obtained. The target working condition should at least include a power-on working condition and a door-closed working condition. That is, when the vehicle is in a power-on working condition, a door-closed working condition, and in a water-logged environment, the method of the present application is started to be executed.

[0122] When the wading depth is greater than a first preset depth, the wading change information of the vehicle is determined based on the driving direction of the vehicle and the road slope of the road; wherein the wading change information is used to characterize the wading depth change trend of the vehicle after the current moment.

[0123] Determine whether to perform inflation control on the vehicle based on the water wading change information. Specifically, determine whether the water wading change information meets a preset condition; wherein the preset condition is that the wading depth of the vehicle after the current moment tends to deepen; if the water wading change information meets the preset condition, determine to perform inflation control on the vehicle; if the water wading change information does not meet the preset condition, determine not to perform inflation control on the vehicle.

[0124] When it is determined that the inflation control is to be performed on the vehicle, the vehicle body roll angle is obtained, and it is determined whether the vehicle body roll angle is greater than a preset roll angle. When the vehicle body roll angle is greater than the preset roll angle, a door located on one side of the vehicle roll direction is determined as a target door; when the vehicle body roll angle is less than or equal to the preset roll angle, multiple doors are determined as target doors. Afterwards, the inflation sealing strip of the target door is inflated to seal the door.

[0125] After the inflatable sealing strip of the target door is inflated, it is determined whether the vehicle meets the deflation condition. Wherein, the determination of whether the vehicle meets the deflation condition can be performed according to the vehicle's operating condition and / or the vehicle's real-time wading depth. When determining whether the deflation condition is met according to the vehicle's operating condition, the steps include: determining whether the vehicle is currently in a climbing condition; when the vehicle is in a climbing condition, if the vehicle speed is greater than a preset speed, determining that the vehicle meets the deflation condition. When determining whether the deflation condition is met according to the vehicle's real-time wading depth, the steps include: when the real-time wading depth is less than or equal to a second preset depth, starting the water separation time timing; when the water separation time is greater than the preset time, determining that the vehicle meets the deflation condition. When determining whether the vehicle is in a climbing condition according to the vehicle's operating condition and the real-time wading depth, the steps include: when the vehicle is in a climbing condition and the vehicle speed is greater than the preset speed, and the real-time wading depth is less than or equal to the second preset depth and the water separation time is greater than the preset time, determining that the vehicle meets the deflation condition.

[0126] When the vehicle meets the deflation conditions, the inflation seal strip of the target vehicle is deflated.

[0127] The fourth aspect of the present application proposes an embodiment, such as Fig. 9 As shown in the schematic diagram of the structure of a vehicle wading control system, the system includes:

[0128] An acquisition module, used for acquiring a wading depth of the vehicle when the vehicle meets a target operating condition and is in a water-logged environment;

[0129] a processing module, configured to determine the wading change information of the vehicle based on the driving direction of the vehicle and the road slope of the road on which the vehicle is traveling, when the wading depth is greater than a first preset depth; wherein the wading change information is used to characterize the wading depth change trend of the vehicle after the current moment;

[0130] A first decision module, configured to determine whether to perform inflation control on the vehicle based on the water wading change information;

[0131] The execution module is used for inflating an inflatable sealing strip of at least one of the vehicle doors to seal the vehicle door when it is determined to execute the inflation control on the vehicle.

[0132] Optionally, the execution module is further used to obtain a body roll angle of the vehicle; determine a target door from the plurality of doors based on the body roll angle; and inflate an inflatable sealing strip of the target door.

[0133] Optionally, the execution module is further used to determine whether the vehicle body roll angle is greater than a preset roll angle;

[0134] When the vehicle body roll angle is greater than the preset roll angle, the door located on one side of the vehicle roll direction is determined as the target door; when the vehicle body roll angle is less than or equal to the preset roll angle, multiple doors are determined as the target doors.

[0135] Optionally, the first decision module is also used to determine whether the water wading change information meets a preset condition; wherein the preset condition is that the wading depth of the vehicle after the current moment tends to deepen; when the water wading change information meets the preset condition, it is determined to perform inflation control on the vehicle; when the water wading change information does not meet the preset condition, it is determined not to perform inflation control on the vehicle.

[0136] Optionally, the system also includes a second decision module, which is used to determine whether the vehicle meets the deflation condition based on the driving condition of the vehicle and / or the real-time wading depth of the vehicle; if the vehicle meets the deflation condition, deflate the inflatable sealing strip of at least one of the doors.

[0137] Optionally, the second decision module is also used to determine whether the vehicle is currently in a climbing condition; when the vehicle is in a climbing condition, if the vehicle speed is greater than a preset speed, it is determined that the vehicle meets the deflation condition.

[0138] Optionally, the second decision module is further used to start timing the time out of water when the real-time wading depth is less than or equal to a second preset depth; and to determine that the vehicle meets the deflation condition when the time out of water is greater than the preset time.

[0139] An embodiment of the present application also provides a computer-readable storage medium on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, a vehicle wading control method as disclosed in an embodiment of the present application is implemented.

[0140] An embodiment of the present application also provides a vehicle, including a vehicle wading control system provided by the present application.

[0141] In the case where the wading depth of the vehicle is detected to be greater than the preset depth, the present application determines the changing trend of the wading depth of the vehicle after the current moment through the driving direction of the vehicle and the road surface slope of the road, and then controls the inflation of the inflatable sealing strip according to the changing trend of the wading depth. In the case where the wading depth is greater than the preset depth, the present application predicts the changing trend of the wading depth of the vehicle in a future period of time according to the driving direction of the vehicle and the road surface slope of the road, and then determines the wading time of the vehicle in the future period of time according to the predicted result of the wading depth, and finally forms a technical solution for determining whether to inflate the inflatable sealing strip according to the wading time of the vehicle in the future period of time when the wading depth of the vehicle is greater than the first preset depth, thereby avoiding redundant control of the inflation of the inflatable sealing strip when the wading time is short, reducing the number of inflations of the inflatable sealing strip, and extending the service life of the inflatable sealing strip.

[0142] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0143] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, systems, electronic devices, and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0144] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0145] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0146] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0147] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0148] The above is a detailed introduction to a vehicle wading control method, system, storage medium and vehicle provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle wading control method, characterized in that: Applied to a vehicle, wherein an inflatable sealing strip is arranged around the edge of a door of the vehicle, the method comprising: When the vehicle meets the target operating condition and is in a water-logged environment, obtaining a wading depth of the vehicle; When the wading depth is greater than a first preset depth, based on the driving direction of the vehicle and the road slope of the road on which the vehicle is traveling, determining the wading change information of the vehicle; wherein the wading change information is used to characterize the wading depth change trend of the vehicle after the current moment; determining whether to perform inflation control on the vehicle based on the water wading change information; When it is determined to perform inflation control on the vehicle, an inflatable sealing strip of at least one of the vehicle doors is inflated to seal the vehicle door.

2. The vehicle wading control method according to claim 1, characterized in that: When it is determined that inflation control is to be performed on the vehicle, the method further includes: Obtaining a body roll angle of the vehicle; Determining a target door from the plurality of doors based on the vehicle body roll angle; The step of inflating at least one inflatable sealing strip of a vehicle door comprises: The inflatable sealing strip of the target vehicle door is inflated.

3. The vehicle wading control method according to claim 2, characterized in that: The step of determining a target door from the plurality of doors based on the vehicle body roll angle comprises: determining whether the vehicle body roll angle is greater than a preset roll angle; When the vehicle body roll angle is greater than the preset roll angle, determining a door located on one side of the vehicle roll direction as the target door; In a case where the vehicle body roll angle is less than or equal to the preset roll angle, the plurality of vehicle doors are determined as the target vehicle doors.

4. The vehicle wading control method according to claim 1, characterized in that: The determining whether to perform inflation control on the vehicle based on the water wading change information includes: Determine whether the wading change information meets a preset condition; wherein the preset condition is that the wading depth of the vehicle after the current moment tends to deepen; When the water wading change information meets the preset condition, determining to perform inflation control on the vehicle; When the water wading change information does not meet a preset condition, it is determined not to perform inflation control on the vehicle.

5. The vehicle wading control method according to claim 1, characterized in that: After inflating the at least one inflatable sealing strip of the vehicle door, the method further comprises: Determining whether the vehicle meets a deflation condition based on a driving condition of the vehicle and / or a real-time wading depth of the vehicle; When the vehicle meets the deflation condition, at least one of the inflatable sealing strips of the vehicle door is deflated.

6. The vehicle wading control method according to claim 5, characterized in that: Determining whether the vehicle meets a deflation condition based on the driving condition includes: Determining whether the vehicle is currently in a climbing condition; When the vehicle is in a climbing condition, if the vehicle speed is greater than a preset speed, it is determined that the vehicle meets the deflation condition.

7. The vehicle wading control method according to claim 5, characterized in that: Determining whether the vehicle meets a deflation condition based on the real-time wading depth includes: When the real-time wading depth is less than or equal to the second preset depth, the out-of-water time duration starts to be counted; When the time period out of water is greater than a preset time period, it is determined that the vehicle meets the deflation condition.

8. A vehicle wading control system, characterized in that: include: An acquisition module, used for acquiring a wading depth of the vehicle when the vehicle meets a target operating condition and is in a water-logged environment; a processing module, configured to determine the wading change information of the vehicle based on the driving direction of the vehicle and the road slope of the road on which the vehicle is traveling, when the wading depth is greater than a first preset depth; wherein the wading change information is used to characterize the wading depth change trend of the vehicle after the current moment; A first decision module, configured to determine whether to perform inflation control on the vehicle based on the water wading change information; The execution module is used for inflating an inflatable sealing strip of at least one of the vehicle doors to seal the vehicle door when it is determined to execute the inflation control on the vehicle.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the vehicle wading control method described in any one of claims 1 to 7 are implemented.

10. A vehicle, characterized in that: A vehicle wading control system comprising the vehicle wading control system as claimed in claim 8.

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