Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, and relates to the technical field of vehicles. The method comprises the steps that when a collision signal is detected, whether the current pressure of an oil tank in the vehicle is larger than a preset pressure threshold value or not is judged; when the current pressure is larger than the preset pressure threshold value, whether the oil tank meets the preset safety pressure relief condition or not is detected according to the operation information; and when the oil tank meets the preset safety pressure relief condition, a pressure relief valve connected with the oil and gas relief port in the vehicle is opened, and the step of judging whether the current pressure is larger than the preset pressure threshold value or not is returned until the current pressure is smaller than or equal to the preset pressure threshold value or the oil tank does not meet the preset safety pressure relief condition. When it is determined that the oil tank meets the preset safety pressure relief conditions such as the condition that the oil gas relief opening is not submerged by fuel oil, the pressure relief valve connected with the oil gas relief opening in the vehicle is opened, the pressure of the oil tank is reduced, meanwhile, fuel oil leakage and even secondary accidents such as fire disasters can be avoided, and the safety of the vehicle is improved.

Description

Technical Field

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

[0002] With the improvement of vehicle performance and the enhancement of environmental awareness, the structure and function of the fuel tank, as a key component for storing fuel in the vehicle, are constantly being optimized. However, when a vehicle collides, the internal pressure of the fuel tank may rise sharply, causing the fuel tank to rupture, fuel leakage, and even fire or explosion, posing a serious threat to the safety of people and vehicles.

[0003] However, the current methods for relieving fuel tank pressure after a collision accident are often relatively simple, which is difficult to effectively reduce the possibility of secondary accidents caused by fuel tank pressure problems after a vehicle collision, and cannot ensure the safety of the vehicle. Summary of the invention

[0004] The problem solved by the present invention is how to improve the safety of vehicles.

[0005] In order to solve the above problems, the present invention provides a vehicle control method, comprising:

[0006] When a collision signal is detected, determining whether the current pressure of the fuel tank in the vehicle that has been acquired is greater than a preset pressure threshold;

[0007] When the current pressure is greater than the preset pressure threshold, detecting whether the fuel tank meets a preset safety pressure relief condition according to the acquired operation information of the vehicle; wherein the preset safety pressure relief condition includes that the oil and gas discharge port of the fuel tank is not submerged by the fuel in the fuel tank;

[0008] When the fuel tank meets the preset safety pressure relief condition, the pressure relief valve connected to the oil and gas discharge port in the vehicle is opened, and the process returns to the step of determining whether the current pressure of the fuel tank in the vehicle is greater than the preset pressure threshold, until the current pressure is less than or equal to the preset pressure threshold, or the fuel tank does not meet the preset safety pressure relief condition.

[0009] Optionally, the operation information includes fuel quantity information and posture information of the vehicle after the collision signal is detected; and detecting whether the fuel tank meets a preset safety pressure relief condition according to the acquired operation information of the vehicle includes:

[0010] determining a remaining amount of oil in the oil tank based on the oil amount information;

[0011] Determine the minimum amount of oil required to submerge a preset reference point in a preset oil tank model according to the posture information to obtain a reference amount of oil; wherein the preset oil tank model is pre-constructed based on preset geometric parameters of the oil tank, and the preset reference point is determined based on preset position information of the oil and gas discharge port in the oil tank;

[0012] According to the remaining oil volume and the reference oil volume, it is detected whether the oil tank meets the preset safety pressure relief condition.

[0013] Optionally, the posture information includes a pitch angle and a roll angle of the vehicle; and determining the minimum amount of oil required to submerge a preset reference point in a preset oil tank model according to the posture information to obtain a reference amount of oil includes:

[0014] Obtaining the initial coordinates of each geometric vertex in the preset fuel tank model in a preset three-dimensional coordinate system;

[0015] Performing coordinate transformation on each of the initial coordinates based on the pitch angle and the roll angle to obtain the current coordinate of each of the geometric vertices in the preset three-dimensional coordinate system;

[0016] The target volume of the preset oil tank model below the reference horizontal plane is determined according to the current coordinates, and the reference oil volume is obtained based on the target volume; wherein the preset reference point is located within the reference horizontal plane.

[0017] Optionally, the preset geometric parameters include a total volume of the oil tank; and determining a target volume of the preset oil tank model below a reference horizontal plane according to the current coordinates includes:

[0018] Determine, according to the current coordinates of each of the geometric vertices, a geometric edge intersection point between the preset fuel tank model and the reference horizontal plane, and an intersection point coordinate corresponding to each of the geometric edge intersection points;

[0019] Obtaining a target quantity corresponding to a target geometric vertex, and determining a target shape based on the target quantity and a preset strategy; wherein the target geometric vertex includes the geometric vertex located within the reference horizontal plane and / or located below the reference horizontal plane; the target shape includes the shape of the preset fuel tank model located below the reference horizontal plane or located above the reference horizontal plane;

[0020] The target volume is determined based on the total volume, the target shape, the current coordinates corresponding to the target geometric vertices, and at least one of the intersection coordinates.

[0021] Optionally, the preset fuel tank model includes a rectangular parallelepiped model; and the preset strategy corresponding to the rectangular parallelepiped model includes:

[0022] When the number of the targets is four, and the four target geometric vertices are not located in the same plane of the cuboid model, the target shape is an irregular polyhedron;

[0023] When the number of the targets is four, and the four target geometric vertices are in the same plane of the cuboid model, determining whether the distances between the four target geometric vertices and the reference horizontal plane are all zero;

[0024] If yes, the target shape is a quadrilateral;

[0025] If not, the target shape is a tetrahedron.

[0026] Optionally, before determining the target volume based on the total volume, the target shape, the current coordinates corresponding to the target geometric vertices and at least one of the intersection coordinates, the method further includes:

[0027] When the target shape is the irregular polyhedron, the target shape is segmented into at least two preset regular shapes at at least one of the target geometric vertices and / or at least one of the geometric edge intersections.

[0028] Optionally, the detecting whether the oil tank meets the preset safety pressure relief condition according to the remaining oil amount and the reference oil amount includes:

[0029] When the reference oil amount is greater than the remaining oil amount, obtaining a difference between the reference oil amount and the remaining oil amount to obtain a target difference;

[0030] When the target difference is greater than a preset difference threshold, it indicates that the oil tank meets the preset safety pressure relief condition.

[0031] In the present invention, when a collision signal is detected, by obtaining the current pressure of the fuel tank in the vehicle and judging whether the current pressure is greater than the preset pressure threshold, it is helpful to grasp the actual situation of the fuel tank after the vehicle collision. When the current pressure is greater than the preset pressure threshold, it means that the pressure in the fuel tank may increase after the vehicle collision or the collision occurs when the pressure in the fuel tank is high, which may easily lead to a sharp increase in the probability of accidents such as fuel tank rupture, fuel leakage and even vehicle fire. When it is detected that the current pressure is greater than the preset pressure threshold, the present invention is helpful to provide a reliable reference basis for the subsequent evaluation of whether the fuel tank meets the preset safety pressure relief conditions through the operation information of the vehicle obtained, thereby ensuring the accuracy of the evaluation result. Since the fuel tank generally releases oil and gas to the carbon canister through the oil and gas discharge port via the pressure relief valve for pressure relief, the present invention is based on the operation information. When it is determined that the fuel tank meets the preset safety pressure relief conditions such as the oil and gas discharge port is not submerged by the fuel in the fuel tank, the pressure relief valve connected to the oil and gas discharge port in the vehicle is opened, which is helpful to ensure the safety of the pressure relief process. When the pressure relief valve is opened to avoid the oil and gas discharge port being flooded by fuel, a large amount of fuel is directly discharged into the carbon canister, causing the carbon canister to be quickly saturated and difficult to absorb all the fuel. As a result, the fuel overflows directly from locations such as the carbon canister vent or other connecting pipes, which is easy to cause secondary accidents such as oil leakage or even fire. In the process of opening the pressure relief valve for pressure relief, the present invention continuously monitors the current pressure of the fuel tank and whether the fuel tank meets the preset safety pressure relief conditions by returning to the step of judging whether the current pressure of the fuel tank in the vehicle is greater than the preset pressure threshold. In this way, when the current pressure is less than or equal to the preset pressure threshold, it means that the current pressure of the fuel tank has been effectively reduced, and the pressure relief valve can be stopped (i.e., the pressure relief valve can be closed). Since the position and posture of the vehicle may change after a collision, the positional relationship between the corresponding oil and gas discharge port and the fuel liquid level may also change accordingly. When the fuel tank does not meet the preset safety pressure relief conditions such as the oil and gas discharge port is not flooded by the fuel in the fuel tank, it means that the risk of continuing to release the pressure is high. At this time, closing the pressure relief valve is conducive to reducing the possibility of secondary accidents and comprehensively improving the safety of the vehicle.

[0032] The present invention also provides a vehicle control device, comprising:

[0033] A judgment module, which is used to judge whether the current pressure of the fuel tank in the vehicle obtained is greater than a preset pressure threshold when a collision signal is detected;

[0034] a detection module, which is used to detect whether the fuel tank meets a preset safety pressure relief condition according to the acquired operation information of the vehicle when the current pressure is greater than the preset pressure threshold; wherein the preset safety pressure relief condition includes that the oil and gas discharge port of the fuel tank is not submerged by the fuel in the fuel tank;

[0035] A pressure relief module is used to open the pressure relief valve connected to the oil and gas discharge port in the vehicle when the fuel tank meets the preset safety pressure relief condition, and return to the step of determining whether the current pressure of the fuel tank in the vehicle is greater than a preset pressure threshold, until the current pressure is less than or equal to the preset pressure threshold, or the fuel tank does not meet the preset safety pressure relief condition.

[0036] The advantages of the vehicle control device provided by the present invention and the vehicle control method compared with the prior art are basically the same, and will not be repeated here.

[0037] The present invention also provides a vehicle, comprising a memory and a processor;

[0038] The memory is used to store computer programs;

[0039] The processor is configured to implement the vehicle control method as described above when executing the computer program.

[0040] The advantages of the vehicle provided by the present invention and the vehicle control method compared to the prior art are basically the same and will not be repeated here.

[0041] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the vehicle control method as described above is implemented.

[0042] The advantages of the computer-readable storage medium provided by the present invention and the vehicle control method compared to the prior art are basically the same and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic flow chart of a vehicle control method according to an embodiment of the present invention;

[0044] Figure 2 A schematic diagram of a preset fuel tank model according to an embodiment of the present invention;

[0045] Figure 3 It is a schematic diagram corresponding to a preset fuel tank model after the vehicle posture information is changed according to an embodiment of the present invention;

[0046] Figure 4 It is a schematic diagram of a geometric vertex A after being rotated by an angle α on the YSZ plane according to an embodiment of the present invention;

[0047] Figure 5 It is a schematic diagram of a geometric vertex A' after being rotated by an angle β on the XSZ plane according to an embodiment of the present invention;

[0048] Figure 6 is a schematic diagram of a target shape when the number of targets is one according to an embodiment of the present invention;

[0049] Figure 7 is a schematic diagram of the target shape when the number of targets is two according to an embodiment of the present invention;

[0050] Figure 8 is a schematic diagram of target shapes when the number of targets is four according to an embodiment of the present invention;

[0051] Fig. 9 is a schematic diagram of target shapes when the number of targets is three according to an embodiment of the present invention;

[0052] Fig.10 is a schematic diagram of target shapes when the number of targets is four according to another embodiment of the present invention;

[0053] Fig.11 A schematic structural diagram of a vehicle control device according to an embodiment of the present invention;

[0054] Fig.12 Schematic diagram of the structure of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0056] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0057] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". Relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0058] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0059] The Z axis in the accompanying drawings represents the vertical direction, that is, the up and down position, and the positive direction of the Z axis (that is, the direction of the arrow of the Z axis) represents the up, and the negative direction of the Z axis represents the down; the X axis in the accompanying drawings represents the horizontal direction, and is designated as the left and right position, and the positive direction of the X axis (that is, the direction of the arrow of the X axis) represents the right side, and the negative direction of the X axis represents the left side; the Y axis in the accompanying drawings represents the front and back position, and the positive direction of the Y axis (that is, the direction of the arrow of the Y axis) represents the front side, and the negative direction of the Y axis represents the back side. It should also be noted that the aforementioned Z axis, Y axis and X axis are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0060] like Figure 1 As shown, a vehicle control method provided by an embodiment of the present invention includes the following steps:

[0061] S1: When a collision signal is detected, it is determined whether the current pressure of the fuel tank in the vehicle is greater than a preset pressure threshold.

[0062] Specifically, in this embodiment, a pre-configured collision detection device (such as a collision sensor) can be used to detect whether the vehicle has collided. After detecting the collision signal sent by the collision detection device, the current pressure of the fuel tank in the vehicle (such as obtained by a pressure detection device) can be obtained, and it is determined whether the current pressure is greater than a preset pressure threshold. Among them, the preset pressure threshold referred to in this embodiment can be set in advance according to the structural strength of the fuel tank (such as 2-3kpa), or it can be preset according to the altitude or atmospheric pressure of the vehicle (such as 1.2-2 times the atmospheric pressure).

[0063] S2: When the current pressure is greater than a preset pressure threshold, detect whether the fuel tank meets a preset safety pressure relief condition based on the acquired vehicle operation information; wherein the preset safety pressure relief condition includes that the oil and gas discharge port of the fuel tank is not submerged by the fuel in the fuel tank.

[0064] Specifically, the preset safety pressure relief condition referred to in this embodiment includes that the oil and gas discharge port in the fuel tank is not submerged by the fuel in the fuel tank, and whether the fuel tank meets the preset pressure relief condition can be detected based on the operation information of the vehicle. For example, the height of the fuel level in the fuel tank under the corresponding posture after the vehicle collision can be determined based on the posture information of the vehicle after the collision, combined with the remaining oil in the fuel tank before the collision, and then according to the preset installation position of the oil and gas discharge port in the fuel tank, it is determined whether the fuel level submerges the oil and gas discharge port. For another example, at least one fuel detection device can be pre-set around the oil and gas discharge port in the fuel tank, and the operation information in this embodiment can include the state signal of each fuel detection device (such as the capacitance value of the capacitive fuel detection device changes after being submerged in fuel, and different capacitance values ​​can correspond to different state signals, thereby reflecting whether it is submerged in fuel). When it is determined according to the state signal that at least one fuel detection device is submerged in fuel, it indicates that the fuel tank does not meet the preset safety pressure relief condition; when it is determined according to the state signal that all fuel detection devices are not submerged in fuel, it indicates that the fuel tank meets the preset safety pressure relief condition. Optionally, in the present embodiment, at least one fuel detection device may be disposed around the oil and gas discharge port, which is helpful for accurately determining whether the oil and gas discharge port is flooded with fuel even if the posture of the vehicle changes after a collision.

[0065] S3: When the fuel tank meets the preset safety pressure relief condition, open the pressure relief valve connected to the oil and gas discharge port in the vehicle, and return to the step of determining whether the current pressure of the fuel tank in the vehicle is greater than the preset pressure threshold, until the current pressure is less than or equal to the preset pressure threshold, or the fuel tank does not meet the preset safety pressure relief condition.

[0066] Specifically, in an engine system equipped with a high-pressure fuel tank, the oil and gas discharge port in the high-pressure fuel tank is generally connected to the carbon canister through a pressure relief valve. After the pressure relief valve is opened, the oil and gas in the high-pressure fuel tank can be released into the carbon canister, and the fuel in the oil and gas can be adsorbed and stored while adjusting the pressure in the high-pressure fuel tank. When the fuel tank meets the preset safety pressure relief condition, the pressure relief valve connected to the oil and gas discharge port in the vehicle can be opened to release the oil and gas in the fuel tank into the pressure relief valve, thereby reducing the current pressure of the fuel tank. In the process of opening the pressure relief valve to release the current pressure of the fuel tank, the step of whether the current pressure of the fuel tank in the vehicle is greater than the preset pressure threshold can be returned (such as obtaining the current pressure once in each control cycle and judging whether the current pressure is greater than the preset pressure threshold). When the current pressure is greater than the preset pressure threshold, the vehicle's operating information is obtained again and it is re-judged whether the fuel tank meets the preset safety pressure relief condition. In the above cycle, when it is detected that the current pressure is less than or equal to the preset pressure threshold, or the fuel tank does not meet the preset safety pressure relief condition, the pressure relief valve can be closed.

[0067] In this embodiment, when a collision signal is detected, the current pressure of the fuel tank in the vehicle is obtained, and it is judged whether the current pressure is greater than the preset pressure threshold value, which is helpful to grasp the actual situation of the fuel tank after the vehicle collision. When the current pressure is greater than the preset pressure threshold value, it means that the pressure in the fuel tank may increase after the vehicle collision, or the collision occurs when the pressure in the fuel tank is high, which is easy to cause the probability of accidents such as fuel tank rupture, fuel leakage and even vehicle fire to increase sharply. When it is detected that the current pressure is greater than the preset pressure threshold value, the operation information of the vehicle obtained in this embodiment is helpful to provide a reliable reference basis for the subsequent evaluation of whether the fuel tank meets the preset safety pressure relief conditions, thereby ensuring the accuracy of the evaluation results. Since the fuel tank generally releases oil and gas to the carbon canister through the oil and gas discharge port via the pressure relief valve for pressure relief, in this embodiment, when it is determined based on the operation information that the fuel tank meets the preset safety pressure relief conditions such as the oil and gas discharge port is not submerged by the fuel in the fuel tank, the pressure relief valve connected to the oil and gas discharge port in the vehicle is opened, which is helpful to ensure the safety of the pressure relief process. Avoid opening the pressure relief valve when the oil and gas discharge port is flooded with fuel, so that a large amount of fuel is directly discharged into the pressure relief valve, causing the carbon canister to be quickly saturated and difficult to absorb all the fuel. As a result, the fuel overflows directly from locations such as the carbon canister vent or other connecting pipes, which is easy to cause secondary accidents such as oil leakage or even fire. In the process of opening the pressure relief valve for pressure relief, this embodiment returns to the step of determining whether the current pressure of the fuel tank in the vehicle is greater than the preset pressure threshold, and continuously monitors the current pressure of the fuel tank and whether the fuel tank meets the preset safety pressure relief conditions. In this way, when the current pressure is less than or equal to the preset pressure threshold, it means that the current pressure of the fuel tank has been effectively reduced, and the pressure relief valve can be stopped (i.e., the pressure relief valve can be closed). Since the position and posture of the vehicle may change after a collision, the positional relationship between the corresponding oil and gas discharge port and the fuel liquid level may also change accordingly. When the fuel tank does not meet the preset safety pressure relief conditions such as the oil and gas discharge port is not flooded by the fuel in the fuel tank, it means that the risk of continuing to release the pressure is high. At this time, closing the pressure relief valve is conducive to reducing the possibility of secondary accidents and comprehensively improving the safety of the vehicle.

[0068] Optionally, the operation information includes fuel quantity information and vehicle posture information after the collision signal is detected; detecting whether the fuel tank meets the preset safety pressure relief condition according to the acquired vehicle operation information includes:

[0069] determining the remaining fuel amount in the fuel tank based on the fuel amount information;

[0070] Determine the minimum amount of oil required to submerge a preset reference point in a preset oil tank model according to the posture information to obtain a reference amount of oil; wherein the preset oil tank model is pre-constructed based on preset geometric parameters of the oil tank, and the preset reference point is determined based on preset position information of the oil and gas discharge port in the oil tank;

[0071] Based on the remaining oil volume and the reference oil volume, check whether the oil tank meets the preset safety pressure relief conditions.

[0072] Specifically, the oil quantity information referred to in this embodiment can be collected by an oil level detection device. Since the fuel level of the vehicle will fluctuate greatly after a collision, the accuracy of the oil level information collected at this time is poor. In this embodiment, the collision moment when the collision signal is detected can be obtained, and the oil level information collected before the collision moment in the operation information (such as the oil level information within a preset time before the collision moment) can be obtained. On this basis, the remaining oil quantity can be corrected in combination with the obtained fuel consumption and other information to further improve the accuracy of the remaining oil quantity. The preset fuel tank model referred to in this embodiment can be pre-constructed according to the preset geometric parameters of the fuel tank, wherein the preset geometric parameters can include the shape information and size information of the fuel tank, etc., and the preset fuel tank model can be a simplified geometric model of the actual fuel tank. For example, assuming that the fuel tank is approximately a cuboid, a cuboid smaller than the circumscribed cuboid of the fuel tank and larger than the inscribed cuboid of the fuel tank can be used as the preset fuel tank model, and the length of each side of the preset fuel tank model can be determined according to the size information of the fuel tank. On this basis, the oil and gas discharge port can be simplified to a preset reference point in the preset fuel tank model, and then the position of the preset reference point in the preset fuel tank model can be determined according to the actual installation position of the oil and gas discharge port in the fuel tank.

[0073] In one embodiment, after a collision, the vehicle may roll over, and the posture information may change. Accordingly, the spatial distribution of the fuel in the fuel tank will also change accordingly. According to the posture information and the preset fuel tank model, the minimum amount of fuel required to flood the preset reference point in the preset fuel tank model can be determined to obtain the reference amount of fuel. For example, the posture information may include the pitch angle and roll angle of the vehicle. The minimum historical amount of fuel required to flood the preset reference point in the preset fuel tank model when the vehicle is at different historical pitch angles and historical roll angles can be obtained in advance, and the historical pitch angle, historical roll angle and minimum historical amount of fuel can be associated to form a historical data set. In actual use, the pitch angle and roll angle after the collision of the vehicle can be collected, and the minimum amount of fuel can be obtained according to the minimum historical amount of fuel corresponding to the historical pitch angle and historical roll angle that match the pitch angle and roll angle in the historical data set (such as the deviation is less than the preset deviation value), and it is used as the reference amount of fuel. On this basis, according to the size of the remaining amount of fuel and the reference amount of fuel, it can be detected whether the fuel tank meets the preset safety pressure relief condition. For example, it can be determined whether the remaining oil volume is greater than the reference oil volume; if so, the preset safety pressure relief condition is not met; if not, the preset safety pressure relief condition is met.

[0074] In this embodiment, the posture information of the vehicle after the collision signal is detected can be obtained to grasp the actual posture of the vehicle after the collision, which is conducive to ensuring the rationality and accuracy of the subsequent reference oil volume. On this basis, the preset oil tank model is pre-constructed based on the preset geometric parameters of the oil tank, which is conducive to simplifying the geometric structure of the oil tank and reducing the difficulty of data processing. And the preset reference point in the preset oil tank model is determined based on the preset position information of the oil and gas discharge port in the oil tank, which is conducive to simply and accurately reflecting the installation position of the oil and gas discharge port in the oil tank, and further improving the efficiency of determining the reference oil volume. Based on this, this embodiment can quickly and accurately determine the minimum oil volume required to submerge the preset reference point in the preset oil tank model according to the posture information to obtain the reference oil volume. On this basis, based on the reference oil volume and the size of the remaining oil volume, it can be quickly determined that under the current posture of the vehicle, the possibility that the remaining fuel in the current oil tank can submerge the oil and gas discharge port can be determined, and then determine whether the oil tank meets the preset safety pressure relief conditions.

[0075] Optionally, the attitude information includes a pitch angle and a roll angle of the vehicle; determining the minimum amount of oil required to submerge a preset reference point in the preset oil tank model according to the attitude information and the preset oil tank model, and obtaining the reference oil amount, including:

[0076] Obtaining the initial coordinates of each geometric vertex in the preset fuel tank model in a preset three-dimensional coordinate system;

[0077] Perform coordinate transformation on each initial coordinate based on the pitch angle and the roll angle to obtain the current coordinate of each geometric vertex in the preset three-dimensional coordinate system;

[0078] The target volume of the preset oil tank model below the reference horizontal plane is determined according to the current coordinates, and the reference oil volume is obtained based on the target volume; wherein the preset reference point is located within the reference horizontal plane.

[0079] Specifically, assuming that the fuel tank is approximately a rectangular parallelepiped, the schematic diagram of the preset fuel tank model referred to in this embodiment can be as follows: Figure 2 As shown, Figure 2Where A, B, C, D, E, F, G, and H represent the eight geometric vertices of the preset fuel tank model, respectively. S represents the preset reference point. The three-dimensional coordinate system XYZ constructed with point S as the origin represents the preset three-dimensional coordinate system. Suppose that based on the preset geometric parameters of the fuel tank, the side length corresponding to the edge where geometric vertices A and B are located (recorded as edge AB) in the preset fuel tank model is determined to be a, the side length corresponding to the edge where geometric vertices A and C are located (recorded as edge AC) is b, the side length corresponding to the edge where geometric vertices A and E are located (recorded as edge AE) is c, the length of point S from edge CD (i.e., the edge where geometric vertices C and D are located) is denoted as a1, and the length of point S from edge AB is denoted as b1. Then the initial coordinates of each geometric vertex in the preset reference coordinate system (i.e., the coordinates of each geometric vertex when the vehicle is in a horizontal plane before the collision) can be determined. For example, Figure 2 The initial coordinates A(X,Y,Z) corresponding to point A can be expressed as A(-a1,b1,0).

[0080] In one embodiment, the vehicle's posture information may change after a collision, and the corresponding pitch angle and roll angle may also change. Figure 3 As shown, Figure 3 The midplane XSY represents the reference horizontal plane. The pitch angle represents the angle between the vehicle and the longitudinal normal vector (Y axis) on the plane YSZ (for ease of understanding and expression, it is recorded as α), and the roll angle represents the angle between the vehicle and the lateral normal vector (X axis) on the plane XSZ (for ease of understanding and expression, it is recorded as β). Based on the pitch angle and the roll angle, each initial coordinate can be transformed to obtain the current coordinate of each geometric vertex in the preset three-dimensional coordinate system. For example, for geometric vertex A, its current coordinate after rotating by an angle of α around the X-axis can be first determined. Since the projection coordinates of geometric vertex A on the X-axis remain unchanged, it is only necessary to determine the projection coordinates of geometric vertex A on the Y-axis and Z-axis after its rotation. The schematic diagram of geometric vertex A after rotating by an angle of α on the YSZ plane is shown as follows. Figure 4 As shown, Figure 4 Where A' represents the position of the geometric vertex A after rotating around the X-axis by an angle α, then the current coordinates of A' A'(X', Y', Z') satisfy:

[0081]

[0082] On this basis, we can continue to determine the current coordinates of the geometric vertex A' after it is rotated around the Y axis by an angle of β. Since the projection coordinates of the geometric vertex A' on the Y axis remain unchanged, we only need to determine the projection coordinates of the geometric vertex A' on the X axis and Z axis after its rotation. The schematic diagram of the geometric vertex A' after it is rotated by an angle of β on the XSZ plane is as follows Figure 5 As shown, Figure 5Where A' represents the position of the geometric vertex A' after rotating around the Y axis by an angle of β. Then the current coordinates A' (X', Y', Z') of the geometric vertex A' satisfy:

[0083]

[0084] After the initial coordinates of the geometric vertex A are transformed based on the pitch angle and the roll angle, the current coordinates of the geometric vertex A" in the current posture are obtained as follows:

[0085]

[0086] Similarly, the initial coordinates of other geometric vertices can be transformed based on the pitch angle and the roll angle to obtain the current coordinates of each geometric vertex. On this basis, the target volume of the preset fuel tank model below the reference horizontal plane can be determined according to the current coordinates. For example, the plane equation of the reference horizontal plane can be determined, and based on the plane equation and the current coordinates of each geometric vertex, the target volume of the preset fuel tank model below the reference horizontal plane can be determined by volume integration. After determining the target volume, the target volume can be directly used as the fuel volume corresponding to the reference oil volume. Optionally, the target volume can be corrected based on the target volume, taking into account the volume deviation between the actual volume of the fuel tank and the preset fuel tank model, and the reference oil volume can be obtained based on the corrected target volume.

[0087] In this embodiment, obtaining posture information such as the pitch angle and roll angle of the vehicle is beneficial to determining the actual posture of the vehicle after a collision. Based on the pitch angle and roll angle, the initial coordinates of each geometric vertex in the preset fuel tank model in the preset three-dimensional coordinate system are transformed to determine the actual position of each geometric vertex in the preset fuel tank model in the preset three-dimensional coordinate system after the vehicle collision, which is beneficial to ensuring the accuracy of the target volume and thereby improving the reliability of the reference fuel quantity estimation.

[0088] Optionally, the preset geometric parameters include a total volume of the oil tank; determining a target volume of the preset oil tank model below a reference horizontal plane according to the current coordinates includes:

[0089] Determine the geometric edge intersection points of the preset fuel tank model and the reference horizontal plane according to the current coordinates of each geometric vertex, as well as the intersection point coordinates corresponding to each geometric edge intersection point;

[0090] Obtaining the target quantity corresponding to the target geometric vertices, and determining the target shape based on the target quantity and the preset strategy; wherein the target geometric vertices include geometric vertices located within the reference horizontal plane and / or located below the reference horizontal plane; the target shape includes the shape of a preset fuel tank model located below the reference horizontal plane or above the reference horizontal plane;

[0091] The target volume is determined according to at least one of the total volume, the target shape, the current coordinates corresponding to the target geometric vertices, and the intersection coordinates.

[0092] Specifically, the geometric edge intersections of the preset fuel tank model and the reference horizontal plane referred to in this embodiment can be determined based on the current coordinates of each geometric vertex. For example, the straight line equation of each geometric edge in the preset fuel tank model can be determined based on the current coordinates, and the plane equation of the reference horizontal plane can be determined based on the current coordinates of the preset reference point. On this basis, it can be determined whether there are geometric edge intersections between each geometric edge and the reference horizontal plane based on the straight line equation and the plane equation. For example, the straight line equation can be substituted into the plane equation, and if there is a solution, it means that there are geometric edge intersections. On this basis, the obtained solution can be substituted into the straight line equation to determine the intersection coordinates.

[0093] In one embodiment, the geometric vertices located within the reference horizontal plane and / or below the reference horizontal plane may be acquired to obtain the target geometric vertices. Figure 3 For the preset fuel tank model shown, since the origin of its preset three-dimensional coordinates is the preset reference point S, the geometric nodes located in or below the reference horizontal plane XSY plane have Z-axis coordinate values ​​corresponding to the current coordinates that are less than or equal to 0. Then, the geometric vertices whose Z-axis coordinate values ​​in the current coordinates are less than or equal to 0 can be used as target geometric vertices, and the target number corresponding to the target geometric vertices can be obtained. In this embodiment, when the geometric shape of the preset fuel tank model is known, after determining the target number of target geometric vertices, the shape of the preset fuel tank model located below or above the reference horizontal plane can be determined, and then the target shape can be obtained.

[0094] It should be understood that in this embodiment, the geometric edges in the preset fuel tank model that intersect with the reference horizontal plane can also be determined through the target geometric vertices, and then the intersection coordinates corresponding to the intersection points of the geometric edges and the reference horizontal plane can be quickly determined. Figure 3 A, C, E, and G are all target geometric vertices. According to the structure of the preset fuel tank model and the target geometric vertices, the geometric edges intersecting with the reference horizontal plane can be determined as geometric edge AB, geometric edge CD, geometric edge EF, and geometric edge GH. Assume that the intersection point of geometric edge AB and the reference horizontal plane is set to P AB Since the geometric edge intersection point is located in the reference horizontal plane (i.e. plane XSY), it can be known that P AB The coordinate value in the Z-axis direction is 0. On this basis, the geometric edge AP AB The ratio of the length of the geometric side AB determines P AB The coordinates of the intersection point in the preset 3D coordinate system.

[0095] In one embodiment, the preset strategy can be determined based on the geometric shape corresponding to the preset fuel tank model. Now, taking the preset fuel tank model as a cuboid, the target number of target geometric vertices can be one to eight, and the origin of the preset three-dimensional coordinate system as the preset reference point as an example, this embodiment is further described:

[0096] When the number of targets is one, the target shape diagram is as follows Figure 6 As shown, Figure 6 A represents a target geometric vertex, P1, P2 and P3 represent three geometric edge intersections respectively. Since P1, P2 and P3 are located in the reference horizontal plane, the shape formed by A, P1, P2 and P3 is the shape of the preset fuel tank model below the reference horizontal plane. When the number of targets is one, the target shape is a triangular pyramid. On this basis, the volume of the triangular pyramid can be determined based on the current coordinates corresponding to A and the intersection coordinates corresponding to P1, P2 and P3 to obtain the target volume. For example, the area of ​​plane P1AP3 can be determined based on the current coordinates corresponding to A and the intersection coordinates corresponding to P1 and P3 (for ease of understanding and expression, it is recorded as S). On this basis, the length of geometric edge P2A can be determined based on the current coordinates corresponding to A and the intersection coordinates corresponding to P2 (for ease of understanding and expression, it is recorded as H1). Since geometric edge P2A is perpendicular to plane P1AP3, the volume V1=1 / 3*S*H1 of the triangular pyramid can be determined based on S and H1, thereby obtaining the target volume.

[0097] When the number of targets is two, the target shape diagram is as follows Figure 7 As shown, Figure 7 Where A and B represent different target geometric vertices, and P1, P2, P3 and P4 represent four geometric edge intersections. Since P1, P2, P3 and P4 are all located in the reference horizontal plane, the shape formed by A, B, P1, P2, P3 and P4 is the shape of the preset fuel tank model below the reference horizontal plane. When the number of targets is one, the target shape is a triangular prism. On this basis, the volume of the triangular prism can be determined based on the current coordinates corresponding to A and B, and the coordinates of the intersection points corresponding to P1, P2, P3 and P4 to obtain the target volume. For example, the area corresponding to plane P1AP4 (for ease of understanding and expression, it is recorded as S1), the area corresponding to plane P2BP3 (for ease of understanding and expression, it is recorded as S2), and the length corresponding to geometric side AB (for ease of understanding and expression, it is recorded as H2) can be determined based on the above coordinates. Since geometric side AB is perpendicular to plane P1AP4 and plane P2BP3, the volume of the triangular prism can be determined based on S1, S2 and H2. Then the target volume is obtained.

[0098] Assuming that the shape of the preset fuel tank model below the reference horizontal plane is the first shape, and the shape of the preset fuel tank model above the reference horizontal plane is the second shape, then the shape with a regular shape can be selected from the first shape and the second shape as the target shape, which is conducive to improving the efficiency of determining the target volume. For example, when the target number of target geometric vertices is one or two, the more regular first shape can be selected as the target shape, and the volume corresponding to the target shape is the target volume. When the target number of target geometric vertices is six or seven, the more regular second shape can be selected as the target shape. Among them, the second shape corresponding to the target number of six is ​​the same as the first shape corresponding to the target number of two. And the second shape corresponding to the target number of seven is the same as the first shape corresponding to the target number of one. On this basis, when the target number is six or seven, the total volume of the preset fuel tank model minus the volume corresponding to the target shape (i.e., the second shape) is the target volume (i.e., the volume corresponding to the first shape).

[0099] When the number of targets is three, four (and the four target geometric vertices are not in the same plane) and five, the target shape is an irregular polyhedron, and the volume of the irregular polyhedron can be determined by using an integral method or an approximate method to obtain the target volume.

[0100] When the number of targets is eight, it means that all geometric vertices are located within or below the reference horizontal plane. Accordingly, the pitch angle and roll angle of the vehicle can be approximately 0°. After the vehicle collides, the coordinates of each geometric vertex do not change (that is, the initial coordinates are equal to the current coordinates). At this time, the target volume can be equal to the total volume of the preset fuel tank model.

[0101] In this embodiment, the geometric edge intersection points and the intersection coordinates of the preset fuel tank model and the reference horizontal plane are determined according to each current coordinate, which is conducive to determining the plane where the reference horizontal plane intersects with the preset fuel tank model, and then clarifying the spatial range corresponding to the target volume. On this basis, the target shape is determined based on the target quantity and the preset strategy, and the target volume is determined according to the total volume, the target shape, the current coordinates corresponding to the target geometric vertices, and at least one of the intersection coordinates, which is conducive to reducing the difficulty of data processing and thus improving the efficiency of determining the target volume.

[0102] Optionally, the preset fuel tank model includes a rectangular parallelepiped model; the preset strategy corresponding to the rectangular parallelepiped model includes:

[0103] When the number of targets is four and the four target geometric vertices are not in the same plane of the cuboid model, the target shape is an irregular polyhedron;

[0104] When the number of targets is four and the four target geometric vertices are in the same plane of the rectangular parallelepiped model, it is determined whether the distances between the four target geometric vertices and the reference horizontal plane are all zero;

[0105] If yes, the target shape is a quadrilateral;

[0106] If not, the target shape is a tetrahedron.

[0107] Specifically, in this embodiment, the preset fuel tank model includes a rectangular model. When the number of targets corresponding to the target geometric vertices corresponding to the rectangular model is four, there may be multiple situations for the target shape correspondence. Then, it can be first determined based on the current coordinates whether the four target geometric vertices are in the same plane of the rectangular model; if not, the target shape is an irregular polyhedron. If so, it can continue to determine whether the distances between the four target geometric vertices and the reference horizontal plane are all equal to zero. If so, the target shape is a quadrilateral. If not, the target shape is a tetrahedron. Among them, the schematic diagram of the target shape when the number of targets is four is as follows Figure 8 As shown, Figure 8 The four target geometric vertices are in the same plane of the rectangular parallelepiped model and the distances between the four target geometric vertices and the reference horizontal plane are all less than 0. A, C, E, and G represent the four target geometric vertices, respectively, and P1, P2, P3, and P4 represent the four geometric edge intersections, respectively. The target volume of the quadrangular pyramid can be determined according to the current coordinates of the target geometric vertices and the intersection coordinates of the geometric edge intersections. The method for determining the target volume of the quadrangular pyramid in this embodiment is basically the same as the method for determining the triangular pyramid, and will not be repeated here.

[0108] It should be understood that in this embodiment, when the target shape is a quadrilateral, the target shape is a plane, and the corresponding target volume is 0. This means that the vehicle's roll angle after the collision has reached 180°, and the vehicle has caused the fuel tank to flip upside down. At this time, in theory, as long as the amount of oil in the fuel tank is greater than 0, the oil and gas discharge port can be submerged.

[0109] In this embodiment, when the preset fuel tank model is a rectangular parallelepiped model and the number of targets is four, there may be multiple possible target shapes. On this basis, this embodiment can accurately distinguish different scenarios by judging whether the four target geometric vertices are in the same plane of the rectangular parallelepiped model and judging whether the distances between the four target geometric vertices and the reference horizontal plane are all equal to zero, which is conducive to ensuring the accuracy of the reference fuel volume, and further ensuring the safety of the vehicle in various complex scenarios.

[0110] Optionally, before determining the target volume according to at least one of the total volume, the target shape, the current coordinates corresponding to the target geometric vertices, and the intersection coordinates, the method further includes:

[0111] When the target shape is an irregular polyhedron, the target shape is segmented into at least two preset regular shapes at at least one target geometric vertex and / or at least one geometric edge intersection.

[0112] Specifically, when the target shape is an irregular polyhedron, the target shape can be segmented into at least two preset regular shapes at at least one target geometric vertex and / or at least one geometric edge intersection. The preset regular shape can be set in advance according to the shape of the preset fuel tank model. For example, when the preset fuel tank model in this embodiment is a rectangular parallelepiped model, the preset regular shape can include at least one of a triangular pyramid, a triangular pyramid, a quadrangular pyramid, and a tetrahedron.

[0113] In one embodiment, when the number of targets is three, the schematic diagram of the target shape is as follows: Fig. 9 As shown, Fig. 9 Where P1 to P5 represent different geometric edge intersection points, and A, B and E represent different target geometric vertices. A plane P5Z1Z2 parallel to plane ABP3P4 can be constructed at point P5. Based on Fig. 9 The coordinates of each point and their positional relationship can determine the auxiliary coordinates of Z1 and Z2 (e.g., the geometric side BP5 and the geometric side AZ1 are parallel and of equal length, and the auxiliary coordinates of Z1 in the preset three-dimensional coordinate system can be determined based on the coordinates corresponding to A, B and P5). Among them, P5 can be used as a preset auxiliary intersection point. In actual use, the corresponding auxiliary surface can be constructed at P5, thereby dividing the irregular polyhedron into a tetrahedron and a triangular pyramid.

[0114] In one embodiment, when the number of targets is four, the schematic diagram of the target shape is as follows: Fig.10 As shown, Fig.10 Where P1 to P6 represent different geometric edge intersections, and B, H, F, and E represent four target geometric vertices that are not in the same plane of the cuboid model. A plane Z3P3Z4Z5 parallel to the plane BHFP4P5 can be constructed at point P3, and a plane Z1P6Z2 parallel to the plane BHFP4P5 can be constructed at point P6. Based on Fig.10 The coordinates of each point in and their positional relationship can determine the auxiliary coordinates of Z1 to Z5. Among them, P3 and P6 can be used as preset auxiliary intersection points. In actual use, the corresponding auxiliary surfaces can be constructed at P3 and P6 respectively, thereby dividing the irregular polyhedron into three prisms. Optionally, for the prism between plane BHFP4P5 and plane Z3P3Z4Z5, it can be approximated as a quadrangular pyramid. On this basis, it can also be further divided until each sub-target shape is a preset regular shape.

[0115] It should be understood that after segmenting the irregular polyhedron, this embodiment can use each preset regular shape after segmentation as a sub-target shape, and determine the sub-target volume corresponding to each sub-target shape, and the target volume can be obtained according to the sum of each sub-target volume.

[0116] In this embodiment, when the target shape is an irregular polyhedron, the target shape can be divided into at least two preset regular shapes at at least one target geometric vertex and / or at least one geometric edge intersection. On the one hand, dividing the irregular polyhedron at the target geometric vertices and / or geometric edge intersections helps to reduce the difficulty of confirming the coordinates of each vertex corresponding to each preset regular shape after division. On the other hand, dividing the target shape into at least two preset regular shapes helps to simplify a complex volume solving task into multiple simple volume solving tasks, thereby improving data processing efficiency.

[0117] Optionally, based on the remaining oil volume and the reference oil volume, detecting whether the oil tank meets a preset safety pressure relief condition includes:

[0118] When the reference oil volume is greater than the remaining oil volume, the difference between the reference oil volume and the remaining oil volume is obtained to obtain a target difference;

[0119] When the target difference is greater than the preset difference threshold, it indicates that the fuel tank meets the preset safety pressure relief condition.

[0120] Specifically, after determining the remaining fuel volume and the reference fuel volume, it can be determined whether the reference fuel volume is greater than the remaining fuel volume. If not, it means that the fuel level corresponding to the remaining fuel in the current fuel tank has most likely submerged the oil and gas discharge port, which can indicate that the fuel tank does not meet the preset safety pressure relief condition. If so, it is necessary to obtain the difference between the reference fuel volume and the preset fuel volume to obtain the target difference. On this basis, it can be further determined whether the target difference is greater than the preset difference threshold. If so, it indicates that the fuel tank meets the preset safety pressure relief condition. If not, it indicates that the fuel tank does not meet the preset safety pressure relief condition. Among them, the value range of the preset difference threshold can be set in advance (such as determined according to the diameter of the oil and gas discharge port). The larger the preset difference threshold, the more conducive it is to ensure the safety of the vehicle. When the accuracy of the preset fuel tank model and the accuracy of the vehicle posture information are higher, the preset difference threshold can select a smaller value within the value range, otherwise, select a larger value within the value range.

[0121] In this embodiment, since the reference oil volume is determined based on the simplified model of the fuel tank (i.e., the preset fuel tank model) and the posture information of the vehicle, even if the reference oil volume is greater than the remaining oil volume, it is difficult to effectively ensure that the fuel level in the fuel tank is below the fuel gas discharge port (i.e., the fuel gas discharge port is not submerged by fuel) due to the influence of the model accuracy, the posture information accuracy, and the actual size of the fuel gas discharge port. This embodiment indicates that the fuel tank meets the preset safety pressure relief condition only when the target difference between the reference oil volume and the remaining oil volume is greater than the preset difference threshold, which is conducive to compatibility with the influence of the accuracy deviation of the preset fuel tank model, ensuring the reliability of the judgment result, and further improving the safety of the vehicle.

[0122] like Fig.11As shown, a vehicle control device 110 provided in an embodiment of the present invention includes:

[0123] A judgment module 111, which is used to judge whether the current pressure of the fuel tank in the vehicle obtained is greater than a preset pressure threshold when a collision signal is detected;

[0124] A detection module 112, which is used to detect whether the fuel tank meets a preset safety pressure relief condition according to the acquired operation information of the vehicle when the current pressure is greater than the preset pressure threshold; wherein the preset safety pressure relief condition includes that the oil and gas discharge port of the fuel tank is not submerged by the fuel in the fuel tank;

[0125] The pressure relief module 113 is used to open the pressure relief valve connected to the oil and gas discharge port in the vehicle when the fuel tank meets the preset safety pressure relief condition, and return to the step of determining whether the current pressure of the fuel tank in the vehicle is greater than the preset pressure threshold, until the current pressure is less than or equal to the preset pressure threshold, or the fuel tank does not meet the preset safety pressure relief condition.

[0126] The technical effects that can be produced by the vehicle control device and vehicle control method provided in this embodiment are basically the same, and will not be repeated here.

[0127] like Fig.12 As shown, a vehicle 120 provided by an embodiment of the present invention includes a memory 121 and a processor 122; the memory 121 is used to store a computer program; the processor 122 is used to implement the vehicle control method as described above when executing the computer program.

[0128] In other words, a vehicle 120 includes a memory 121 and a processor 122 coupled to the memory 121; the memory 121 is configured to store a computer program; and the processor 122 is configured to perform the following operations when executing the computer program:

[0129] When a collision signal is detected, determining whether the current pressure of the fuel tank in the vehicle that has been acquired is greater than a preset pressure threshold;

[0130] When the current pressure is greater than the preset pressure threshold, detecting whether the fuel tank meets a preset safety pressure relief condition according to the acquired operation information of the vehicle; wherein the preset safety pressure relief condition includes that the oil and gas discharge port of the fuel tank is not submerged by the fuel in the fuel tank;

[0131] When the fuel tank meets the preset safety pressure relief condition, the pressure relief valve connected to the oil and gas discharge port in the vehicle is opened, and the process returns to the step of determining whether the current pressure of the fuel tank in the vehicle is greater than the preset pressure threshold, until the current pressure is less than or equal to the preset pressure threshold, or the fuel tank does not meet the preset safety pressure relief condition.

[0132] The technical effects that can be produced by the vehicle and vehicle control method provided in this embodiment are basically the same, and will not be repeated here.

[0133] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the vehicle control method as described above is implemented.

[0134] In other words, a non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the following operations:

[0135] When a collision signal is detected, determining whether the current pressure of the fuel tank in the vehicle that has been acquired is greater than a preset pressure threshold;

[0136] When the current pressure is greater than the preset pressure threshold, detecting whether the fuel tank meets a preset safety pressure relief condition according to the acquired operation information of the vehicle; wherein the preset safety pressure relief condition includes that the oil and gas discharge port of the fuel tank is not submerged by the fuel in the fuel tank;

[0137] When the fuel tank meets the preset safety pressure relief condition, the pressure relief valve connected to the oil and gas discharge port in the vehicle is opened, and the process returns to the step of determining whether the current pressure of the fuel tank in the vehicle is greater than the preset pressure threshold, until the current pressure is less than or equal to the preset pressure threshold, or the fuel tank does not meet the preset safety pressure relief condition.

[0138] The computer-readable storage medium and the vehicle control method provided in this embodiment can produce substantially the same technical effects, which will not be elaborated herein.

[0139] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0140] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that: include: When a collision signal is detected, determining whether the current pressure of the fuel tank in the vehicle that has been acquired is greater than a preset pressure threshold; When the current pressure is greater than the preset pressure threshold, detecting whether the fuel tank meets a preset safety pressure relief condition according to the acquired operation information of the vehicle; wherein the preset safety pressure relief condition includes that the oil and gas discharge port of the fuel tank is not submerged by the fuel in the fuel tank; When the fuel tank meets the preset safety pressure relief condition, the pressure relief valve connected to the oil and gas discharge port in the vehicle is opened, and the process returns to the step of determining whether the current pressure of the fuel tank in the vehicle is greater than the preset pressure threshold, until the current pressure is less than or equal to the preset pressure threshold, or the fuel tank does not meet the preset safety pressure relief condition.

2. The vehicle control method according to claim 1, characterized in that: The operation information includes fuel quantity information and posture information of the vehicle after the collision signal is detected; the step of detecting whether the fuel tank meets the preset safety pressure relief condition according to the acquired operation information of the vehicle includes: determining a remaining amount of oil in the oil tank based on the oil amount information; Determine the minimum amount of oil required to submerge a preset reference point in a preset oil tank model according to the posture information to obtain a reference amount of oil; wherein the preset oil tank model is pre-constructed based on preset geometric parameters of the oil tank, and the preset reference point is determined based on preset position information of the oil and gas discharge port in the oil tank; According to the remaining oil volume and the reference oil volume, it is detected whether the oil tank meets the preset safety pressure relief condition.

3. The vehicle control method according to claim 2, characterized in that: The posture information includes the pitch angle and the roll angle of the vehicle; the step of determining the minimum amount of oil required to submerge a preset reference point in a preset oil tank model according to the posture information to obtain the reference amount of oil includes: Obtaining the initial coordinates of each geometric vertex in the preset fuel tank model in a preset three-dimensional coordinate system; Performing coordinate transformation on each of the initial coordinates based on the pitch angle and the roll angle to obtain the current coordinate of each of the geometric vertices in the preset three-dimensional coordinate system; The target volume of the preset oil tank model below the reference horizontal plane is determined according to the current coordinates, and the reference oil volume is obtained based on the target volume; wherein the preset reference point is located within the reference horizontal plane.

4. The vehicle control method according to claim 3, characterized in that: The preset geometric parameters include the total volume of the oil tank; and determining the target volume of the preset oil tank model below the reference horizontal plane according to the current coordinates includes: Determine, according to the current coordinates of each of the geometric vertices, a geometric edge intersection point between the preset fuel tank model and the reference horizontal plane, and an intersection point coordinate corresponding to each of the geometric edge intersection points; Obtaining a target quantity corresponding to a target geometric vertex, and determining a target shape based on the target quantity and a preset strategy; wherein the target geometric vertex includes the geometric vertex located within the reference horizontal plane and / or located below the reference horizontal plane; the target shape includes the shape of the preset fuel tank model located below the reference horizontal plane or located above the reference horizontal plane; The target volume is determined based on the total volume, the target shape, the current coordinates corresponding to the target geometric vertices, and at least one of the intersection coordinates.

5. The vehicle control method according to claim 4, characterized in that: The preset fuel tank model includes a rectangular parallelepiped model; the preset strategies corresponding to the rectangular parallelepiped model include: When the number of the targets is four, and the four target geometric vertices are not located in the same plane of the cuboid model, the target shape is an irregular polyhedron; When the number of the targets is four, and the four target geometric vertices are in the same plane of the cuboid model, determining whether the distances between the four target geometric vertices and the reference horizontal plane are all zero; If yes, the target shape is a quadrilateral; If not, the target shape is a tetrahedron.

6. The vehicle control method according to claim 5, characterized in that: Before determining the target volume based on the total volume, the target shape, the current coordinates corresponding to the target geometric vertices and at least one of the intersection coordinates, the method further includes: When the target shape is the irregular polyhedron, the target shape is segmented into at least two preset regular shapes at at least one of the target geometric vertices and / or at least one of the geometric edge intersections.

7. The vehicle control method according to claim 2, characterized in that: The detecting whether the oil tank meets the preset safety pressure relief condition according to the remaining oil amount and the reference oil amount includes: When the reference oil amount is greater than the remaining oil amount, obtaining a difference between the reference oil amount and the remaining oil amount to obtain a target difference; When the target difference is greater than a preset difference threshold, it indicates that the oil tank meets the preset safety pressure relief condition.

8. A vehicle control device, characterized in that: include: A judgment module, which is used to judge whether the current pressure of the fuel tank in the vehicle obtained is greater than a preset pressure threshold when a collision signal is detected; a detection module, which is used to detect whether the fuel tank meets a preset safety pressure relief condition according to the acquired operation information of the vehicle when the current pressure is greater than the preset pressure threshold; wherein the preset safety pressure relief condition includes that the oil and gas discharge port of the fuel tank is not submerged by the fuel in the fuel tank; A pressure relief module is used to open the pressure relief valve connected to the oil and gas discharge port in the vehicle when the fuel tank meets the preset safety pressure relief condition, and return to the step of determining whether the current pressure of the fuel tank in the vehicle is greater than a preset pressure threshold, until the current pressure is less than or equal to the preset pressure threshold, or the fuel tank does not meet the preset safety pressure relief condition.

9. A vehicle, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is configured to implement the vehicle control method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

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