Vehicle driving control method and device, electronic equipment and vehicle

Abstract

The invention provides a vehicle driving control method and device, electronic equipment and a vehicle, which are applied to the technical field of vehicle intelligent control, and the method comprises the following steps: in response to determining that a road section in front of the vehicle is a wading road section, obtaining water flow information of the wading road section, and determining whether to control the vehicle to wade or not based on the water flow information; in response to control over vehicle wading driving, whether the wading risk of a target vehicle to the vehicle exists on the wading road section or not is judged; and in response to determining that the wading risk of the target vehicle on the vehicle exists, executing a risk-avoiding driving strategy based on the driving direction of the target vehicle and the driving direction of the vehicle so as to control the vehicle to pass through the wading road section. Water waves are prevented from directly impacting key parts of the vehicle, and the risk that mechanical and electronic systems are damaged due to the fact that water enters the vehicle is effectively reduced.

Description

Technical Field

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

[0002] Frequent rainstorms and the resulting urban waterlogging pose a major threat to vehicle safety. When faced with flooded roads, due to the lack of effective decision-making support, it is impossible to assess and respond to the risk of vehicles wading, especially when there are other wading vehicles on the flooded roads, which will cause large water waves and more easily cause water ingress risks to the vehicle. Summary of the invention

[0003] In view of this, the purpose of the present application is to propose a vehicle driving control method, device, electronic equipment and vehicle to accurately judge the vehicle's wading risk and avoid the risks caused by water ingress.

[0004] Based on the above objectives, the present application provides a vehicle driving control method, comprising:

[0005] In response to determining that the road section ahead of the vehicle is a wading section, acquiring water flow information of the wading section, and determining whether to control the vehicle to travel in wading based on the water flow information;

[0006] In response to controlling the vehicle to travel in wading, determining whether there is a target vehicle on the wading section that poses a wading risk to the vehicle;

[0007] In response to determining that there is a target vehicle that poses a water-crossing risk to the vehicle, a risk avoidance driving strategy is executed based on a driving direction of the target vehicle and a driving direction of the vehicle to control the vehicle to pass through a water-crossing section.

[0008] Further, the water flow information includes water flow height and water flow speed; and determining whether to control the vehicle to travel in wading water based on the water flow information includes:

[0009] In response to determining that the water flow height is less than or equal to a first preset height, controlling the vehicle to travel in wading;

[0010] In response to determining that the water flow height is greater than a first preset height and less than or equal to a second preset height, determining whether to control the vehicle to travel in wading according to the water flow speed;

[0011] In response to determining that the water flow speed is less than or equal to a first preset speed, the vehicle is controlled to travel in wading.

[0012] By monitoring the water flow height in real time and judging the water flow speed when the water flow height is high, the risk of wading can be accurately assessed, so as to determine whether to control the vehicle to drive through the water, effectively avoid misjudgment, and ensure that risk avoidance measures are only taken when there is a real risk, thereby improving the accuracy and reliability of judgment.

[0013] Furthermore, the controlling the vehicle to travel in wading comprises:

[0014] In response to determining that the water flow height is less than or equal to a first preset height, controlling the vehicle to wade at a first vehicle speed;

[0015] In response to determining that the water flow height is greater than a first preset height and less than or equal to a second preset height, the vehicle is controlled to wade at a second vehicle speed; wherein the second vehicle speed is less than the first vehicle speed.

[0016] The speed of the vehicle fording is determined according to the height of the water flow. The higher the water flow height, the lower the speed of the vehicle fording is, so as to avoid the vehicle from entering water due to excessive speed at a higher water flow height.

[0017] Based on the same inventive concept, the present application also provides a vehicle driving control device, comprising:

[0018] an acquisition module, configured to, in response to determining that the road section ahead of the vehicle is a wading section, acquire water flow information of the wading section, and determine whether to control the vehicle to travel in wading based on the water flow information;

[0019] The judgment module is configured to, in response to controlling the vehicle to travel through water, judge whether there is a target vehicle on the water-wading section that poses a water-wading risk to the vehicle; in response to determining that there is a target vehicle that poses a water-wading risk to the vehicle, execute a risk avoidance driving strategy to control the vehicle to pass through the water-wading section.

[0020] Based on the same inventive concept, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0021] Based on the same inventive concept, the present application also provides a vehicle, which includes the above-mentioned electronic device.

[0022] From the above, it can be seen that the vehicle driving control method, device, electronic device and vehicle provided by the present application, wherein the method includes: in response to determining that the road section ahead of the vehicle is a wading section, obtaining water flow information of the wading section, and determining whether to control the vehicle to drive in wading based on the water flow information; in response to controlling the vehicle to drive in wading, judging whether there is a target vehicle on the wading section that poses a wading risk to the vehicle; in response to determining that there is a target vehicle that poses a wading risk to the vehicle, executing a risk avoidance driving strategy based on the driving direction of the target vehicle and the driving direction of the vehicle to control the vehicle to pass through the wading section. If the driving direction of the target vehicle will cause a large water wave impact on the vehicle, the driving direction and speed of the vehicle can be adjusted to avoid the water waves directly impacting the key parts of the vehicle, such as the engine air intake and exhaust port, etc.; effectively reducing the risk of damage to the mechanical and electronic systems caused by water ingress to the vehicle, and ensuring the safety of the vehicle and passengers in the wading section. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 The process of the vehicle driving control method of the embodiment of the present application is as follows Figure 1 ;

[0025] Figure 2 The process of the vehicle driving control method of the embodiment of the present application is as follows Figure 2 ;

[0026] Figure 3 A schematic diagram of a vehicle driving control device according to an embodiment of the present application;

[0027] Figure 4 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0029] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0030] In the related technologies, due to frequent heavy rains and the resulting urban waterlogging, the daily travel of citizens has been seriously affected, and a major threat to the safety of vehicles has been posed. Urban waterlogging not only causes waterlogging on roads and traffic jams, but may also cause problems such as vehicle stalling and damage to electronic systems, and may even cause vehicles to be washed away by water, causing casualties and property losses. Traditional traffic management and early warning systems seem to be unable to cope with the situation. Existing traffic early warning systems mainly rely on fixed monitoring equipment and weather forecasts, which are difficult to timely and accurately reflect the road waterlogging situation and water flow speed. In addition, when facing flooded sections, drivers lack effective decision-making support and can only rely on experience to judge whether they can pass, which poses a major safety hazard. Especially on wading sections, there are other wading vehicles that produce large water wave impacts, which are more likely to cause water ingress risks to the vehicle.

[0031] Based on the above problems, the applicant found that: in response to determining that the road section ahead of the vehicle is a wading section, the water flow information of the wading section is obtained, and based on the water flow information, it is determined whether to control the vehicle to travel in wading; in response to controlling the vehicle to travel in wading, it is determined whether there is a target vehicle on the wading section that poses a wading risk to the vehicle; in response to determining that there is a target vehicle that poses a wading risk to the vehicle, a risk avoidance driving strategy is executed based on the driving direction of the target vehicle and the driving direction of the vehicle to control the vehicle to pass through the wading section. Not only can the vehicle assess and respond to its own wading risk, but it can also consider the risks that may be brought by other vehicles, so as to make more comprehensive and safe driving decisions and ensure the safety of vehicles and passengers on wading sections.

[0032] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0033] The present application provides a vehicle driving control method, such as Figure 1As shown, in some embodiments, the method is executed by a vehicle controller or a data processor independently provided by the vehicle controller. The subsequent embodiments are all illustrated by taking the vehicle controller as an example; the method includes:

[0034] S101, in response to determining that the road section ahead of the vehicle is a wading section, acquiring water flow information of the wading section, and determining whether to control the vehicle to travel in wading based on the water flow information;

[0035] In specific implementation, the sensors equipped on the vehicle (such as lidar, ultrasonic sensors, cameras, etc.) monitor the condition of the road ahead in real time. These sensors can detect changes in the reflective characteristics of the road surface, water surface fluctuations and other characteristics, thereby identifying whether there is water accumulation on the road ahead. The vehicle can also use external data sources, such as real-time traffic information and weather forecast data provided by the traffic management system, to assist in determining whether there is water accumulation on the road ahead. Once it is determined that there is water accumulation on the road ahead and the water flow information of the wading section is obtained, the vehicle sensor will further measure the depth of the water, for example, through ultrasonic sensors to accurately measure the height of the water surface. The vehicle's camera can capture the dynamic changes of the water flow and estimate the speed of the water flow by analyzing the ripples on the water surface and the direction of the water flow. Based on the above water flow information, it is determined whether to control the vehicle to wade; thereby making reasonable driving decisions to ensure the safety of the vehicle and passengers.

[0036] S102, in response to controlling the vehicle to travel in wading, determining whether there is a target vehicle on the wading section that poses a wading risk to the vehicle;

[0037] In specific implementation, if it is determined that the vehicle is controlled to wade, the vehicle's driving speed can be recommended or automatically adjusted according to the depth of the water and the speed of the water flow. A lower speed can reduce the impact of water waves and reduce the risk of vehicle loss of control. The vehicle's driving trajectory can also be recommended or automatically adjusted to choose a path with shallower water or slower water flow to further improve safety; or provide real-time driving suggestions and prompts to the driver, such as suggesting to slow down, maintain a stable direction, etc., to ensure that the driver can safely pass the wading section. When controlling the vehicle to wade, it is determined whether there is a target vehicle on the wading section that poses a wading risk to the vehicle. Sensors (such as cameras, radars, etc.) are used to detect whether there is a target vehicle in a preset area on the wading section. At the same time, the vehicle sensor can identify the position, speed and driving direction of the target vehicle to determine whether the target vehicle will pose a wading risk to the vehicle. For example, if the target vehicle is traveling toward the vehicle, the distance between the target vehicle and the vehicle decreases rapidly, and the target vehicle is traveling at a high speed, larger water waves may be generated, causing an impact on the vehicle. Larger water waves may cause water to enter the vehicle and cause vehicle failure due to the high water level. Therefore, it is determined that the target vehicle will pose a wading risk to the vehicle.

[0038] S103: In response to determining that there is a target vehicle that poses a water-wading risk to the vehicle, executing a risk avoidance driving strategy based on a driving direction of the target vehicle and a driving direction of the vehicle to control the vehicle to pass through a water-wading section.

[0039] In specific implementation, if it is determined that there is a target vehicle that poses a risk of wading to the vehicle, a risk avoidance driving strategy is executed based on the driving direction of the target vehicle and the driving direction of the vehicle, for example, a first angle between the driving direction of the target vehicle and the driving direction of the vehicle is determined; if the first angle is less than or equal to a first preset angle (exemplarily, the first preset angle can be set to 45°), it indicates that the driving direction of the target vehicle is basically consistent with the driving direction of the vehicle, and in order to avoid being hit by the water waves generated by the target vehicle, the speed of the vehicle can be appropriately increased; if the first angle is greater than or equal to a second preset angle (exemplarily, the second preset angle can be set to 135°), it indicates that the target vehicle is traveling relative to the vehicle, and the driving direction of the vehicle should be adjusted at this time so that the first angle between the vehicle and the target vehicle is greater than the first preset angle and less than the second preset angle. At this time, the vehicle greets the water waves with one side of the vehicle body, avoiding the engine air intake, exhaust port and other locations that are prone to water ingress, reducing the probability of water ingress in the vehicle, and ensuring the safety of the vehicle's wading driving.

[0040] In this embodiment, by real-time monitoring and analysis of water flow information on the flooded road section and the driving dynamics of the target vehicle, the flooding risk can be accurately judged and corresponding risk avoidance measures can be taken. When the driving direction of the target vehicle may cause a large water wave impact on the vehicle, the driving direction and speed of the vehicle will be adjusted to avoid the water waves directly impacting the key parts of the vehicle (such as the engine air intake, exhaust port, etc.). The risk of damage to the mechanical and electronic systems caused by water ingress to the vehicle is effectively reduced, the service life of the vehicle is extended, and the cost of maintenance and replacement is reduced. It can not only improve the safety of vehicles and passengers, but also optimize the driving path and speed, reduce traffic congestion and secondary accidents, and ensure the safe driving of vehicles on complex flooded roads.

[0041] Based on the following embodiments, the determination of whether there is a target vehicle on the water-wading section that poses a water-wading risk to the vehicle is described in detail, so as to accurately determine the potential water-wading risk and take corresponding risk avoidance measures. Figure 2 As shown, the determining whether there is a target vehicle on the water-wading section that poses a water-wading risk to the vehicle includes:

[0042] S201, obtaining environmental data of a water-wading section, and determining whether a target vehicle exists in a preset area on the water-wading section according to the environmental data;

[0043] In specific implementation, the camera or radar sensor equipped on the vehicle will capture the environmental data of the front and surrounding roads in real time. For example, the camera is usually installed on the front windshield, roof or side mirror of the vehicle to provide a wide-angle field of view and high-resolution images. The camera system collects image data at a high frequency (for example, multiple frames per second) to ensure that the road conditions and the dynamic behavior of other vehicles can be reflected in real time. The acquired image data will first undergo preprocessing steps, including denoising, image enhancement, distortion correction, etc., to improve image quality and processing accuracy. Using advanced computer vision technology and deep learning algorithms, target detection is performed on the preprocessed images. Commonly used target detection algorithms include YOLO (You Only LookOnce), SSD (Single Shot MultiBox Detector) and Faster R-CNN. Through the target detection algorithm, the vehicle in the image can be identified and its position, size and type (such as sedan, truck, bus, etc.) can be marked, which can be used for subsequent risk assessment. The image data of the wading section will be divided into several areas, and at the same time, a preset area (for example, the path area where the vehicle is about to travel or the area within 30 meters of the vehicle can be set as the preset area) corresponding to the area is determined on the image of the wading section to detect whether there are other vehicles. The preset area is an area that is more likely to cause water wave impact on the vehicle. If other vehicles are detected in the preset area, the other vehicles are target vehicles that are likely to cause water wave impact on the vehicle.

[0044] S202, in response to determining that there is a target vehicle, obtaining driving information of all target vehicles, and determining whether the target vehicle meets a preset risk driving condition based on the driving information; the preset risk driving condition is a driving condition that causes the target vehicle to cause water wave impact on the vehicle in a wading section;

[0045] In specific implementation, the driving information includes but is not limited to the driving direction and driving speed of the target vehicle. The driving direction and driving speed of the target vehicle are comprehensively evaluated to see whether it meets the preset risk driving conditions. For example, if the target vehicle is traveling toward the vehicle, the distance between the target vehicle and the vehicle is determined; if it is determined that the distance between the target vehicle and the vehicle decreases within the preset time period, and the driving speed of the target vehicle is greater than or equal to the preset driving speed, the target vehicle may generate large water waves, causing impact on the vehicle. Large water waves may cause water to enter the vehicle and cause vehicle failure due to the high water level, so it is determined that the target vehicle meets the preset risk driving conditions. Effectively identify and evaluate the water wading risks that may be brought by the target vehicle, so as to adopt corresponding risk avoidance driving strategies to ensure the safety of the vehicle and passengers. This not only improves the driving safety of the bicycle, but also helps to improve the ability of the entire transportation system to cope with extreme weather conditions.

[0046] S203: In response to determining that the target vehicle meets a preset risk driving condition, determining that there is a water wading risk caused by the target vehicle to the vehicle.

[0047] During specific implementation, if the target vehicle meets the preset risk driving conditions, the target vehicle may pose a threat to the safety of this vehicle, and corresponding risk avoidance measures need to be taken. At this time, it is determined that there is a water risk to this vehicle caused by the target vehicle, and corresponding risk avoidance driving strategies can be adopted to ensure the safety of the vehicle and passengers.

[0048] In this embodiment, by real-time monitoring and analysis of the target vehicles and their dynamics on the wading section, the potential wading risk can be accurately determined and corresponding risk avoidance measures can be taken, which can effectively reduce the dangerous situations that may be encountered during the vehicle's wading process and ensure the safety of the vehicle and passengers. When the target vehicle's driving direction and speed may cause a large wave impact on the vehicle, it will be identified in advance and risk avoidance measures will be taken to prevent the waves from directly impacting the key parts of the vehicle (such as the engine air intake, exhaust port, etc.). On the wading section, traffic congestion and secondary accidents caused by blind wading can be reduced by coordinating the vehicle's driving direction and speed. Through early assessment and risk avoidance, vehicles can pass through the wading section more smoothly, maintain the smoothness of traffic, and reduce additional risks caused by traffic jams.

[0049] The method of determining whether the target vehicle meets the preset risk driving condition based on the driving information is described in detail based on the following embodiments, so that when the target vehicle poses a risk of wading to the vehicle, a risk avoidance decision can be made quickly to avoid vehicle damage or loss of control due to water wave impact. The driving information includes the driving direction and driving speed of the target vehicle; the method of determining whether the target vehicle meets the preset risk driving condition based on the driving information includes:

[0050] Based on a first straight line between the position of the target vehicle and the position of the vehicle, and a second straight line where the target vehicle's driving direction is located, determining a straight line angle between the first straight line and the second straight line;

[0051] In response to determining that the straight line angle is less than or equal to a preset straight line angle, determining a distance between the target vehicle and the vehicle;

[0052] In a specific implementation, based on a first straight line between the position of the target vehicle and the position of the vehicle, and a second straight line where the target vehicle is traveling, the straight line angle between the first straight line and the second straight line is determined; if it is determined that the straight line angle is less than or equal to a preset straight line angle (exemplarily, the preset straight line angle can be set to 15°), it can be determined that the target vehicle is traveling towards the vehicle, and the distance between the target vehicle and the vehicle is determined. Sensors such as radar or lidar can be used to accurately measure the distance between the target vehicle and the vehicle.

[0053] In response to determining that the distance between the target vehicle and the vehicle decreases within a preset time period, and the driving speed of the target vehicle is greater than or equal to a preset driving speed, determining that the target vehicle meets a preset risk driving condition;

[0054] In specific implementation, if the distance between the target vehicle and the vehicle continues to decrease within a preset time (for example, the preset time can be set to 5 seconds), it indicates that the target vehicle is continuously approaching the vehicle. At the same time, the driving speed of the target vehicle is compared with the preset driving speed (the preset driving speed is the speed at which the vehicle is prone to generate water waves, for example, the preset driving speed can be set to 3m / s). If the driving speed of the target vehicle is greater than or equal to the preset driving speed, it is considered that the driving speed of the target vehicle has a high risk and is prone to generate water waves and impact the vehicle, and it is determined that the target vehicle meets the preset risk driving conditions.

[0055] In response to determining that the distance between the target vehicle and the vehicle increases within a preset time period, it is determined that the target vehicle does not meet a preset risk driving condition.

[0056] In specific implementation, if the distance between the target vehicle and the vehicle continues to increase within a preset time period, it indicates that the target vehicle is moving away from the vehicle, and the water waves generated by the target vehicle will not reach the vehicle, and it is determined that the target vehicle does not meet the preset risk driving conditions.

[0057] In this embodiment, the change in the distance between the target vehicle and the present vehicle and the driving speed of the target vehicle are continuously monitored within a preset time period, so that when the target vehicle poses a risk of wading to the present vehicle, a risk avoidance decision can be made quickly to avoid vehicle damage or loss of control due to the impact of water waves. For example, when the target vehicle is moving away from the present vehicle, it can be accurately judged that it will not pose a risk of wading, thereby avoiding unnecessary deceleration or changing the driving direction and maintaining the smoothness of driving. When the target vehicle is moving towards the present vehicle and the speed is fast, the speed and driving direction of the present vehicle can be recommended or automatically adjusted to avoid possible water wave impacts and improve the vehicle's passability and safety.

[0058] The execution of the risk avoidance driving strategy based on the driving direction of the target vehicle and the driving direction of the vehicle is described in detail based on the following embodiments, accurately judging the direction and degree of the impact of the water waves, effectively avoiding the direct impact of the water waves on the vehicle, and ensuring the safety of the vehicle and passengers. The execution of the risk avoidance driving strategy based on the driving direction of the target vehicle and the driving direction of the vehicle includes:

[0059] Determining a first angle between a traveling direction of the target vehicle and a traveling direction of the vehicle;

[0060] During specific implementation, the vector angle formula is used to calculate the angle between the target vehicle's driving direction and the vehicle's driving direction. Assuming that the target vehicle's driving direction vector is v1 and the vehicle's driving direction vector is v2, then cos(θ) = (v1·v2) / (|v1|*|v2|); wherein, (v1·v2) represents the dot product of the two vectors, and |v1| and |v2| represent the modulus (length) of the two vectors, respectively. Through the inverse cosine function (arccos), the first angle θ between the target vehicle's driving direction and the vehicle's driving direction can be determined. The first angle ranges from 0° to 180° (including 0° and 180°). If the first angle is small, it means that the target vehicle and the vehicle are close to or the same in driving direction. In this case, the water waves generated by the target vehicle have a greater impact on the vehicle. If the first angle is large, it means that the target vehicle and the vehicle are in the opposite or nearly opposite direction. In this case, the water waves generated by the target vehicle have a greater impact on the vehicle.

[0061] In response to determining that the first angle is less than or equal to a first preset angle, increasing the speed of the vehicle;

[0062] In specific implementation, when it is determined that the first angle is less than or equal to the first preset angle (for example, the first preset angle can be set to 45°), it indicates that the target vehicle and the vehicle are traveling in the same direction, and the water waves generated by the target vehicle have a greater direct impact on the vehicle. In this case, the water waves of the target vehicle will propagate in a direction similar to that of the vehicle, which may cause water to enter the engine exhaust port or other parts. Therefore, the vehicle can reduce the risk by appropriately increasing the speed, reducing the time spent on the wading section, and avoiding being hit by water waves.

[0063] In response to determining that the first angle is greater than or equal to a second preset angle, the driving direction of the vehicle is adjusted so that the first angle between the vehicle and the target vehicle is greater than the first preset angle and less than the second preset angle; wherein the second preset angle is greater than the first preset angle.

[0064] During specific implementation, the first angle is greater than or equal to the second preset angle (exemplarily, the second preset angle can be set to 135°), indicating that the target vehicle and the vehicle are nearly opposite in direction, and the water waves generated by the target vehicle have a greater direct impact on the vehicle, which may directly impact the vehicle, causing water to enter the engine air intake or other components. Therefore, the vehicle's driving direction is adjusted so that the first angle between the vehicle and the target vehicle is greater than the first preset angle and less than the second preset angle. At this time, the vehicle greets the waves with one side of its body, avoiding the vehicle's engine air intake, exhaust port and other locations that are prone to water ingress, reducing the probability of water entering the vehicle, ensuring the safety of the vehicle's wading driving, and ensuring the safety of the vehicle and its passengers.

[0065] In this embodiment, by calculating the driving direction angle between the target vehicle and the vehicle, the direction and degree of the impact of the water waves can be accurately determined. Different risk avoidance measures are taken according to the angle, which can effectively avoid the direct impact of the water waves on the vehicle, ensure the safety of the vehicle and passengers, and avoid the water waves directly impacting the key parts of the vehicle (such as the engine air intake, exhaust port, etc.), which can effectively reduce the damage to the mechanical and electronic systems of the vehicle caused by water ingress, extend the service life of the vehicle, and reduce the cost of maintenance and replacement.

[0066] The method of determining whether to control the vehicle to travel through water based on the water flow information is described in detail based on the following embodiments to ensure that risk avoidance measures are taken when there is a real risk, thereby improving the accuracy and reliability of the judgment. The water flow information includes the water flow height and the water flow speed; the method of determining whether to control the vehicle to travel through water based on the water flow information includes:

[0067] In response to determining that the water flow height is less than or equal to a first preset height, controlling the vehicle to travel in wading;

[0068] In specific implementation, the sensors equipped on the vehicle (such as ultrasonic sensors, laser radars, water level sensors, etc.) monitor the height of the water flow in front and around in real time. These sensors can provide high-precision water level data to help the system determine the depth of the water flow. It is also possible to identify the model of the vehicle on the wading section, determine the vehicle height of the vehicle on the wading section and the water height of the vehicle on the wading section at this time, and determine the water flow height by the difference between the vehicle height and the water height; the vehicle's camera can capture the dynamic changes of the water flow, and estimate the water flow speed by analyzing the water surface ripples and the direction of the water flow. When it is determined that the water flow height is less than or equal to the first preset height (the first preset height is used to determine whether the water flow height is within a safe range, and can be set according to the vehicle's ground clearance, wading ability and the manufacturer's recommended value. For example, the first preset height can be set to 20 cm), the vehicle is controlled to wade.

[0069] In response to determining that the water flow height is greater than a first preset height and less than or equal to a second preset height, determining whether to control the vehicle to travel in wading according to the water flow speed;

[0070] During specific implementation, it is determined that the water flow height is greater than the first preset height and less than or equal to the second preset height (the second preset height is used to further determine whether the water flow height exceeds the safety range, and can be set according to the maximum wading depth of the vehicle and the manufacturer's recommended value. For example, the second preset height may be set to 30 cm); this indicates that although the current water flow height is within a safe range, there is a certain danger. For example, when there is a wave impact, the water flow height may be higher than the second preset height for a short time, which poses a risk of water ingress to the vehicle. Therefore, it is necessary to determine whether to control the vehicle to wading according to the water flow speed.

[0071] In response to determining that the water flow speed is less than or equal to a first preset speed, the vehicle is controlled to travel in wading.

[0072] During specific implementation, if it is determined that the water flow speed is less than or equal to the first preset speed (the first preset speed is used to determine whether the water flow speed is within a safe range. For example, the first preset speed can be set to 1 m / s), it indicates that the water flow speed is within a safe range, and the vehicle is controlled to travel in wading.

[0073] In this embodiment, by real-time monitoring of water flow height and water flow speed, the water risk can be accurately assessed, and misjudgment can be effectively avoided, ensuring that risk avoidance measures are taken only when there is a real risk, thereby improving the accuracy and reliability of judgment.

[0074] The determination of whether to control the vehicle to travel through water based on the water flow information is described in detail based on the following embodiments, so as to effectively avoid misjudgment and ensure that risk avoidance measures are taken only when there is a real risk, thereby improving the accuracy and reliability of the judgment. The water flow information includes the direction of the water flow; the determination of whether to control the vehicle to travel through water based on the water flow information includes:

[0075] In response to determining that the water flow speed is greater than a first preset speed and less than or equal to a second preset speed, predicting the direction of the vehicle when entering the wading section, and determining a second angle between the direction of the vehicle and the direction of the water flow;

[0076] In specific implementation, if it is determined that the water flow speed is greater than the first preset speed and less than or equal to the second preset speed (the second preset speed is used to further determine whether the water flow speed exceeds the safety range. For example, the second preset speed can be set to 2 meters per second), it indicates that although the current water flow speed is within the safety range, it is still relatively dangerous. If the current water flow speed hits the front or rear of the vehicle, there is still a great risk of water ingress. Therefore, the direction of the vehicle entering the wading section is predicted, and the second angle between the entry direction and the water flow direction is determined; to determine whether the vehicle is controlled to wade when entering the wading section.

[0077] In response to determining that the second angle is greater than the third preset angle and less than the fourth preset angle, the vehicle is controlled to travel in wading.

[0078] In specific implementation, the second angle refers to the angle between the driving direction of the vehicle and the direction of the water flow when the vehicle enters the wading section. The second angle reflects the relative relationship between the driving direction of the vehicle and the direction of the water flow, and the second angle ranges from 0° to 180° (including 0° and 180°). If it is determined that the second angle is greater than the third preset angle and less than the fourth preset angle (exemplarily, the third preset angle can be set to 45° and the fourth preset angle can be set to 135°), it indicates that the water flow directly impacts one side of the vehicle body. At this time, the engine air intake, exhaust port and other locations of the vehicle that are prone to water ingress can be avoided, reducing the probability of water ingress in the vehicle and ensuring the safety of the vehicle wading, thereby controlling the vehicle to wade.

[0079] In this embodiment, when the water flow speed is greater than the first preset speed and less than or equal to the second preset speed, it is impossible to accurately determine whether there is a certain risk of wading, and thus it is impossible to determine whether to control the vehicle to wade. In this case, the angle between the vehicle's driving direction and the water flow direction is analyzed to more accurately evaluate whether to control the vehicle to wade. At the same time, it can effectively avoid misjudgment and ensure that risk avoidance measures are taken only when there is a real risk, thereby improving the accuracy and reliability of the judgment. When the water flow speed is high but still within the safe range, by analyzing the angle between the vehicle's driving direction and the water flow direction when entering the wading section, it can be determined whether there is a greater risk of water ingress. If the angle is within a specific range, the water flow will directly impact one side of the vehicle body, avoiding key parts that are prone to water ingress (such as the engine air intake, exhaust port, etc.), thereby reducing the probability of water ingress in the vehicle.

[0080] The method of predicting the direction of a vehicle entering a water-wading section is described in detail based on the following embodiments to accurately predict the direction of a vehicle entering a water-wading section. The method of predicting the direction of a vehicle entering a water-wading section includes:

[0081] Acquiring a navigation route of the vehicle, and determining a driving direction of the vehicle when entering a wading section according to the navigation route;

[0082] In specific implementation, the vehicle is usually equipped with a navigation system, which can provide real-time location information and driving routes, and determine the driving direction of the vehicle based on the navigation route of the vehicle, so as to determine the driving direction of the vehicle when entering a wading section.

[0083] The wheel direction of the vehicle is obtained, and the wheel direction is determined as the driving direction of the vehicle when entering the wading section.

[0084] In specific implementation, the vehicle is usually equipped with a steering wheel angle sensor, which can monitor the steering wheel rotation angle in real time. The steering wheel angle directly affects the steering angle of the wheels. Therefore, the direction of the wheels, that is, the direction of the vehicle when entering the wading section, can be indirectly obtained through the data of the steering wheel sensor.

[0085] In this embodiment, by combining the real-time position information and driving route of the navigation system, as well as the wheel direction data, the direction of the vehicle entering the flooded section can be accurately predicted, providing a more accurate water risk assessment and ensuring that the system can take effective risk avoidance measures in a timely manner.

[0086] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0087] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0088] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a vehicle driving control device.

[0089] refer to Figure 3 , the vehicle driving control device comprises:

[0090] an acquisition module 701, configured to, in response to determining that the road section ahead of the vehicle is a wading section, acquire water flow information of the wading section, and determine whether to control the vehicle to travel in wading based on the water flow information;

[0091] The judgment module 702 is configured to, in response to controlling the vehicle to travel through water, judge whether there is a target vehicle on the water-wading section that poses a water-wading risk to the vehicle; in response to determining that there is a target vehicle that poses a water-wading risk to the vehicle, execute a risk avoidance driving strategy to control the vehicle to pass through the water-wading section.

[0092] Further, the determination module 702 is specifically used for:

[0093] Acquiring environmental data of a water-wading section, and determining whether a target vehicle exists in a preset area on the water-wading section according to the environmental data;

[0094] In response to determining that there is a target vehicle, the driving information of all target vehicles is obtained, and based on the driving information, it is determined whether the target vehicle meets a preset risk driving condition; the preset risk driving condition is a driving condition that causes the target vehicle to form a water wave impact on the vehicle in a wading section;

[0095] In response to determining that the target vehicle satisfies a preset risk driving condition, it is determined that there is a water wading risk caused by the target vehicle to the vehicle.

[0096] Furthermore, the judging module 702 is further configured to:

[0097] Determine a straight line angle between the first straight line and the second straight line based on a first straight line between the position of the target vehicle and the position of the vehicle, and a second straight line where the target vehicle is traveling; and in response to determining that the straight line angle is less than or equal to a preset straight line angle, determine a distance between the target vehicle and the vehicle;

[0098] In response to determining that the distance between the target vehicle and the vehicle decreases within a preset time period, and the driving speed of the target vehicle is greater than or equal to a preset driving speed, determining that the target vehicle meets a preset risk driving condition;

[0099] In response to determining that the distance between the target vehicle and the vehicle increases within a preset time period, it is determined that the target vehicle does not meet a preset risk driving condition.

[0100] Furthermore, the judging module 702 is further configured to:

[0101] Determining a first angle between a traveling direction of the target vehicle and a traveling direction of the vehicle;

[0102] In response to determining that the first angle is less than or equal to a first preset angle, increasing the speed of the vehicle;

[0103] In response to determining that the first angle is greater than or equal to a second preset angle, the driving direction of the vehicle is adjusted so that the first angle between the vehicle and the target vehicle is greater than the first preset angle and less than the second preset angle.

[0104] Further, the acquisition module 701 is specifically used for:

[0105] In response to determining that the water flow height is less than or equal to a first preset height, controlling the vehicle to travel in wading;

[0106] In response to determining that the water flow height is greater than a first preset height and less than or equal to a second preset height, determining whether to control the vehicle to travel in wading according to the water flow speed;

[0107] In response to determining that the water flow speed is less than or equal to a first preset speed, the vehicle is controlled to travel in wading.

[0108] Furthermore, the acquisition module 701 is further specifically used for:

[0109] In response to determining that the water flow speed is greater than a first preset speed and less than or equal to a second preset speed, predicting the direction of the vehicle when entering the wading section, and determining a second angle between the direction of the vehicle and the direction of the water flow;

[0110] In response to determining that the second angle is greater than the third preset angle and less than the fourth preset angle, the vehicle is controlled to travel in wading.

[0111] Furthermore, the acquisition module 701 is further specifically used for:

[0112] Acquiring a navigation route of the vehicle, and determining the direction of the vehicle when entering the wading section according to the navigation route; or,

[0113] The wheel direction of the vehicle is obtained, and the wheel direction is determined as the driving direction of the vehicle when entering the wading section.

[0114] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0115] The device of the above embodiment is used to implement the corresponding vehicle driving control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0116] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle driving control method described in any of the above embodiments is implemented.

[0117] Figure 4 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0118] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0119] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0120] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0121] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0122] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0123] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0124] The electronic device of the above embodiment is used to implement the corresponding vehicle driving control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0125] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle driving control method described in any of the above embodiments.

[0126] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0127] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the vehicle driving control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0128] Based on the same concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the method described in any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0129] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0130] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0131] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0132] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0133] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0134] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0135] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0136] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle driving control method, characterized in that: include: In response to determining that the road section ahead of the vehicle is a wading section, acquiring water flow information of the wading section, and determining whether to control the vehicle to travel in wading based on the water flow information; In response to controlling the vehicle to travel in wading, determining whether there is a target vehicle on the wading section that poses a wading risk to the vehicle; In response to determining that there is a target vehicle that poses a water-crossing risk to the vehicle, a risk avoidance driving strategy is executed based on a driving direction of the target vehicle and a driving direction of the vehicle to control the vehicle to pass through a water-crossing section.

2. The vehicle driving control method according to claim 1, characterized in that: The determining whether there is a target vehicle on the water-wading section that poses a water-wading risk to the vehicle includes: Acquiring environmental data of a water-wading section, and determining whether a target vehicle exists in a preset area on the water-wading section according to the environmental data; In response to determining that there is a target vehicle, the driving information of all target vehicles is obtained, and based on the driving information, it is determined whether the target vehicle meets a preset risk driving condition; the preset risk driving condition is a driving condition that causes the target vehicle to form a water wave impact on the vehicle in a wading section; In response to determining that the target vehicle satisfies a preset risk driving condition, it is determined that there is a water wading risk caused by the target vehicle to the vehicle.

3. The vehicle driving control method according to claim 2, characterized in that: The driving information includes the driving direction and driving speed of the target vehicle; and determining whether the target vehicle meets the preset risk driving condition based on the driving information includes: Based on a first straight line between the position of the target vehicle and the position of the vehicle, and a second straight line where the target vehicle's driving direction is located, determining a straight line angle between the first straight line and the second straight line; In response to determining that the straight line angle is less than or equal to a preset straight line angle, determining a distance between the target vehicle and the vehicle; In response to determining that the distance between the target vehicle and the vehicle decreases within a preset time period, and the driving speed of the target vehicle is greater than or equal to a preset driving speed, it is determined that the target vehicle meets a preset risk driving condition.

4. The vehicle driving control method according to claim 1, characterized in that: The executing of the risk avoidance driving strategy based on the driving direction of the target vehicle and the driving direction of the vehicle includes: Determining a first angle between a traveling direction of the target vehicle and a traveling direction of the vehicle; In response to determining that the first angle is less than or equal to a first preset angle, increasing the speed of the vehicle; In response to determining that the first angle is greater than or equal to a second preset angle, adjusting the driving direction of the vehicle so that the first angle between the vehicle and the target vehicle is greater than the first preset angle and less than the second preset angle; Wherein, the second preset angle is greater than the first preset angle.

5. The vehicle driving control method according to claim 1, characterized in that: The water flow information includes water flow height and water flow speed; The determining whether to control the vehicle to travel in wading based on the water flow information includes: In response to determining that the water flow height is greater than a first preset height and less than or equal to a second preset height, determining whether to control the vehicle to travel in wading according to the water flow speed; In response to determining that the water flow speed is less than or equal to a first preset speed, the vehicle is controlled to travel in wading.

6. The vehicle driving control method according to claim 5, characterized in that: The water flow information includes the water flow direction; The determining whether to control the vehicle to travel in wading based on the water flow information includes: In response to determining that the water flow speed is greater than a first preset speed and less than or equal to a second preset speed, predicting the direction of the vehicle when entering the wading section, and determining a second angle between the direction of the vehicle and the direction of the water flow; In response to determining that the second angle is greater than the third preset angle and less than the fourth preset angle, the vehicle is controlled to travel in wading.

7. The vehicle driving control method according to claim 6, characterized in that: The predicting of the direction of the vehicle entering the flooded road section includes: Acquiring a navigation route of the vehicle, and determining the direction of the vehicle when entering the wading section according to the navigation route; or, The wheel direction of the vehicle is obtained, and the wheel direction is determined as the driving direction of the vehicle when entering the wading section.

8. A vehicle driving control device, characterized in that: include: an acquisition module, configured to, in response to determining that the road section ahead of the vehicle is a wading section, acquire water flow information of the wading section, and determine whether to control the vehicle to travel in wading based on the water flow information; A judgment module, configured to judge whether there is a target vehicle on the wading section that poses a wading risk to the vehicle in response to controlling the vehicle to travel in wading; In response to determining that there is a target vehicle that poses a water-wading risk to the vehicle, a risk-avoidance driving strategy is executed to control the vehicle to pass through the water-wading section.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: The vehicle comprises the electronic device as claimed in claim 9.

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