A method, system, storage medium, and vehicle for controlling vehicle wading through water.

Abstract

This application provides a method, system, storage medium, and vehicle for controlling vehicle wading, belonging to the field of vehicle technology. The method for controlling vehicle wading includes: when the wading depth of the vehicle is detected to be greater than a preset depth, determining the trend of wading depth change of the vehicle after the current moment by considering the vehicle's driving direction and the road surface slope, and then controlling the inflation of the inflatable sealing strip according to the trend of wading depth change. This application, when the wading depth is greater than the preset depth, predicts the trend of wading depth change of the vehicle over a future period based on the vehicle's driving direction and the road surface slope, and then controls the inflation of the inflatable sealing strip according to the predicted wading depth to seal the vehicle door, thereby avoiding frequent inflation of the inflatable sealing strip and extending its service life.

Description

Technical Field

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

[0002] In the field of vehicle technology, water protection for vehicles is a point of concern. Water protection for vehicles refers to detecting the wading depth of the vehicle when it enters a flooded area. If the wading depth reaches the bottom of the door, protection measures need to be taken to prevent water from entering the vehicle through the door gaps and causing water leakage that could damage the vehicle's electronic components.

[0003] In related technologies, an inflatable sealing strip is typically placed around the perimeter of the car door. Its volume can be adjusted by inflating or deflating the strip. When the vehicle is wading through water, inflating the sealing strip increases its volume, thereby increasing the seal between the door and the vehicle body and preventing water from entering. However, this method results in higher energy consumption for the vehicle in water-filled environments. Furthermore, frequent inflating of the sealing strip leads to frequent pressure increases, affecting its lifespan. Summary of the Invention

[0004] Based on this, this application provides a method, system, storage medium, and vehicle for controlling vehicle wading through water, in order to solve the problem of how to extend the service life of inflatable sealing strips.

[0005] A first aspect of this application provides a method for controlling vehicle wading through water, applied to a vehicle, wherein an inflatable sealing strip is provided around the edge of the vehicle door, the method comprising:

[0006] When the vehicle meets the target operating conditions and is in a waterlogged environment, the wading depth of the vehicle is obtained;

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

[0008] Based on the water wading change information, determine whether to perform inflation control on the vehicle;

[0009] When it is determined that inflation control is to be performed on the vehicle, the inflation seal of at least one of the doors is inflated to seal the door.

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

[0011] Obtain the vehicle's roll angle;

[0012] Based on the vehicle body roll angle, the target door is determined from the plurality of doors;

[0013] Inflating the air-sealed strip of at least one vehicle door includes:

[0014] Inflate the air-sealed strip of the target vehicle door.

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

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

[0017] If the vehicle body roll angle is greater than the preset roll angle, the door located on the side of the vehicle roll direction is identified as the target door;

[0018] When the vehicle body roll angle is less than or equal to the preset roll angle, the plurality of the vehicle doors are identified as the target vehicle doors.

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

[0020] Determine whether the water wading change information meets preset conditions; wherein, the preset conditions are that the vehicle's water wading depth shows an increasing trend after the current moment;

[0021] If the water wading change information meets the preset conditions, determine to control the inflation of the vehicle;

[0022] If the water wading change information does not meet the preset conditions, it is determined that the vehicle will not be inflated.

[0023] Optionally, after inflating the inflatable sealing strip of at least one of the vehicle doors, the method further includes:

[0024] Based on the vehicle's driving conditions and / or the vehicle's real-time wading depth, determine whether the vehicle meets the deflation conditions.

[0025] If the vehicle meets the deflation conditions, the air-filled sealing strip of at least one of the doors is deflated.

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

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

[0028] If the vehicle is climbing a hill and its speed is greater than a preset speed, then the vehicle is determined to meet the deflation condition.

[0029] Optionally, determining whether the vehicle meets the deflation conditions 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 timeout period begins.

[0031] If the time spent away from the water exceeds a preset time, the vehicle is determined to meet the venting conditions.

[0032] A second aspect of this application provides a control system for a vehicle wading through water, comprising:

[0033] The acquisition module is used to acquire the wading depth of the vehicle when the vehicle meets the target working conditions and is in a waterlogged environment.

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

[0035] The first decision module is used to determine whether to perform inflation control on the vehicle based on the water wading change information;

[0036] An execution module is configured to inflate at least one of the door's air seals to seal the door when it is determined that inflation control is to be performed on the vehicle.

[0037] A third aspect of this application provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the steps of the vehicle wading control method described in the first aspect of this application.

[0038] A fourth aspect of this application provides a vehicle including the vehicle wading control system described in the second aspect of this application.

[0039] This application provides a method, system, storage medium, and vehicle for controlling vehicle wading. The method includes: acquiring the wading depth of the vehicle when the vehicle meets target operating conditions and is in a flooded environment; determining wading change information of the vehicle based on the vehicle's driving direction and the road surface slope when the wading depth is greater than a first preset depth; wherein the wading change information is used to characterize the trend of the vehicle's wading depth change after the current moment; determining whether to perform inflation control on the vehicle based on the wading change information; and inflating at least one of the vehicle door's airtight seals to seal the door when it is determined to perform inflation control on the vehicle.

[0040] This application, when detecting that a vehicle's wading depth exceeds a preset depth, determines the trend of wading depth change after the current moment by considering the vehicle's driving direction and road surface slope. Based on this trend, it controls the inflation of the inflatable sealing strip. Furthermore, this application predicts the future wading depth trend based on the vehicle's driving direction and road surface slope when the wading depth exceeds the preset depth. Based on this prediction, it determines the vehicle's wading duration in the future, ultimately forming a technical solution that determines whether to inflate the inflatable sealing strip based on the expected wading duration when the wading depth exceeds a first preset depth. This avoids unnecessary control of inflating the sealing strip when the wading duration is short, reduces the number of times the sealing strip needs to be inflated, and extends its service life. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a flowchart illustrating the steps of a vehicle wading control method provided in an embodiment of this application;

[0043] Figure 2 This is a step diagram illustrating a method for inflating a target vehicle door's airtight sealing strip, as provided in an embodiment of this application.

[0044] Figure 3 This is a step diagram illustrating a method for determining a target vehicle door according to an embodiment of this application;

[0045] Figure 4 This is a flowchart illustrating the steps of a method for determining whether to perform inflation control on a vehicle, as provided in an embodiment of this application.

[0046] Figure 5 This is a flowchart illustrating another vehicle wading control method provided in an embodiment of this application;

[0047] Figure 6 This is a flowchart illustrating the steps of a method for determining deflation conditions based on driving conditions, as provided in an embodiment of this application.

[0048] Figure 7 This is a flowchart illustrating the steps of a method for determining venting conditions based on real-time wading depth, as provided in an embodiment of this application.

[0049] Figure 8 This is a flowchart of a vehicle wading control method provided in an embodiment of this application;

[0050] Figure 9 This is a schematic diagram of a vehicle wading control system provided in an embodiment of this application. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0052] In the field of vehicle technology, water protection for vehicles is a point of concern. Water protection for vehicles refers to detecting the wading depth of the vehicle when it enters a flooded area. If the wading depth reaches the bottom of the door, protection measures need to be taken to prevent water from entering the vehicle through the door gaps and causing water leakage that could damage the vehicle's electronic components.

[0053] A typical vehicle door is surrounded by an inflatable sealing strip to prevent water from entering. This inflatable sealing strip is a ring around the door whose volume can be adjusted by inflating or deflating. It is installed in a recess in the door frame where the door contacts the body, and is connected to an air pump for inflating the strip. The air pump can rotate in both forward and reverse. With the door closed, the pump rotates forward to inflate the sealing strip, increasing its volume and improving the seal between the door and the body, thus preventing water from entering the vehicle.

[0054] In related technologies, when a vehicle is wading through water, the airtight sealing strip is inflated, increasing its volume and thus improving the seal between the door and the vehicle body to prevent water from entering. However, this method results in higher energy consumption for the vehicle in water-filled environments. Furthermore, frequent inflation of the sealing strip leads to frequent pressure increases, which can also affect its lifespan.

[0055] Based on this, this application proposes a vehicle wading control method, system, storage medium, and vehicle. When the wading depth exceeds a preset depth, the method predicts the wading depth trend over a future period based on the vehicle's driving direction and road surface slope. Then, based on the predicted wading depth, it determines the wading duration for the vehicle in the future. This results in a technical solution that, when the wading depth exceeds a first preset depth, determines whether to inflate the inflatable sealing strip based on the expected wading duration. This avoids unnecessary control over inflating the sealing strip when the wading duration is short, reduces the number of times the sealing strip needs to be inflated, and extends the lifespan of the sealing strip. This solves the problem of how to achieve precise control over the inflation of the inflatable sealing strip. Specifically:

[0056] The first aspect of this application provides an embodiment, such as... Figure 1 The diagram illustrates a control method for a vehicle wading through water. The method is implemented in an onboard controller and includes the following main steps:

[0057] Step S101: When the vehicle meets the target operating conditions and is in a waterlogged environment, obtain the wading depth of the vehicle.

[0058] The target operating condition refers to the condition under which the vehicle's onboard controller can acquire the wading depth and control the inflation of the inflatable sealing strips. Based on the objective requirements of the onboard controller acquiring the wading depth and controlling the inflation of the sealing strips, the target operating condition should at least include the power-on condition and the door-closed condition. That is, the vehicle's wading depth should be acquired when the vehicle is simultaneously in a powered-on condition, with the doors closed, and in a flooded environment. The onboard controller can determine whether the vehicle is in a powered-on condition by checking the electric side steps, driving mode, the folding status of the left and right rearview mirrors, and the parking system status. The vehicle is considered powered-on when the electric side steps are deployed, the driving mode is activated, or the left and right rearview mirrors are deployed.

[0059] If the vehicle is in a flooded area under the target operating conditions, an ultrasonic sensor installed on the vehicle can detect the wading depth at its location. The onboard controller determines the wading depth by measuring the difference between the moment the ultrasonic sensor emits an ultrasonic wave and the moment it receives the wave reflected from the water surface, combined with the speed of sound in the air.

[0060] In one alternative implementation, the acquired wading depth can be displayed on the vehicle's central control screen, allowing the user to manually control the inflatable sealing strip based on the wading depth. Furthermore, to improve the accuracy of the wading depth measurement, the wading depth obtained from the ultrasonic sensor can be further calculated based on information such as air suspension height and vehicle speed to arrive at the final wading depth.

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

[0062] The preset depth is a depth set by technicians in advance, which can be determined by combining the power of the air pump and the inflation volume of the air sealing strip. The preset depth should be lower than or equal to the height of the bottom of the door.

[0063] The road surface slope of the road where the vehicle is located can be found in a map search system containing slope information for various roads, based on the vehicle's current position, or indirectly determined by measuring the vehicle's pitch angle using a gyroscope. After determining the road surface slope, the trend of changes in the vehicle's altitude as it continues to travel is determined based on the direction of travel and the road surface slope, thereby determining the trend of changes in wading depth.

[0064] Wading depth change information refers to the trend of a vehicle's wading depth change after the current moment. The trend of wading depth change includes at least: a trend of increasing wading depth, a trend of constant wading depth, and a trend of decreasing wading depth. If, based on the driving direction and road slope, it is determined that the vehicle's altitude will gradually decrease as it continues to travel, then the wading depth is determined to be increasing; if it is determined that the vehicle's altitude will gradually increase as it continues to travel, then the wading depth is determined to be decreasing; if, based on the driving direction and road slope, it is determined that the vehicle's altitude will remain constant as it continues to travel, then the wading depth is determined to be constant.

[0065] Different trends in wading depth indicate varying degrees of likelihood that, at any given moment, the wading depth will exceed the height of the vehicle's door. When the wading depth shows an increasing trend, the likelihood of water seeping into the vehicle while continuing to drive is higher; when the wading depth remains constant or decreases, the likelihood of water seeping into the vehicle while continuing to drive is lower.

[0066] Step S103: Based on the water wading change information, determine whether to perform inflation control on the vehicle.

[0067] Since wading depth change information characterizes the trend of a vehicle's wading depth after the current moment, it can be used to predict the likelihood of water seepage during continued driving. Based on this prediction, it can then be determined whether to implement inflation control. Implementing inflation control specifically refers to controlling the inflation of the vehicle's sealing strips.

[0068] Step S104: When it is determined that inflation control is performed on the vehicle, the inflation sealing strip of at least one of the doors is inflated to seal the door.

[0069] When vehicle inflation control is initiated, the on-board controller sends an inflation control signal to the inflation pump connected to the inflation seal. Triggered by the inflation control signal, the inflation pump rotates forward, blowing air into the inflation seal. When the internal pressure of the inflation seal reaches a preset value, a pressure sensor located within the inflation seal sends an inflation completion signal to the on-board controller, and the inflation pump stops operating under the control of the on-board controller. As air is blown in, the volume of the inflation seal increases. Simultaneously, the adhesion between the inflation seal and the door edge and the door frame edge increases with the increase in volume, ultimately improving the seal between the door and the body, achieving a tight seal.

[0070] This application, when detecting that a vehicle's wading depth exceeds a preset depth, determines the trend of wading depth change after the current moment by considering the vehicle's driving direction and road surface slope. Based on this trend, it controls the inflation of the inflatable sealing strip. Furthermore, this application predicts the future wading depth trend based on the vehicle's driving direction and road surface slope when the wading depth exceeds the preset depth. Based on this prediction, it determines the vehicle's wading duration in the future, ultimately forming a technical solution that determines whether to inflate the inflatable sealing strip based on the expected wading duration when the wading depth exceeds a first preset depth. This avoids unnecessary control of inflating the sealing strip when the wading duration is short, reduces the number of times the sealing strip needs to be inflated, and extends its service life.

[0071] The second aspect of this application provides an embodiment that, in addition to including the embodiment proposed in the first aspect of this application, also includes:

[0072] Optionally, when it is determined that inflation control is to be performed on the vehicle, such as Figure 2 The diagram illustrates a method for inflating a target vehicle door's airtight sealing strip, the method comprising:

[0073] Step S201: Obtain the vehicle body roll angle.

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

[0075] Step S202: Based on the vehicle body roll angle, determine the target door from the plurality of doors.

[0076] When a vehicle tilts, the relative heights of different doors to the water surface differ at the same wading depth, leading to varying probabilities of water seepage into each door. Therefore, to achieve more precise control over the inflatable sealing strips, when facing the risk of water seepage, the vehicle's tilt angle can be used to determine which door is most likely to allow water to enter, thus identifying the target door from among multiple doors.

[0077] Step S203: Inflate the air-sealing strip of the target door.

[0078] After identifying the target door, the vehicle controller sends an inflation control signal to the corresponding air pump based on the door's identifier. Triggered by the inflation control signal, the air pump rotates forward, inflating air into the air-sealing strip located at the target door. As the air is inflated, the air-sealing strip increases in volume, and the adhesion between the strip and both the target door edge and the door frame edge increases with the increased volume. This ultimately improves the seal between the target door and the vehicle body, achieving a tight seal.

[0079] Optionally, such as Figure 3 The diagram illustrates a method for determining a target vehicle door. Step S202, which involves determining the target vehicle door from among the multiple doors based on the vehicle body roll angle, includes:

[0080] Step S2021: Determine whether the vehicle body roll angle is greater than the preset roll angle.

[0081] Different vehicle body roll angles indicate that the relative heights of the two side doors to the water surface are different, and the relative height difference between the two side doors and the water surface increases with the increase of the vehicle body roll angle. This leads to a difference in the likelihood of water seeping into the water from the two side doors. When the vehicle body roll angle is greater than the preset roll angle, it indicates a significant difference in the likelihood of water seeping into the water from the two side doors; when the vehicle body roll angle is less than or equal to the preset roll angle, it indicates a smaller difference in the likelihood of water seeping into the water from the two side doors.

[0082] Based on this, the difference in the likelihood of water seepage into the two doors can be determined by whether the vehicle body tilt angle is greater than the preset tilt angle. Then, different controls can be implemented based on the difference in likelihood, further improving the accuracy of the inflation control of the inflatable sealing strip.

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

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

[0085] When the vehicle's roll angle is greater than the preset roll angle, the likelihood of water seepage into the left and right doors differs significantly. The door on the side more likely to seep water will have higher inflation pressure. Therefore, the door on the side where the vehicle is tilting should be designated as the target door. For example, if the vehicle is tilting to the left when the roll angle is greater than the preset roll angle, the left-side door should be designated as the target door; if the vehicle is tilting to the right, the right-side door should be designated as the target door.

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

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

[0088] Optionally, such as Figure 4 The diagram illustrates a method for determining whether to perform inflation control on a vehicle. Step S103, based on the water wading change information, determines whether to perform inflation control on the vehicle, including:

[0089] Step S1031: Determine whether the water wading change information meets preset conditions; wherein, the preset conditions are that the water wading depth of the vehicle after the current moment shows an increasing trend.

[0090] The preset condition refers to a trend of increasing wading depth for the vehicle after the current moment. When the wading depth of the vehicle increases after the current moment, the risk of water seepage during continued driving will increase over time. If the risk of water seepage increases over time, it indicates that the vehicle should be inflated to prevent water from entering the passenger compartment when the wading depth is higher than the bottom of the doors. Therefore, whether to inflate the vehicle can be determined based on whether the wading depth change information meets the preset condition.

[0091] If the water level change information meets the preset conditions, proceed to step S1032; if the water level change information does not meet the preset conditions, proceed to step S1032.

[0092] Step S1032: If the water wading change information meets the preset conditions, determine to control the inflation of the vehicle.

[0093] If the water level changes meet the preset conditions, the risk of water seepage will increase over time as the vehicle continues to drive. In this case, the vehicle should be inflated to prevent water from entering the cab.

[0094] Step S1033: If the water wading change information does not meet the preset conditions, determine that the vehicle will not be inflated.

[0095] If the wading depth information does not meet the preset conditions, meaning the vehicle's wading depth remains constant or decreases after the current moment, then the risk of water seepage will decrease or remain constant as the vehicle continues to drive. In this case, since the risk of water seepage will no longer increase over time, there is no need to inflate the vehicle's tires.

[0096] Optionally, such as Figure 5 The diagram illustrates another method for controlling vehicle wading through water, which includes the following steps:

[0097] Step S301: When the vehicle meets the target operating conditions and is in a waterlogged environment, obtain the wading depth of the vehicle.

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

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

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

[0101] Step S303: Based on the water wading change information, determine whether to perform inflation control on the vehicle.

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

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

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

[0105] Step S305: Based on the vehicle's driving conditions and / or the vehicle's real-time wading depth, determine whether the vehicle meets the deflation conditions.

[0106] Driving conditions reflect the overall condition of the vehicle during driving, so it's possible to determine whether the vehicle meets the deflation requirements based on this information. Real-time wading depth refers to the wading depth detected during driving, reflecting the vehicle's current wading depth at any given moment. Therefore, based solely on either the real-time wading depth or the driving conditions, the timing of deflation of the inflatable sealing strip can be predicted after inflation, allowing for precise control during the deflation phase. Alternatively, both real-time wading depth and driving conditions can be combined to determine if the vehicle meets the deflation requirements. When combining real-time wading depth and driving conditions, if either determines that the vehicle meets the deflation requirements, then the vehicle is considered to have met the deflation requirements.

[0107] If determining whether a vehicle meets the deflation condition based solely on either its real-time wading depth or its driving conditions during vehicle operation, then only the real-time wading depth needs to be monitored. If the real-time wading depth meets the deflation condition, then the vehicle is deemed to meet the deflation condition. Alternatively, only the driving conditions need to be monitored. If determining whether a vehicle meets the deflation condition based on both wading depth and driving conditions, then both real-time wading depth and driving conditions need to be monitored simultaneously. The vehicle is deemed to meet the deflation condition when both the real-time wading depth and the driving conditions meet the deflation condition.

[0108] Step S306: If the vehicle meets the deflation conditions, deflate the air seal of at least one of the 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 air seal. Triggered by the deflation control signal, the air pump reverses its operation, extracting air from the air seal until the internal pressure of the air seal drops to the initial pressure value.

[0110] Optionally, such as Figure 6 The diagram illustrates a method for determining deflation conditions based on driving conditions. Step S305, determining whether the vehicle meets the deflation conditions based on the driving conditions, includes:

[0111] Step S3051: Determine whether the vehicle is currently in a climbing condition.

[0112] The climbing condition refers to the situation where a vehicle is 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 detects that the vehicle is tilting backward, it is determined that the vehicle is in a climbing condition. When in a climbing condition, it indicates that the vehicle's wading depth is gradually decreasing, meaning that the possibility of 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 water entering the cab is gradually decreasing. Then, if the vehicle is in a climbing condition, proceed to step S3052.

[0113] In step S3052, if the vehicle speed is greater than the preset speed when the vehicle is climbing a hill, then the vehicle is determined to meet the deflation condition.

[0114] When the vehicle is climbing an incline, it is determined that the wading depth is gradually decreasing. Furthermore, in this situation, the rate at which the wading depth decreases is determined based on the vehicle's speed. When the vehicle speed exceeds a preset speed, it is assumed that the wading depth can decrease to below the bottom of the door within a short period, at which point the vehicle is deemed to meet the deflation conditions.

[0115] Optionally, such as Figure 7 The diagram illustrates a method for determining deflation conditions based on real-time wading depth. Step S305, determining whether the vehicle meets the deflation conditions based on the real-time wading depth, includes:

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

[0117] When the real-time wading depth is less than or equal to the second preset depth, it indicates that the vehicle has escaped the risk of water seepage. At this point, considering the variability of road conditions and the lag in inflation of the inflatable sealing strip, the time spent out of water should be timed when the wading depth is less than or equal to the second preset depth. The time spent out of water should be used to determine whether the inflatable sealing strip needs to be deflated, in order to avoid the inflatable sealing strip repeatedly inflating and deflating in a short period of time when the vehicle is driving on roads with varying water depths.

[0118] Step S3054: If the time spent away from the water is longer than a preset time, determine that the vehicle meets the venting conditions.

[0119] When the time out of water exceeds the preset time, it is assumed that the possibility of water seeping into the driver's cabin is low as the vehicle continues to move forward. Therefore, when the time out of water exceeds the preset time, it is determined that the vehicle meets the conditions for venting.

[0120] A third aspect of this application provides an embodiment, such as... Figure 8 A flowchart illustrating a vehicle wading control method is shown, the method comprising:

[0121] When the vehicle meets the target operating conditions and is in a flooded environment, the method of this application is executed. First, the wading depth of the vehicle is obtained; wherein, the target operating conditions should at least include the power-on condition and the condition with the doors closed. That is, the method of this application is executed when the vehicle is in the power-on condition, the door closed condition, and in a flooded environment.

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

[0123] Based on the information regarding changes in wading depth, determine whether to control vehicle inflation. Specifically, this includes determining whether the information on changes in wading depth meets preset conditions; the preset condition is that the vehicle's wading depth tends to increase after the current moment; if the information on changes in wading depth meets the preset conditions, determine whether to control vehicle inflation; if the information on changes in wading depth does not meet the preset conditions, determine whether to control vehicle inflation.

[0124] When it is determined that inflation control will be applied to the vehicle, the vehicle's roll angle is acquired, and it is determined whether the roll angle is greater than a preset roll angle. If the roll angle is greater than the preset roll angle, the door located on the side of the vehicle's roll direction is identified as the target door; if the roll angle is less than or equal to the preset roll angle, multiple doors are identified as target doors. Then, the airtight seals of the target doors are inflated to seal the doors.

[0125] After inflating the air seal of the target vehicle door, determine whether the vehicle meets the deflation conditions. This determination can be made based on the vehicle's operating conditions and / or its real-time wading depth. When determining deflation based on operating conditions, the steps include: determining if the vehicle is currently climbing a slope; if the vehicle's speed is greater than a preset speed while climbing, then the vehicle meets the deflation conditions. When determining deflation based on real-time wading depth, the steps include: starting a timer for the vehicle's time out of water when the real-time wading depth is less than or equal to a second preset depth; if the time out of water exceeds a preset time, the vehicle meets the deflation conditions. When determining whether the vehicle is climbing a slope based on both operating conditions and real-time wading depth, the steps include: if the vehicle is climbing a slope, its speed is greater than a preset speed, its real-time wading depth is less than or equal to a second preset depth, and its time out of water exceeds a preset time, then the vehicle meets the deflation conditions.

[0126] If the vehicle meets the deflation requirements, deflate the air-filled sealing strip of the target vehicle.

[0127] The fourth aspect of this application provides an embodiment, such as Figure 9 The schematic diagram shown illustrates a control system structure for a vehicle wading through water. The system includes:

[0128] The acquisition module is used to acquire the wading depth of the vehicle when the vehicle meets the target working conditions and is in a waterlogged environment.

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

[0130] The first decision module is used to determine whether to perform inflation control on the vehicle based on the water wading change information;

[0131] An execution module is configured to inflate at least one of the door's air seals to seal the door when it is determined that inflation control is to be performed on the vehicle.

[0132] Optionally, the execution module is further configured to obtain the vehicle body roll angle; determine a target door from among the multiple doors based on the vehicle body roll angle; and inflate the air seal of the target door.

[0133] Optionally, the execution module is further configured 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 the side of the vehicle roll direction is identified as the target door; when the vehicle body roll angle is less than or equal to the preset roll angle, multiple doors are identified as the target doors.

[0135] Optionally, the first decision module is further configured to determine whether the wading depth change information meets preset conditions; wherein, the preset conditions are that the wading depth of the vehicle after the current moment shows an increasing trend; if the wading depth change information meets the preset conditions, determine to perform inflation control on the vehicle; if the wading depth change information does not meet the preset conditions, determine not to perform inflation control on the vehicle.

[0136] Optionally, the system further includes a second decision module, used to determine whether the vehicle meets the deflation conditions based on the vehicle's driving conditions and / or the vehicle's real-time wading depth; and if the vehicle meets the deflation conditions, to deflate the air seal of at least one of the doors.

[0137] Optionally, the second decision module is further configured to determine whether the vehicle is currently in a climbing condition; if the vehicle speed is greater than a preset speed when the vehicle is in a climbing condition, then the vehicle is determined to meet the deflation condition.

[0138] Optionally, the second decision module is further configured to start timing the time out of water when the real-time wading depth is less than or equal to the 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] This application also provides a computer-readable storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements a vehicle wading control method as disclosed in this application.

[0140] This application also provides a vehicle, including a vehicle wading control system provided in this application.

[0141] This application, when detecting that a vehicle's wading depth exceeds a preset depth, determines the trend of wading depth change after the current moment by considering the vehicle's driving direction and road surface slope. Based on this trend, it controls the inflation of the inflatable sealing strip. Furthermore, this application predicts the future wading depth trend based on the vehicle's driving direction and road surface slope when the wading depth exceeds the preset depth. Based on this prediction, it determines the vehicle's wading duration in the future, ultimately forming a technical solution that determines whether to inflate the inflatable sealing strip based on the expected wading duration when the wading depth exceeds a first preset depth. This avoids unnecessary control of inflating the sealing strip when the wading duration is short, reduces the number of times the sealing strip needs to be inflated, and extends its service life.

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

[0143] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, systems, electronic devices, and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0144] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The 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 equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0146] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0147] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the element.

[0148] The foregoing has provided a detailed description of a vehicle wading control method, system, storage medium, and vehicle provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for controlling vehicle wading through water, characterized in that, Applied to vehicles, wherein an inflatable sealing strip is wrapped around the edge of the vehicle door, the method includes: When the vehicle meets the target operating conditions and is in a waterlogged environment, the wading depth of the vehicle is obtained; When the wading depth is greater than a first preset depth, the wading change information of the vehicle is determined based on the vehicle's driving direction and the road surface slope; wherein, the wading change information is used to characterize the trend of the vehicle's wading depth change after the current moment. Based on the water wading change information, determine whether to perform inflation control on the vehicle; When it is determined that inflation control is to be performed on the vehicle, the inflation seal of at least one of the doors is inflated to seal the door. The step of determining whether to perform inflation control on the vehicle based on the water erosion change information includes: Determine whether the water wading change information meets preset conditions; wherein, the preset conditions are that the vehicle's water wading depth shows an increasing trend after the current moment; If the water wading change information meets the preset conditions, determine to control the inflation of the vehicle; If the water wading change information does not meet the preset conditions, it is determined that the vehicle will not be inflated.

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: Obtain the vehicle's roll angle; Based on the vehicle body roll angle, the target door is determined from the plurality of doors; Inflating the air-sealed strip of at least one vehicle door includes: Inflate the air-sealed strip of the target vehicle door.

3. The vehicle wading control method according to claim 2, characterized in that, The step of determining the target door from among the multiple doors based on the vehicle body roll angle includes: Determine whether the vehicle body roll angle is greater than the preset roll angle; If the vehicle body roll angle is greater than the preset roll angle, the door located on the side of the vehicle roll direction is identified as the target door; When the vehicle body roll angle is less than or equal to the preset roll angle, the plurality of the vehicle doors are identified as the target vehicle doors.

4. The vehicle wading control method according to claim 1, characterized in that, After inflating the inflatable sealing strip of at least one of the vehicle doors, the method further includes: Based on the vehicle's driving conditions and / or the vehicle's real-time wading depth, determine whether the vehicle meets the deflation conditions. If the vehicle meets the deflation conditions, the air-filled sealing strip of at least one of the doors is deflated.

5. The vehicle wading control method according to claim 4, characterized in that, Based on the aforementioned driving conditions, determining whether the vehicle meets the deflation requirements includes: Determine whether the vehicle is currently in a climbing condition; If the vehicle is climbing a hill and its speed is greater than a preset speed, then the vehicle is determined to meet the deflation condition.

6. The vehicle wading control method according to claim 4, characterized in that, Based on the real-time wading depth, determining whether the vehicle meets the deflation conditions includes: When the real-time wading depth is less than or equal to the second preset depth, the timeout period begins. If the time spent away from the water exceeds a preset time, the vehicle is determined to meet the venting conditions.

7. A control system for vehicle wading through water, characterized in that, include: The acquisition module is used to acquire the wading depth of the vehicle when the vehicle meets the target working conditions and is in a waterlogged environment. The processing module is used to determine the wading depth change information of the vehicle based on the vehicle's driving direction and the road surface slope when the wading depth is greater than a first preset depth; wherein the wading depth change information is used to characterize the wading depth change trend of the vehicle after the current moment. The first decision module is used to determine whether to perform inflation control on the vehicle based on the water wading change information; An execution module is configured to inflate an inflation seal strip of at least one door to seal the door when it is determined that inflation control is to be performed on the vehicle. The first decision module is further configured to determine whether the wading depth change information meets preset conditions; wherein, the preset conditions are that the wading depth of the vehicle after the current moment shows an increasing trend; if the wading depth change information meets the preset conditions, it is determined to perform inflation control on the vehicle; if the wading depth change information does not meet the preset conditions, it is determined not to perform inflation control on the vehicle.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the steps of the vehicle wading control method according to any one of claims 1-6.

9. A vehicle, characterized in that, Includes the vehicle wading control system as described in claim 7.

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