Vehicle state identification method and related device

Abstract

The embodiment of the invention provides a vehicle state recognition method and a related device, and is applied to the technical field of vehicle control. According to the embodiment of the invention, the wading depth information and the state information of the vehicle can be obtained, and the floating state of the vehicle is determined according to the wading depth information and the state information of the vehicle. Thus, the floating state of the vehicle is judged by integrating multiple items of information, such as at least two items of information of water depth information, vehicle state information (the state information can comprise multiple items), vehicle body attitude information and the like, and the accuracy of judging the floating state of the vehicle can be effectively improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle state recognition method and related devices. Background Art

[0002] With the advancement of industrial technology and the improvement of people's living standards, cars as a means of transportation play an increasingly important role in people's daily lives, and consumers' demand for cars is also increasing.

[0003] In some scenarios, when a vehicle is on a flooded road, as the water level continues to rise, the vehicle will float in the water, which will affect the operation of the vehicle and may even endanger the safety of the people in the vehicle. Therefore, it is necessary to accurately determine the floating state of the vehicle so that users can be aware of the floating danger in time. Summary of the invention

[0004] The embodiments of the present application provide a vehicle state recognition method and related devices, which can integrate multiple pieces of information to determine the floating state of the vehicle, effectively improving the accuracy of determining the floating state of the vehicle.

[0005] In a first aspect, an embodiment of the present application provides a vehicle state recognition method, which is applied to a vehicle, and the method includes:

[0006] Acquiring wading depth information of the vehicle;

[0007] Obtaining status information of the vehicle;

[0008] The floating state of the vehicle is determined according to the wading depth information of the vehicle and the state information of the vehicle.

[0009] In an embodiment of the present application, the floating state of the vehicle can be judged by integrating multiple pieces of information, such as at least two pieces of information including wading depth information and vehicle status information (the status information may include multiple items). Compared with judging the floating state of the vehicle by a single piece of information, the risk of misidentification caused by judging the floating state of the vehicle by a single piece of information can be reduced, thereby effectively improving the accuracy of judging the floating state of the vehicle.

[0010] In a possible implementation manner of the first aspect, determining the floating state of the vehicle according to the wading depth information of the vehicle and the state information of the vehicle includes:

[0011] When the wading depth information of the vehicle satisfies a first condition and the state information of the vehicle satisfies a second condition, it is determined that the vehicle is in a floating state.

[0012] In yet another possible implementation of the first aspect, the vehicle includes a plurality of wheels, and the wading depth information of the vehicle includes a plurality of wading depths, each of the plurality of wading depths being used to indicate a water depth at one of the plurality of wheels,

[0013] The wading depth information of the vehicle satisfies the first condition, including:

[0014] Each of the plurality of wading depths is greater than a first water depth threshold and less than a second water depth threshold.

[0015] In yet another possible implementation of the first aspect, the vehicle includes a plurality of wading sensors, and the method further includes:

[0016] acquiring measurement data from the plurality of water wading sensors;

[0017] Acquiring body posture information of the vehicle, wherein the body posture information includes a body pitch angle of the vehicle and a body roll angle of the vehicle;

[0018] The wading depth information of the vehicle is determined according to the measurement data and the vehicle body posture information.

[0019] In this way, the wading depth information is determined based on the measurement data of multiple wading sensors and the vehicle body posture information, and then multiple wading depths are determined. This can reduce the risk of misidentification caused by judging the floating state of the vehicle based on the water depth information at a single position, thereby effectively improving the accuracy of judging the floating state of the vehicle.

[0020] In yet another possible implementation of the first aspect, the vehicle includes a plurality of wheels, and the state information of the vehicle includes slip values ​​of the plurality of wheels.

[0021] The state information of the vehicle satisfies the second condition, including:

[0022] The slip value of each of the plurality of wheels falls within a first slip value range.

[0023] In yet another possible implementation of the first aspect, the vehicle includes a plurality of wheel speed sensors, and the method further includes:

[0024] acquiring wheel speed information from the plurality of wheel speed sensors;

[0025] Obtaining speed information of the vehicle;

[0026] A plurality of slip values ​​are determined based on the wheel speed information and the vehicle speed information.

[0027] In this way, multiple slip values ​​are determined based on wheel speed information from multiple wheel speed sensors, thereby reducing the risk of misidentification caused by judging the floating state of the vehicle by the slip value of a wheel at a single position, thereby effectively improving the accuracy of judging the floating state of the vehicle.

[0028] In yet another possible implementation manner of the first aspect, the vehicle includes a plurality of suspensions, and the state information of the vehicle includes heights of the plurality of suspensions;

[0029] The vehicle status information meets the second condition including:

[0030] The height of each of the plurality of suspensions falls within a first height range.

[0031] In yet another possible implementation of the first aspect, the vehicle further includes a plurality of suspension height sensors, and the method further includes:

[0032] acquiring measurement data from the plurality of suspension height sensors;

[0033] A plurality of suspension heights are determined based on the measurement data.

[0034] In yet another possible implementation manner of the first aspect, the vehicle includes a plurality of wheels and a plurality of suspensions, and the state information of the vehicle includes at least one of slip values ​​of the plurality of wheels and heights of the plurality of suspensions;

[0035] The vehicle status information meets the second condition including:

[0036] The slip value of each wheel among the slip values ​​of the plurality of wheels falls within a first slip value range, or the height of each suspension among the heights of the plurality of suspensions falls within a first height range.

[0037] In this way, the heights of the multiple suspensions are determined according to the measurement data of the multiple suspension height sensors, thereby assisting in determining the floating state of the vehicle and effectively improving the accuracy of determining the floating state of the vehicle.

[0038] In yet another possible implementation manner of the first aspect, determining the floating state of the vehicle according to the wading depth information of the vehicle and the state information of the vehicle includes:

[0039] determining validity of the slip values ​​of the plurality of wheels when the wading depth information of the vehicle satisfies the first condition and the state information of the vehicle does not satisfy the second condition;

[0040] When the slip values ​​of the plurality of wheels are all valid, it is determined that the vehicle is in a non-floating state.

[0041] In yet another possible implementation manner of the first aspect, the state information of the vehicle includes slip values ​​of the multiple wheels, heights of the multiple suspensions, and body posture information of the vehicle, and determining the floating state of the vehicle according to the wading depth information of the vehicle and the state information of the vehicle includes:

[0042] When the wading depth information of the vehicle satisfies the first condition, the state information of the vehicle does not satisfy the second condition, and the body posture information of the vehicle satisfies the third condition, it is determined that the vehicle is in a floating state.

[0043] In this way, the slip values ​​of the wheels are verified for validity. When the slip values ​​of all wheels are invalid, the floating state of the vehicle is judged with assistance of the vehicle body posture information, thereby effectively improving the accuracy of judging the floating state of the vehicle.

[0044] In another possible implementation of the first aspect, the vehicle body posture information includes a vehicle body pitch angle and a vehicle body roll angle;

[0045] The vehicle body posture information satisfies the third condition, including:

[0046] The body pitch angle falls within a first angle range and the body roll angle falls within a second angle range.

[0047] In yet another possible implementation of the first aspect, the vehicle includes a plurality of inclination sensors, and the method further includes:

[0048] Acquiring vehicle body posture information from the plurality of inclination sensors;

[0049] determining a driving state of the vehicle according to the wheel speed information;

[0050] When the driving state of the vehicle is a non-driving state, a body pitch angle of the vehicle and a body roll angle of the vehicle are determined according to the body posture information.

[0051] In this way, the vehicle body pitch angle and the vehicle body roll angle are determined according to the vehicle body posture information of multiple inclination sensors, thereby assisting in judging the floating state of the vehicle and effectively improving the accuracy of judging the floating state of the vehicle.

[0052] In yet another possible implementation manner of the first aspect, the state information of the vehicle includes slip values ​​of the multiple wheels, heights of the multiple suspensions, and body posture information of the vehicle, and determining the floating state of the vehicle according to the wading depth information of the vehicle and the state information of the vehicle includes:

[0053] When the wading depth information of the vehicle does not satisfy the first condition and it is determined that the wading depth information of the vehicle is invalid, the floating state of the vehicle is determined according to the slip values ​​of the multiple wheels, the heights of the multiple suspensions and the body posture information of the vehicle.

[0054] In yet another possible implementation manner of the first aspect, the vehicle body posture information includes a vehicle body pitch angle and a vehicle body roll angle, and determining the floating state of the vehicle according to the slip values ​​of the multiple wheels, the heights of the multiple suspensions, and the vehicle body posture information includes:

[0055] When at least two conditions in the condition set are satisfied, determining that the vehicle is in a floating state;

[0056] When less than two conditions in the condition set are satisfied, determining that the vehicle is in a non-floating state;

[0057] The condition set includes the following three conditions:

[0058] Condition 1: the slip value of each wheel among the slip values ​​of the plurality of wheels falls within a first slip value range;

[0059] Condition 2: the height of each of the plurality of suspensions falls within a first height range;

[0060] Condition 3: the vehicle body pitch angle falls within a first angle range and the vehicle body roll angle falls within a second angle range.

[0061] In this way, the validity of the vehicle's wading depth information is verified. If the vehicle's wading depth information is invalid, the vehicle's floating state is judged by other information, such as the heights of multiple suspensions, the slip values ​​of multiple wheels, and the vehicle's body posture information, thereby effectively improving the accuracy of judging the vehicle's floating state.

[0062] In a second aspect, an embodiment of the present application provides a data processing device, which is included in a vehicle, and includes an acquisition unit and a processing unit.

[0063] The acquisition unit is used for:

[0064] Acquiring wading depth information of the vehicle;

[0065] Obtaining status information of the vehicle;

[0066] The processing unit is used to determine the floating state of the vehicle according to the wading depth information of the vehicle and the state information of the vehicle.

[0067] In a possible implementation manner of the second aspect, the processing unit is further used to determine that the vehicle is in a floating state when the wading depth information of the vehicle satisfies a first condition and the state information of the vehicle satisfies a second condition.

[0068] In yet another possible implementation of the second aspect, the vehicle includes a plurality of wheels, and the wading depth information of the vehicle includes a plurality of wading depths, each of the plurality of wading depths being used to indicate a water depth at one of the plurality of wheels,

[0069] The wading depth information of the vehicle satisfies the first condition, including:

[0070] Each wading depth of the plurality of wading depths is greater than a first water depth threshold and less than a second water depth threshold.

[0071] In yet another possible implementation of the second aspect, the vehicle includes a plurality of wading sensors, and the acquisition unit is further used to:

[0072] acquiring measurement data from the plurality of water wading sensors;

[0073] Acquiring body posture information of the vehicle, wherein the body posture information includes a body pitch angle of the vehicle and a body roll angle of the vehicle;

[0074] The processing unit is also used to determine the wading depth information of the vehicle according to the measurement data and the vehicle body posture information.

[0075] In yet another possible implementation of the second aspect, the vehicle includes a plurality of wheels, and the state information of the vehicle includes slip values ​​of the plurality of wheels.

[0076] The state information of the vehicle satisfies the second condition, including:

[0077] Each slip value of the plurality of slip values ​​falls within a first slip value range.

[0078] In yet another possible implementation of the second aspect, the vehicle includes a plurality of wheel speed sensors, and the acquisition unit is further configured to:

[0079] acquiring wheel speed information from the plurality of wheel speed sensors;

[0080] Obtaining speed information of the vehicle;

[0081] The processing unit is further configured to determine a plurality of slip values ​​according to the wheel speed information and the vehicle speed information.

[0082] In yet another possible implementation manner of the second aspect, the vehicle includes a plurality of suspensions, and the state information of the vehicle includes heights of the plurality of suspensions;

[0083] The vehicle status information meets the second condition including:

[0084] The height of each of the plurality of suspensions falls within a first height range.

[0085] In yet another possible implementation of the second aspect, the vehicle further includes a plurality of suspension height sensors, and the acquisition unit is further used to acquire measurement data from the plurality of suspension height sensors;

[0086] The processing unit is further configured to determine heights of a plurality of suspensions based on the measurement data.

[0087] In yet another possible implementation manner of the second aspect, the vehicle includes a plurality of wheels and a plurality of suspensions, and the state information of the vehicle includes at least one of slip values ​​of the plurality of wheels and heights of the plurality of suspensions;

[0088] The state information of the vehicle satisfies the second condition, including:

[0089] The slip value of each wheel among the slip values ​​of the plurality of wheels falls within a first slip value range, or the height of each suspension among the heights of the plurality of suspensions falls within a first height range.

[0090] In yet another possible implementation manner of the second aspect, the processing unit is further configured to:

[0091] determining validity of the slip values ​​of the plurality of wheels when the wading depth information of the vehicle satisfies the first condition and the state information of the vehicle does not satisfy the second condition;

[0092] When the slip values ​​of the plurality of wheels are all valid, it is determined that the vehicle is in a non-floating state.

[0093] In another possible implementation of the second aspect, the status information of the vehicle includes slip values ​​of the multiple wheels, heights of the multiple suspensions and body posture information of the vehicle, and the processing unit is further used to determine that the vehicle is in a floating state when the wading depth information of the vehicle satisfies the first condition, the status information of the vehicle does not satisfy the second condition, and the body posture information of the vehicle satisfies a third condition.

[0094] In another possible implementation of the second aspect, the vehicle body posture information includes a vehicle body pitch angle and a vehicle body roll angle;

[0095] The vehicle body posture information satisfies the third condition, including:

[0096] The body pitch angle falls within a first angle range and the body roll angle falls within a second angle range.

[0097] In yet another possible implementation of the second aspect, the vehicle includes a plurality of inclination sensors, and the acquisition unit is further used to acquire vehicle body posture information from the plurality of inclination sensors;

[0098] The processing unit is also used for:

[0099] determining a driving state of the vehicle according to the wheel speed information;

[0100] When the driving state of the vehicle is a non-driving state, a body pitch angle of the vehicle and a body roll angle of the vehicle are determined according to the body posture information.

[0101] In another possible implementation of the second aspect, the status information of the vehicle includes slip values ​​of the multiple wheels, heights of the multiple suspensions and body posture information of the vehicle, and the processing unit is further used to determine the floating state of the vehicle based on the slip values ​​of the multiple wheels, the heights of the multiple suspensions and the body posture information of the vehicle when the wading depth information of the vehicle does not meet the first condition and it is determined that the wading depth information of the vehicle is invalid.

[0102] In yet another possible implementation of the second aspect, the vehicle body posture information includes a vehicle body pitch angle and a vehicle body roll angle, and the processing unit is further configured to:

[0103] When at least two conditions in the condition set are satisfied, determining that the vehicle is in a floating state;

[0104] When less than two conditions in the condition set are satisfied, determining that the vehicle is in a non-floating state;

[0105] The condition set includes the following three conditions:

[0106] Condition 1: the slip value of each wheel among the slip values ​​of the plurality of wheels falls within a first slip value range;

[0107] Condition 2: the height of each of the plurality of suspensions falls within a first height range;

[0108] Condition 3: the vehicle body pitch angle falls within a first angle range and the vehicle body roll angle falls within a second angle range.

[0109] In a third aspect, an embodiment of the present application provides a data processing device, which includes a processor and a memory; the processor executes instructions stored in the memory so that the data processing device implements the method described in any one of the first aspects above.

[0110] Optionally, the data processing device further includes a communication interface, wherein the communication interface is used to receive and / or send data, and / or the communication interface is used to provide input and / or output for the processor.

[0111] It should be noted that the above embodiment is described by taking a processor (or general-purpose processor) that executes the method by calling a computer specification as an example. In the specific implementation process, the processor can also be a dedicated processor, in which case the computer instructions have been pre-loaded in the processor. Optionally, the processor can also include both a dedicated processor and a general-purpose processor.

[0112] Optionally, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0113] In a fourth aspect, the present application provides a vehicle, comprising the aforementioned data processing device, so that the vehicle implements the method described in any one of the aforementioned first aspects.

[0114] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium. When the instructions are executed by a data processing device, the data processing device implements the method described in any one of the first aspects above.

[0115] In a sixth aspect, the present application provides a computer program product, which includes computer instructions. When the instructions are executed by a data processing device, the data processing device implements the method described in any one of the first aspects above.

[0116] Optionally, the computer program product may be a software installation package or an image file. When the aforementioned method is required, the computer program product may be obtained and executed on a computing device.

[0117] The beneficial effects of the technical solutions provided in the second to sixth aspects of the present application can refer to the beneficial effects of the technical solution of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0118] The following is a brief introduction to the drawings required for describing the embodiments.

[0119] Figure 1 It is a schematic diagram of the architecture of a vehicle status recognition system provided by an embodiment of the present application;

[0120] Figure 2 is a schematic diagram of a suspension provided in an embodiment of the present application;

[0121] Figure 3 It is a flow chart of a vehicle state identification method provided in an embodiment of the present application;

[0122] Figure 4 is a schematic diagram of vehicle body posture information provided by an embodiment of the present application;

[0123] Figure 5 is a schematic diagram of a flow chart for determining a floating state_suspension value provided by an embodiment of the present application;

[0124] Figure 6 It is a schematic diagram of a flow chart of determining the floating state_slip value provided by an embodiment of the present application;

[0125] Figure 7 It is a schematic diagram of a flow chart of determining the value of the floating state_attitude angle provided in an embodiment of the present application;

[0126] Figure 8 It is a schematic diagram of a flow chart for determining the value of floating state_water depth provided in an embodiment of the present application;

[0127] Fig. 9 is a flow chart of another vehicle state identification method provided in an embodiment of the present application;

[0128] Fig.10 is a structural schematic diagram of a data processing device provided in an embodiment of the present application;

[0129] Fig.11 It is a structural diagram of another data processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0130] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0131] The following is an introduction to the system architecture of the embodiment of the present application. It should be noted that the system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solution of this application, and do not constitute a limitation on the technical solution provided by this application. It is known to those skilled in the art that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by this application is also applicable to similar technical problems.

[0132] See also Figure 1 , Figure 1 is a schematic diagram of the architecture of a vehicle status recognition system provided by an embodiment of the present application, such as Figure 1As shown, the vehicle state recognition system includes a vehicle 101 and a data processing device 102 .

[0133] The vehicle 101 is a device with traveling capability provided by the present application. By way of example, the vehicle 101 includes but is not limited to vehicles of different models such as cars, trucks, buses, vans, electric vehicles, etc. The vehicle 101 has multiple wheels and a suspension.

[0134] Wheels are used to support and drive vehicles and may include wheels and tires. Figure 1 The vehicle may include wheel 1011a, wheel 1011b, wheel 1011c and wheel 1011d. The number of wheels is only for illustration. In the specific implementation, the number of wheels included in the vehicle may be more or less.

[0135] The wheels may be connected to the body of the vehicle 101 via a suspension. Figure 2 , Figure 2 is a schematic diagram of a suspension provided in an embodiment of the present application, such as Figure 2 As shown, wheel 1011 a and wheel 1011 b are connected to the body of vehicle 101 via suspension 1012 .

[0136] One or more sensors may also be provided in the vehicle 101 to sense the environment in which the vehicle is located and obtain measurement data. For example, the vehicle may obtain the wading depth of the vehicle through a wading sensor. For another example, the vehicle may obtain the height of the suspension of the vehicle through the measurement data of the suspension height sensor. For another example, the vehicle may calculate the slip value of the wheel of the vehicle through the measurement data of the inertial sensor and the measurement data of the wheel speed sensor.

[0137] Sensors include, but are not limited to, one or more of a visual sensor (such as an image sensor), a wading depth sensor, a vehicle speed sensor, a wheel speed sensor, a suspension height sensor, a posture sensor, an inertial sensor, and the like. In some embodiments, the functions of the sensors listed above can be combined. For example, in some embodiments, the wading depth of the vehicle can be identified by an image, and the wading depth sensor is implemented by an image sensor. The posture sensor includes a gyroscope, an inclination sensor, and the like. The wheel speed sensor includes a wheel speedometer, and the like, and can be used to obtain the speed of the vehicle's wheels.

[0138] The data processing device 102 is a module with data processing capabilities. As a possible implementation, the data processing device 102 may be a physical device, for example, the data processing device 102 may include one or more of the following modules: a central processing unit (CPU), a microprocessor (MPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a coprocessor (assisting the central processor to complete corresponding processing and applications), a microcontroller unit (MCU), a mobile data center (MDC), and / or an electronic control unit (Electronic Control Unit). Of course, the above description is based on the example that the data processing device 102 is a vehicle-mounted device. In some solutions, the data processing device 102 may be a physical device set outside the vehicle, such as a server, a cloud, or a host. As a possible implementation, the data processing device 102 may be a software module, such as a virtual machine, software, program code, or a container.

[0139] In the above-mentioned manner, it is mentioned that the data processing device 102 can be arranged outside the vehicle. It should be understood that when the data processing device 102 is arranged outside the vehicle 101, the vehicle 101 and the data processing device can be connected in communication, for example, the two are directly connected through a wired communication method, such as a tangible medium such as a metal wire or an optical fiber, or the two are indirectly connected through a wireless communication method, such as ultra-wideband (UWB) technology, long-term evolution (Long Term Evolution) communication technology, fifth-generation mobile communication technology (5th generation mobile networks or 5th generation wireless systems, 5th-Generation, referred to as 5G or 5G technology), global system for mobile communications (global System for mobile communications, GSM), general packet radio service (general packet radio Service, GPRS), or universal mobile telecommunications system (universal mobile telecommunications system, UMTS), etc.

[0140] The following describes the scenarios of the embodiments of the present application.

[0141] In some scenarios, when a vehicle is on a flooded road, as the water level continues to rise, the vehicle will float in the water, which will affect the operation of the vehicle and may even endanger the safety of the people in the vehicle. Accurately determining the floating state of the vehicle can make the vehicle or the user aware of the floating danger in time and respond to the danger avoidance operation.

[0142] One possible solution is to determine the floating state of the vehicle by the wading depth of the vehicle. However, the wading depth may be affected by many factors. For example, if the tire of the vehicle is stuck in a low-lying area, the water depth at the tire is relatively high. Another example is that the vehicle is located on a slope, resulting in inaccurate water depth at various locations. In short, judging the floating state of the vehicle by the wading depth is inaccurate.

[0143] In view of this, the present application can integrate multiple information to determine the floating status of the vehicle, such as at least two of the water depth information, the vehicle status information (the status information may include multiple items), the vehicle body posture information, etc., so as to effectively improve the accuracy of determining the floating status of the vehicle.

[0144] The method of the embodiment of the present application is described in detail below.

[0145] See also Figure 3 , Figure 3 is a flow chart of a vehicle state recognition method provided by an embodiment of the present application. Optionally, the method can be used to determine the floating state of a vehicle and applied to a data processing device. For example, the method can be applied to Figure 1 The data processing device shown.

[0146] like Figure 3 The data processing method shown may include multiple steps in steps S301-S303. It should be understood that for the convenience of description, this application is described in the order of steps S301-S303, and is not intended to limit the execution to the above order. The embodiment of the application does not limit the execution order, execution time, execution number, etc. of the above one or more steps. Steps S301-S303 are as follows:

[0147] Step S301: The data processing device obtains the wading depth information of the vehicle.

[0148] The data processing device is a device with data processing and communication capabilities, which may be set inside the vehicle, or may be a processing module integrated in the vehicle, such as MDC or MCU, etc., or may be set outside the vehicle, such as a server, cloud, or host, etc., or may be a virtual device, such as a virtual machine, software, program code, or container, etc. The vehicle may be a vehicle equipped with multiple wheels and multiple suspensions. Exemplarily, the vehicle includes but is not limited to vehicles of different models such as cars, trucks, buses, vans, electric vehicles, etc.

[0149] As a possible implementation manner, the wading depth information of the vehicle includes multiple wading depths, and each of the multiple wading depths is used to indicate the water depth at one of the multiple wheels of the vehicle.

[0150] Specifically, the wading depth information of the vehicle may be calculated by a data processing device based on measurement data of one or more wading sensors on the vehicle and the current body posture information of the vehicle.

[0151] Optionally, the vehicle further includes one or more wading sensors. The wading sensor is used to detect the actual wading depth at one of the multiple wheels of the vehicle. Exemplarily, the wading sensor can be a contact sensor, such as a float type, a capacitive type or other liquid level depth detection sensor, or a non-contact sensor, such as an ultrasonic type, a laser type, a radar type or other sensor. In the present embodiment, the wading sensor is illustrated by two non-contact sensors provided on the left side rearview mirror and the right side rearview mirror of the vehicle body. For example, the left side wading sensor is a non-contact sensor provided on the left side rearview mirror of the vehicle body, and the right side wading sensor is a non-contact sensor provided on the right side rearview mirror of the vehicle body.

[0152] As a possible implementation, the vehicle's current body posture information can be directly obtained through a tilt sensor, or can be indirectly obtained by estimating the information obtained by sensors such as an inertial measurement unit (IMU). The vehicle's current body posture information includes the body pitch angle and the body roll angle.

[0153] Exemplarily, the wading depth at each wheel can be calculated by the following formula (1) and formula (2):

[0154]

[0155]

[0156] Among them, h iL (i=F / R) respectively FL (water depth of left front wheel) and h RL (Water depth of left rear wheel), hiR (i=F / R) respectively FR (right front wheel water depth) and h RR (right rear wheel water depth), S L is the value of the left wading sensor, S R is the value of the right wading sensor, α is the body pitch angle, β is the body roll angle, They are (Z distance from the left front wheel to the left wading sensor) and (Z distance from the left rear wheel to the left wading sensor), They are (Z distance from the right front wheel to the right wading sensor) and (Z distance from the right rear wheel to the right wading sensor), They are (X distance from the left front wheel to the left wading sensor) and (X distance from the left rear wheel to the left wading sensor), They are (X distance from the right front wheel to the right wading sensor) and (X distance from the right rear wheel to the right wading sensor), They are (Y distance from the left front wheel to the left wading sensor) and (Y distance from the left rear wheel to the left wading sensor), They are (Y distance from the right front wheel to the right wading sensor) and (Y distance from the right rear wheel to the right wading sensor). The X axis is the vehicle's forward direction, the Y axis is the left and right direction when the driver is sitting forward, and the Z axis is perpendicular to the ground and points to the roof. Figure 4 , Figure 4 Schematic diagram of vehicle body posture information provided by the embodiment of the present application. Figure 4 As shown, the angle of rotation around the X-axis is the body roll angle, the angle of rotation around the Y-axis is the body pitch angle, and the angle of rotation around the Z-axis is the body yaw angle.

[0157] Exemplarily, the vehicle includes four wheels. According to the above formula (1) and formula (2), the water depth at each of the four wheels of the vehicle is calculated, that is, four wading depths are obtained. For example, the wading depth of the left front wheel is calculated to be 0.4 meters, the wading depth of the left rear wheel is 0.5 meters, the wading depth of the right front wheel is 0.42 meters, and the wading depth of the right rear wheel is 0.53 meters. The wading depth information of the vehicle includes these four wading depths.

[0158] Step S302: The data processing device obtains the status information of the vehicle.

[0159] As a possible implementation manner, the vehicle status information includes slip values ​​of multiple wheels.

[0160] Specifically, the slip value of each wheel is calculated by the data processing device according to the wheel speed information of multiple wheel speed sensors on the vehicle and the current vehicle speed information of the vehicle. Optionally, the vehicle also includes one or more wheel speed sensors. Among them, the wheel speed sensor is used to detect the wheel speed of one wheel among the multiple wheels of the vehicle.

[0161] As a possible implementation, the current speed information of the vehicle may be directly obtained through GPS, or the current speed information of the vehicle may be indirectly obtained by estimating information obtained through sensors such as an inertial measurement unit (IMU).

[0162] A possible method for calculating the slip value of each wheel among the multiple wheels is introduced below. For example, the slip value of each wheel can be calculated by the following formula (3):

[0163] Slip value 车轮i =|wheel speed i - vehicle speed|(i=1,2,3,4) (3)

[0164] Exemplarily, the vehicle includes 4 wheels. According to the above formula (3), the slip value of each of the 4 wheels of the vehicle is calculated, that is, 4 slip values ​​are obtained. For example, the slip value of wheel 1 is calculated to be 11 km / h, the slip value of wheel 2 is 13 km / h, the slip value of wheel 3 is 15 km / h, and the slip value of wheel 4 is 16 km / h. The state information of the vehicle includes these 4 slip values.

[0165] As yet another possible implementation manner, the vehicle status information includes heights of multiple suspensions.

[0166] Specifically, the height of the suspension at each wheel is obtained by the data processing device according to the measurement data of multiple suspension height sensors on the vehicle. Optionally, the vehicle further includes one or more suspension height sensors. The suspension height sensor is used to detect the height of one of the multiple suspensions of the vehicle, or the relative height or angle of the vehicle body relative to the chassis.

[0167] Exemplarily, the vehicle includes four suspensions, and the height of each of the four suspensions of the vehicle is measured by the suspension height sensor, that is, the heights of the four suspensions are obtained. For example, the height of suspension 1 is 46 mm, the height of suspension 2 is 48 mm, the height of suspension 3 is 50 mm, and the height of suspension 4 is 52 mm, and the state information of the vehicle includes the heights of the four suspensions.

[0168] As another possible implementation, the vehicle status information includes the heights of multiple suspensions and the slip values ​​of multiple wheels. Exemplarily, the vehicle includes 4 suspensions and 4 wheels, and the vehicle status information includes the heights of the 4 suspensions and the slip values ​​of the 4 wheels, for example, the height of suspension 1 is 46 mm, the height of suspension 2 is 48 mm, the height of suspension 3 is 50 mm, and the height of suspension 4 is 52 mm. For example, the slip value of wheel 1 is 11 km / h, the slip value of wheel 2 is 13 km / h, the slip value of wheel 3 is 15 km / h, and the slip value of wheel 4 is 16 km / h.

[0169] Step S303: the data processing device determines the floating state of the vehicle according to the wading depth information of the vehicle and the state information of the vehicle.

[0170] Optionally, the data processing device may indicate the floating state of the vehicle through floating indication information, for example, the floating indication information includes first information and second information, the first information indicates that the vehicle is in a floating state, and the second information is used to indicate that the vehicle is in a non-floating state. Optionally, the floating indication information may indicate the floating state of the vehicle through a light, a text prompt, a voice prompt, etc. For example, the voice "the vehicle is currently in a floating state" indicates that the vehicle is in a floating state.

[0171] As a possible implementation method for determining the floating state of a vehicle, when the wading depth information of the vehicle satisfies a first condition and the state information of the vehicle satisfies a second condition, it is determined that the vehicle is in a floating state.

[0172] As a possible implementation, the wading depth information of the vehicle includes multiple wading depths, and when each of the multiple wading depths is greater than a first water depth threshold, it is determined that the wading depth information of the vehicle satisfies the first condition. Optionally, the first condition also includes a case where the wading depth is equal to the first water depth threshold. Optionally, the first water depth threshold is used to indicate the condition that the wading depth needs to meet. The first water depth threshold is predefined or predefined. For example, the first water depth threshold can be a value greater than 0.4 meters, such as 0.46 meters, 0.52 meters, etc.

[0173] Exemplarily, the vehicle includes four wheels, and the wading depth information of the vehicle includes four wading depths, among which the wading depth of the left front wheel is 0.4 meter, the wading depth of the left rear wheel is 0.5 meter, the wading depth of the right front wheel is 0.42 meter, and the wading depth of the right rear wheel is 0.53 meter. The first water depth threshold is 0.36 meter. At this time, the wading depths at the four wheels are all greater than the first water depth threshold, that is, the wading depth information of the vehicle meets the first condition.

[0174] Optionally, in the process of determining whether the wading depth information satisfies the first condition, the data processing device may first evaluate the floating state of the vehicle according to the wading depth information to obtain the floating state determined based on the wading depth information, and then determine whether the first condition is satisfied according to the floating state determined based on the wading depth information. Exemplarily, the data processing device may determine the value of the first parameter according to the wading depth information. In some schemes, the first parameter may also be referred to as "floating_water depth". When "floating_water depth" takes the first value, it indicates that the vehicle is in a floating state determined based on the wading depth information; when "floating_water depth" takes the second value, it indicates that the vehicle is in a non-floating state determined based on the wading depth information. At this time, the first condition may be "the floating_water depth determined based on the wading depth information is the first value". The "floating_water depth" may also be related to a water depth threshold. For example, when each of the multiple wading depths is greater than the first water depth threshold, the first parameter is the first value, and the wading depth information satisfies the first condition. For related descriptions, see the above.

[0175] As another possible implementation, the wading depth information of the vehicle includes multiple wading depths, and when each of the multiple wading depths is greater than a first water depth threshold and less than a second water depth threshold, it is determined that the wading depth information of the vehicle satisfies the first condition. Optionally, the first condition also includes a case where the wading depth is equal to the first water depth threshold and / or the wading depth is equal to the second water depth threshold. Optionally, the second water depth threshold is used to indicate the condition that the wading depth needs to meet. The second water depth threshold is predefined or predefined. For example, the second water depth threshold can be a value less than 0.6 meters, such as 0.56 meters, 0.52 meters, etc.

[0176] Exemplarily, the vehicle includes four wheels, and the wading depth information of the vehicle includes four wading depths, wherein the wading depth of the left front wheel is 0.4 meter, the wading depth of the left rear wheel is 0.5 meter, the wading depth of the right front wheel is 0.42 meter, and the wading depth of the right rear wheel is 0.53 meter. The first water depth threshold is 0.36 meter, and the second water depth threshold is 0.6 meter. At this time, the wading depths at the four wheels are all greater than the first water depth threshold and less than the second water depth threshold, that is, the wading depth information of the vehicle meets the first condition.

[0177] Similarly, in some possible implementations, when each of multiple wading depths is greater than the first water depth threshold and less than the second water depth threshold, the data processing device determines that "floating_water depth" is a first value based on the wading depth information, and the first condition is satisfied.

[0178] As a possible implementation manner, the vehicle status information includes slip values ​​of multiple wheels, and when the slip value of each wheel among the slip values ​​of the multiple wheels falls within the first slip value range, it is determined that the vehicle status information satisfies the second condition.

[0179] Exemplarily, the first slip value range may be greater than or equal to the first slip value threshold. At this time, when the slip value of each wheel among the slip values ​​of the multiple wheels is greater than or equal to the first slip value threshold, it is determined that the state information of the vehicle meets the second condition. Optionally, the first slip value threshold is used to indicate the condition that the slip value of each wheel needs to meet. The first slip value threshold is predefined or predefined. For example, the first slip value threshold may be a value greater than 10 km / h, such as 12 km / h, 23 km / h, etc.

[0180] Exemplarily, the vehicle includes four wheels, and the vehicle status information includes the slip values ​​of the four wheels, wherein the slip value of wheel 1 is 11 km / h, the slip value of wheel 2 is 13 km / h, the slip value of wheel 3 is 15 km / h, and the slip value of wheel 4 is 16 km / h. The first slip value threshold is 10 km / h. At this time, the slip values ​​at the four wheels are all greater than the first slip value threshold, that is, the vehicle status information satisfies the second condition.

[0181] Optionally, in the process of determining whether the slip values ​​of multiple wheels meet the second condition, the data processing device may first evaluate the floating state of the vehicle according to the slip values ​​of multiple wheels to obtain the floating state determined based on the slip values ​​of multiple wheels, and then determine whether the second condition is met according to the floating state determined based on the slip values ​​of multiple wheels. Exemplarily, the data processing device may determine the value of the second parameter according to the slip values ​​of multiple wheels. In some schemes, the second parameter may also be referred to as "floating_slipping". When "floating_slipping" takes a first value, it indicates that the vehicle is in a floating state determined based on the slip values ​​of multiple wheels; when "floating_slipping" takes a second value, it indicates that the vehicle is in a non-floating state determined based on the slip values ​​of multiple wheels. At this time, the second condition may be "floating_slipping determined based on the slip values ​​of multiple wheels is a first value". The "floating_slipping" may also be related to a slip value threshold. For example, when each slip value in the multiple slip values ​​is greater than a first slip value threshold, the second parameter is a first value, and at this time, the slip values ​​of multiple wheels meet the second condition. For related descriptions, see the above.

[0182] In another exemplary embodiment, the first slip value range may be greater than the first slip value threshold and less than the second slip value threshold. At this time, when the slip value of each wheel among the slip values ​​of the multiple wheels is greater than the first slip value threshold and less than the second slip value threshold, it is determined that the state information of the vehicle meets the second condition. Optionally, the second condition also includes the case where the slip value is equal to the first slip value threshold and / or the slip value is equal to the second slip value threshold. Optionally, the second slip value threshold is used to indicate the condition that the slip value needs to meet. Among them, the second slip value threshold is predefined or predefined. For example, the second slip value threshold can be a value less than 30km / h, such as 27km / h, 21km / h, etc.

[0183] Exemplarily, the vehicle includes four wheels, and the status information of the vehicle includes the slip values ​​of the four wheels, wherein the slip value of wheel 1 is 11 km / h, the slip value of wheel 2 is 25 km / h, the slip value of wheel 3 is 15 km / h, and the slip value of wheel 4 is 23 km / h. The first slip value threshold is 10 km / h, and the second slip value threshold is 30 km / h. At this time, the slip values ​​at the four wheels are all greater than the first slip value threshold and less than the second slip value threshold, that is, the status information of the vehicle satisfies the second condition.

[0184] Similarly, in some possible implementations, when the slip value of each wheel among the slip values ​​of multiple wheels is greater than the first slip value threshold and less than the second slip value threshold, the data processing device determines that "floating_slipping" is the first value based on the slip values ​​of the multiple wheels, and the second condition is satisfied.

[0185] As a possible implementation manner, the vehicle status information includes heights of multiple suspensions, and when the height of each of the multiple suspensions falls within a first height range, it is determined that the vehicle status information satisfies the second condition.

[0186] Exemplarily, the first height range may be greater than or equal to the first height threshold. Optionally, the first height threshold is used to indicate the condition that the height of the suspension needs to meet. The first height threshold is predefined or predefined. Optionally, the first height threshold may be related to the mass of the vehicle, and a one-dimensional table of the first height threshold and the mass of the vehicle may be obtained through experimental testing. For example, the first height threshold may be a value greater than 40 mm, such as 45 mm, 48 mm, etc.

[0187] Exemplarily, the vehicle includes four suspensions, and the status information of the vehicle includes the heights of the four suspensions, wherein the height of suspension 1 is 46 mm, the height of suspension 2 is 48 mm, the height of suspension 3 is 50 mm, and the height of suspension 4 is 52 mm. The first height threshold is 40 mm. At this time, the heights of the four suspensions are all greater than the first height threshold, that is, the status information of the vehicle satisfies the second condition.

[0188] Optionally, in the process of determining whether the heights of the multiple suspensions satisfy the second condition, the data processing device may first evaluate the floating state of the vehicle according to the heights of the multiple suspensions to obtain the floating state determined based on the heights of the multiple suspensions, and then determine whether the second condition is satisfied according to the floating state determined based on the heights of the multiple suspensions. Exemplarily, the data processing device may determine the value of the third parameter according to the heights of the multiple suspensions. In some schemes, the third parameter may also be referred to as "floating_suspension". When "floating_suspension" takes a first value, it indicates that the vehicle is in a floating state determined based on the heights of the multiple suspensions; when "floating_suspension" takes a second value, it indicates that the vehicle is in a non-floating state determined based on the heights of the multiple suspensions. At this time, the second condition may be "floating_suspension determined based on the heights of the multiple suspensions is a first value". The "floating_suspension" may also be related to a height threshold. For example, when the height of each of the multiple suspensions is greater than the first height threshold, the third parameter is a first value, and at this time, the heights of the multiple suspensions satisfy the second condition. For related descriptions, see the above.

[0189] As another example, the first height range may be greater than the first height threshold and less than the second height threshold. In this case, when the height of each of the multiple suspensions is greater than the first height threshold and less than the second height threshold, it is determined that the state information of the vehicle satisfies the second condition. Optionally, the second condition also includes the case where the height of the suspension is equal to the first height threshold and / or the height of the suspension is equal to the second height threshold. Optionally, the second height threshold is used to indicate the condition that the height of the suspension needs to meet. Among them, the second height threshold is predefined or predefined. Optionally, the second height threshold may be related to the mass of the vehicle, and a one-dimensional table of the second height threshold and the mass of the vehicle may be obtained through experimental testing. For example, the second height threshold may be a value less than 60 mm, such as 52 mm, 48 mm, etc.

[0190] Exemplarily, the vehicle includes four suspensions, and the status information of the vehicle includes the heights of the four suspensions, wherein the height of suspension 1 is 46 mm, the height of suspension 2 is 48 mm, the height of suspension 3 is 50 mm, and the height of suspension 4 is 52 mm. The first height threshold is 40 mm, and the second height threshold is 60 mm. At this time, the heights of the four suspensions are all greater than the first height threshold and less than the second height threshold, that is, the status information of the vehicle satisfies the second condition.

[0191] Similarly, in some possible implementations, when the height of each of multiple suspensions is greater than the first height threshold and less than the second height threshold, the data processing device determines that "floating_suspension" is the first value based on the heights of the multiple suspensions, and the second condition is satisfied.

[0192] As a possible implementation, the state information of the vehicle includes the heights of multiple suspensions and the slip values ​​of multiple wheels. When the height of each of the multiple suspensions falls within the first height range, or when the slip value of each of the multiple wheels falls within the first slip value range, it is determined that the state information of the vehicle meets the second condition. Exemplarily, the first height range may be greater than a first height threshold, and the first slip value range may be greater than a first slip value threshold. At this time, when the height of each of the multiple suspensions is greater than the first height threshold, or when each of the multiple slip values ​​is greater than the first slip value threshold, it is determined that the state information of the vehicle meets the second condition.

[0193] Exemplarily, a vehicle includes 4 suspensions and 4 wheels, and the status information of the vehicle includes the heights of the 4 suspensions and the slip values ​​of the 4 wheels, wherein the height of suspension 1 is 46 mm, the height of suspension 2 is 48 mm, the height of suspension 3 is 50 mm, and the height of suspension 4 is 52 mm, and the first height threshold is 40 mm. At this time, the heights of the 4 suspensions are all greater than the first height threshold, the slip value of wheel 1 is 2 km / h, the slip value of wheel 2 is 5 km / h, the slip value of wheel 3 is 8 km / h, and the slip value of wheel 4 is 1 km / h, and the first slip value threshold is 10 km / h. At this time, the slip values ​​at the 4 wheels are not all greater than the first slip value threshold, but since the heights of the 4 suspensions are all greater than the first height threshold, it is determined that the status information of the vehicle meets the second condition.

[0194] As another example, the first height range may be greater than the first height threshold and less than the second height threshold, and the first slip value range may be greater than the first slip value threshold and less than the second slip value threshold. In this case, when the height of each of the multiple suspensions is greater than the first height threshold and less than the second height threshold, or each of the multiple slip values ​​is greater than the first slip value threshold and less than the second slip value threshold, it is determined that the vehicle status information satisfies the second condition.

[0195] As another example, the vehicle includes 4 suspensions and 4 wheels, and the status information of the vehicle includes the heights of the 4 suspensions and the slip values ​​of the 4 wheels, wherein the height of suspension 1 is 35 mm, the height of suspension 2 is 36 mm, the height of suspension 3 is 37 mm, and the height of suspension 4 is 38 mm, and the first height threshold is 40 mm. At this time, the heights of the 4 suspensions are all less than the first height threshold, the slip value of wheel 1 is 70 km / h, the slip value of wheel 2 is 80 km / h, the slip value of wheel 3 is 100 km / h, and the slip value of wheel 4 is 90 km / h. The first slip value threshold is 10 km / h, and the second slip value threshold is 50 km / h. At this time, the slip values ​​at the 4 wheels are all greater than the second slip value threshold, so it is determined that the status information of the vehicle does not meet the second condition.

[0196] As another possible implementation method for determining the floating state of a vehicle, when the wading depth information of the vehicle satisfies a first condition and the state information of the vehicle does not satisfy a second condition, the validity of the slip values ​​of multiple wheels is determined; when the slip values ​​of the multiple wheels are all valid, it is determined that the vehicle is in a non-floating state.

[0197] For example, the wheel speed information of each wheel obtained by the wheel speed sensor may be multiple signals in actual performance. When the wheel speed sensor fails or the signal is abnormal, the wheel speed information of the wheel obtained by the wheel speed sensor is judged to be invalid, and then the slip value of the wheel is determined to be invalid.

[0198] Exemplarily, when the wading depth information of the vehicle satisfies the first condition and the status information of the vehicle does not satisfy the second condition, the wheel speed information of each wheel is obtained through the spare wheel speed sensor. If the wheel speed information of the wheel obtained by the spare wheel speed sensor and the wheel speed error value of the wheel obtained previously are greater than or equal to the wheel speed error value threshold, then the wheel speed information of the wheel is determined to be invalid. If the wheel speed information of the wheel obtained by the spare wheel speed sensor and the wheel speed error value of the wheel obtained previously are less than the wheel speed error value threshold, then the wheel speed information of the wheel is determined to be valid, and then the slip value of the wheel is determined to be valid. The wheel speed error value threshold is used to indicate the conditions that the wheel speed error value needs to meet. The wheel speed error value threshold is predefined or predefined. For example, the wheel speed error value threshold can be 0.5%, such as 0.3%, 0.4%, etc.

[0199] As another possible implementation method of determining the floating state of a vehicle, a data processing device determines the floating state of the vehicle based on the wading depth information of the vehicle and the body posture information of the vehicle.

[0200] Specifically, when the wading depth information of the vehicle satisfies the first condition and the body posture information of the vehicle satisfies the third condition, it is determined that the vehicle is in a floating state.

[0201] Optionally, the data processing device obtains vehicle body posture information through multiple inclination sensors, determines the driving state of the vehicle according to the wheel speed information, and when the driving state of the vehicle is an undriven state, determines the vehicle body pitch angle and the vehicle body roll angle according to the vehicle body posture information. Wherein, when the wheel speed information of each wheel is less than the first wheel speed threshold or the driving torque of each wheel is equal to 0, the data processing device determines that the vehicle is in an undriven state. Wherein, the first wheel speed threshold is set in advance, and optionally, the first wheel speed threshold can be set in the range of 0-2km / h, for example, the first wheel speed threshold is 1km / h.

[0202] As a possible implementation manner, the vehicle's body posture information includes the vehicle's body pitch angle and the vehicle's body roll angle. When the vehicle's body pitch angle falls within the first angle range and the vehicle's body roll angle falls within the second angle range, it is determined that the vehicle's body posture information satisfies the third condition.

[0203] Exemplarily, the first angle range may be greater than or equal to a first angle threshold, and the second angle range may be greater than or equal to a third angle threshold. At this time, when the vehicle body pitch angle is greater than the first angle threshold and the vehicle body roll angle is greater than the third angle threshold, it is determined that the vehicle body posture information satisfies the third condition. Optionally, the first angle threshold is used to indicate the condition that the vehicle body pitch angle needs to satisfy, and the third angle threshold is used to indicate the condition that the vehicle body roll angle needs to satisfy, wherein the first angle threshold and the third angle threshold are predefined or predefined. For example, the first angle threshold may be a value greater than 90°, such as 120°, 130°, etc., and the third angle threshold may be a value greater than 90°, such as 120°, 130°, etc.

[0204] For example, the vehicle's body posture information includes the vehicle's body pitch angle and the vehicle's body roll angle, wherein the vehicle's body pitch angle is 120°, the vehicle's body roll angle is 130°, and the first angle threshold and the third angle threshold are values ​​greater than 90°. At this time, the vehicle's body pitch angle is greater than the first angle threshold and the vehicle's body roll angle is greater than the third angle threshold, that is, the vehicle's body posture information satisfies the third condition.

[0205] Optionally, in the process of determining whether the vehicle body posture information satisfies the third condition, the data processing device may first evaluate the floating state of the vehicle according to the vehicle body posture information to obtain the floating state determined based on the vehicle body posture information, and then determine whether the third condition is satisfied according to the floating state determined based on the vehicle body posture information. Exemplarily, the data processing device may determine the value of the fourth parameter according to the vehicle body posture information. In some schemes, the fourth parameter may also be referred to as "floating_attitude angle". When the "floating_attitude angle" takes a first value, it indicates that the vehicle is in a floating state determined based on the vehicle body posture information; when the "floating_attitude angle" takes a second value, it indicates that the vehicle is in a non-floating state determined based on the vehicle body posture information. At this time, the third condition may be "the floating_attitude angle determined based on the vehicle body posture information is a first value". The "floating_attitude angle" may also be related to an angle threshold. For example, when the vehicle body pitch angle is greater than the first angle threshold and the vehicle body roll angle is greater than the third angle threshold, the fourth parameter is the first value, and the vehicle body posture information satisfies the third condition at this time. For related descriptions, see the above.

[0206] In the embodiments of the present application, the names and values ​​of the parameters are exemplary descriptions. In the specific implementation process, the meanings represented by the names and values ​​of the parameters may have other designs.

[0207] In another exemplary embodiment, the first angle range may be greater than the first angle threshold and less than the second angle threshold, and the second angle range may be greater than the third angle threshold and less than the fourth angle threshold. At this time, when the vehicle body pitch angle is greater than the first angle threshold and less than the second angle threshold, and the vehicle body roll angle is greater than the third angle threshold and less than the fourth angle threshold, it is determined that the vehicle body posture information meets the third condition. Optionally, the third condition also includes the case where the vehicle body pitch angle is equal to the first angle threshold, equal to the second angle threshold, and / or the vehicle body roll angle is equal to the third angle threshold, equal to the fourth angle threshold. Optionally, the second angle threshold is used to indicate the condition that the vehicle body pitch angle needs to meet, and the fourth angle threshold is used to indicate the condition that the vehicle body roll angle needs to meet, wherein the second angle threshold and the fourth angle threshold are predefined or predefined. For example, the second angle threshold may be a value less than 180°, such as 120°, 130°, etc., and the fourth angle threshold may be a value less than 180°, such as 120°, 130°, etc.

[0208] For example, the vehicle's body posture information includes the vehicle's body pitch angle and the vehicle's body roll angle, wherein the vehicle's body pitch angle is 120°, the vehicle's body roll angle is 130°, the first angle threshold and the third angle threshold are values ​​greater than 90°, and the second angle threshold and the fourth angle threshold are values ​​less than 180°. At this time, the vehicle's body pitch angle is greater than the first angle threshold and less than the second angle threshold, and the vehicle's body roll angle is greater than the third angle threshold and less than the fourth angle threshold, that is, the vehicle's body posture information satisfies the third condition.

[0209] Similarly, in some possible implementations, when the vehicle's body pitch angle is greater than the first angle threshold and less than the second angle threshold, and the vehicle's body roll angle is greater than the third angle threshold and less than the fourth angle threshold, the data processing device determines that the "floating_posture angle" is a first value based on the vehicle's body posture information, and the third condition is satisfied.

[0210] As another possible implementation method for determining the floating state of a vehicle, the state information of the vehicle includes slip values ​​of multiple wheels, heights of multiple suspensions, and body posture information of the vehicle, and the data processing device determines the floating state of the vehicle based on the wading depth information of the vehicle, the slip values ​​of multiple wheels, the heights of multiple suspensions, and the body posture information of the vehicle. Exemplarily, when the wading depth information of the vehicle satisfies a first condition and the state information of the vehicle does not satisfy a second condition, the validity of the slip values ​​of the multiple wheels is determined, and when the slip values ​​of the multiple wheels are invalid, the data processing device determines that the vehicle is in a floating state when the wading depth information of the vehicle satisfies the first condition, the state information of the vehicle does not satisfy the second condition, and the body posture information of the vehicle satisfies a third condition.

[0211] As another possible implementation of determining the floating state of the vehicle, the state information of the vehicle includes the slip values ​​of multiple wheels, the heights of multiple suspensions, and the body posture information of the vehicle, and the data processing device can determine the floating state of the vehicle according to the slip values ​​of multiple wheels, the heights of multiple suspensions, and the body posture information of the vehicle. That is, optionally, the above implementation can be implemented when the wading depth information of the vehicle does not meet the first condition and the wading depth information of the vehicle is determined to be invalid.

[0212] For example, the measurement data at each wheel obtained by the wading sensor may be multiple signals in actual performance. When the wading sensor fails or the signal is abnormal, the measurement data at the wheel obtained by the wading sensor is judged to be invalid, that is, the wading depth information of the vehicle is invalid.

[0213] Exemplarily, when the wading depth information of the vehicle does not meet the first condition, the measurement data at each wheel is obtained through the spare wading sensor. If the error value between the measurement data at the wheel obtained by the spare wading sensor and the measurement data at the wheel obtained previously is greater than or equal to the wading depth error value threshold, the wading depth information at the wheel is determined to be invalid. If the error value between the measurement data at the wheel obtained by the spare wading sensor and the measurement data at the wheel obtained previously is less than the wading depth error value threshold, the wading depth information at the wheel is determined to be valid. The wading depth error value threshold is used to indicate the conditions that the wading depth error value needs to meet. The wading depth error value threshold is predefined or predefined. For example, the wading depth error value threshold can be less than 0.5%, such as 0.3%, 0.4%, etc.

[0214] As an implementation example of "determining the floating state of a vehicle based on the slip values ​​of multiple wheels, the heights of multiple suspensions, and the body posture information of the vehicle", the body posture information of the vehicle includes the body pitch angle of the vehicle and the body roll angle of the vehicle. The data processing device determines that the vehicle is in a floating state when at least two conditions in the condition set are satisfied, and the data processing device determines that the vehicle is in a non-floating state when less than two conditions in the condition set are satisfied. Among them, the condition set includes the following three conditions: Condition 1, the slip value of each wheel in the slip values ​​of multiple wheels falls within the first slip value range, Condition 2, the height of each suspension in the heights of multiple suspensions falls within the first height range, and Condition 3, the body pitch angle falls within the first angle range and the body roll angle falls within the second angle range. That is to say, if any two conditions in the above condition set are satisfied or all three conditions are satisfied, the data processing device determines that the vehicle is in a floating state, and the relevant description is referred to above.

[0215] As another implementation example of "determining the floating state of the vehicle according to the slip values ​​of multiple wheels, the heights of multiple suspensions and the body posture information of the vehicle", the data processing device can calculate the floating state according to the input information respectively, and comprehensively determine the floating state of the vehicle by combining the floating states calculated respectively according to the input information. Please refer to Table 1, which shows the meaning of the values ​​corresponding to the various input information.

[0216] Table 1

[0217] Input information Corresponding parameters Value Multiple suspension heights Floating state_suspension 0 means no floating, 1 means floating Slip values ​​for multiple wheels Floating state_slip 0 means no floating, 1 means floating Vehicle body posture information Floating state_attitude angle 0 means no floating, 1 means floating Vehicle's wading depth information Floating state_water depth 0 means no floating, 1 means floating

[0218] The following is an exemplary introduction of various information in conjunction with Table 1.

[0219] Information 1, "Floating state_suspension". Specifically, the data processing device can determine the value of "Floating state_suspension" according to the heights of multiple suspensions. The value of "Floating state_suspension" here can be understood as the floating state of the vehicle determined based on the heights of multiple suspensions. Different values ​​of "Floating state_suspension" indicate different floating states. For example, when floating state_suspension = 0, it indicates that the vehicle is in a non-floating state based on the heights of multiple suspensions; when floating state_suspension = 1, it indicates that the vehicle is in a floating state based on the heights of multiple suspensions.

[0220] As a possible implementation of determining the value of float_suspension, see Figure 5 , Figure 5 : is a flow chart of determining the floating state_suspension value provided by an embodiment of the present application, such as Figure 5As shown, the data processing device obtains measurement data from multiple suspension height sensors, determines the heights of multiple suspensions according to the measurement data, and determines that the value of floating state_suspension is 1 when the heights of each suspension are greater than the first height threshold. If there is a suspension whose height among the multiple suspensions is less than the first height threshold, the value of floating state_suspension is determined to be 0. For related descriptions, see the above. Optionally, if the height of the suspension is equal to the first height threshold, the value of floating state_suspension is also satisfied.

[0221] Information 2, "Floating State_Slipping". Specifically, the data processing device can determine the value of "Floating State_Slipping" according to the slip values ​​of multiple wheels. The value of "Floating State_Slipping" here can be understood as the floating state of the vehicle determined based on the slip values ​​of multiple wheels. Different values ​​of "Floating State_Slipping" indicate different floating states. For example, when Floating State_Slipping = 0, it indicates that the vehicle is in a non-floating state based on the slip values ​​of multiple wheels; when Floating State_Slipping = 1, it indicates that the vehicle is in a floating state based on the slip values ​​of multiple wheels.

[0222] As a possible implementation of determining the value of float_slip, see Figure 6 , Figure 6 : is a flow chart of determining the floating state_slip value provided by an embodiment of the present application, such as Figure 6 As shown, the data processing device obtains wheel speed information from multiple wheel speed sensors, obtains vehicle speed information, calculates the slip value of each wheel according to the wheel speed information and the vehicle speed information, obtains the throttle depth of the vehicle, and determines whether the slip value of each wheel is greater than the first slip value threshold when the throttle depth of the vehicle is greater than the throttle depth threshold. If the slip value of each wheel at the K moment is greater than the first slip value threshold, the floating state_slip value at the K moment is determined to be 1, if there is a wheel slip value less than the first slip value threshold among the slip values ​​of each wheel at the K moment, the floating state_slip value at the K moment is determined to be 0, and when the throttle depth of the vehicle is less than the throttle depth threshold, the floating state_slip value at the K moment is determined to be the floating state_slip value at the K-1 moment (i.e., the previous moment). Among them, the throttle depth threshold can be set in advance, and its setting range is between 3% and 10%. For example, the throttle depth threshold is set to 5%. For related descriptions, please refer to the above. Optionally, if the slip value is equal to the first slip value threshold, the floating state_slip value is 1.

[0223] Information 3, "Floating state_attitude angle". Specifically, the data processing device can determine the value of "Floating state_attitude angle" according to the vehicle's body attitude information. The value of "Floating state_attitude angle" here can be understood as the floating state of the vehicle determined based on the vehicle's body attitude information. Different values ​​of "Floating state_attitude angle" indicate different floating states. For example, when the floating state_attitude angle = 0, it indicates that the vehicle is in a non-floating state based on the vehicle's body attitude information; when the floating state_attitude angle = 1, it indicates that the vehicle is in a floating state based on the vehicle's body attitude information.

[0224] As a possible implementation of determining the value of the floating state_attitude angle, see Figure 7 , Figure 7 FIG. 1 is a flow chart of determining the value of the floating state_attitude angle provided by an embodiment of the present application, such as Figure 7 As shown, the data processing device obtains wheel speed information from multiple wheel speed sensors and obtains vehicle body posture information. The data processing device determines the vehicle body pitch angle and vehicle body roll angle according to the vehicle body posture information. The data processing device determines that the floating state_attitude angle value is 1 when the wheel speed of each wheel is less than the first wheel speed threshold, the vehicle body pitch angle is greater than the first angle threshold, and the vehicle body roll angle is greater than the third angle threshold. If any one of the above three conditions is not satisfied, the floating state_attitude angle value is determined to be 0. Optionally, if the vehicle body pitch angle is equal to the first angle threshold, and the vehicle body roll angle is equal to the third angle threshold, the floating state_attitude angle value is also satisfied to be 1. For related descriptions, see the above.

[0225] Information 4, "Floating state_water depth". Specifically, the data processing device can determine the value of "Floating state_water depth" according to the wading depth information of the vehicle. The value of "Floating state_water depth" here can be understood as the floating state of the vehicle determined based on the wading depth information of the vehicle. Different values ​​of "Floating state_water depth" indicate different floating states. For example, when floating state_water depth = 0, it indicates that the vehicle is in a non-floating state based on the wading depth information of the vehicle; when floating state_water depth = 1, it indicates that the vehicle is in a floating state based on the wading depth information of the vehicle.

[0226] As a possible implementation of determining the value of floatation_water depth, see Figure 8 , Figure 8 FIG. 1 is a flow chart of determining the floating state_water depth value provided by an embodiment of the present application, such as Figure 8As shown, the data processing device obtains the measurement data of multiple wading sensors and obtains the current body posture information of the vehicle. The data processing device calculates multiple wading depths based on the measurement data and the body posture information. The data processing device determines that the value of the floating state_water depth is 1 when each wading depth is greater than the first water depth threshold. If there is a wading depth less than the first water depth threshold among the multiple wading depths, the floating state_water depth is determined to be 0. For related descriptions, see the above. Optionally, if the wading depth is equal to the first water depth threshold, the floating state_water depth value is also 1.

[0227] In a possible implementation, the data processing device may determine the floating state of the vehicle based on the floating state_slip value, the floating state_suspension value, and the floating state_attitude angle value.

[0228] Further, the data processing device determines that the vehicle is in a floating state when the accumulated value of the floating state_slip value, the floating state_suspension value, and the floating state_attitude angle value is greater than or equal to a first threshold value, and determines that the vehicle is in a non-floating state when the accumulated value of the floating state_slip value, the floating state_suspension value, and the floating state_attitude angle value is less than the first threshold value. The first threshold value is predefined or predefined. For example, the first threshold value may be greater than or equal to 2, such as 2, 3, etc.

[0229] Exemplarily, the value of floating state_slip is 0, the value of floating state_suspension is 1, the value of floating state_attitude angle is 1, and the first threshold is 2. At this time, the accumulated value of the three parameters is equal to 2, so the data processing device determines that the vehicle is in a floating state.

[0230] Furthermore, different weights can be set for each parameter, for example, the weight of floating state_slip is set to 2, and the weights of floating state_suspension and floating state_attitude angle are set to 1. For example, the values ​​of floating state_slip, floating state_suspension, and floating state_attitude angle are all 1, and the accumulated value of the three parameters obtained after weight calculation can be 4.

[0231] exist Figure 3 In the embodiment shown, the data processing device obtains the wading depth information of the vehicle, obtains the status information of the vehicle, and determines the floating state of the vehicle according to the wading depth information of the vehicle and the status information of the vehicle. In this way, the floating state of the vehicle is judged by combining multiple pieces of information, which can effectively improve the accuracy of judging the floating state of the vehicle.

[0232] above Figure 3 The illustrated embodiment includes a variety of possible solutions. For ease of understanding, one possible solution is described below. It should be understood that Fig. 9 For some of the terms, logic, etc. in the scheme shown, please refer to Figure 3 The embodiment shown.

[0233] See also Fig. 9 , Fig. 9 This is a flowchart of another vehicle status identification method provided in an embodiment of the present application.

[0234] Optionally, the method can be used to determine the floating state of a vehicle, applied to a data processing device, for example, the method can be applied to Figure 1 The data processing device shown. The method comprises the steps of:

[0235] S1: Floating state_water depth=1?

[0236] When the floating state_water depth=1, step S2 is executed, and when the floating state_water depth is not equal to 1, step S6 is executed.

[0237] S2: Floating state_slip = 1 or floating state_suspension = 1?

[0238] When floating state_slip=1 or floating state_suspension=1, step S3 is executed. When floating state_slip is not equal to 1 and floating state_suspension is not equal to 1, step S4 is executed.

[0239] S3: The vehicle is in a floating state.

[0240] S4: Are slip values ​​for multiple wheels valid?

[0241] When the slip values ​​of the plurality of wheels are all valid, step S8 is executed, and when the slip values ​​of the plurality of wheels are invalid, step S5 is executed.

[0242] S5: Floating state_attitude angle=1?

[0243] When the floating state_attitude angle=1, execute step S3, and when the floating state_attitude angle is not equal to 1, execute step S8.

[0244] S6: Is the vehicle's wading depth information valid?

[0245] When the wading depth information of the vehicle is valid, step S8 is executed; when the wading depth information of the vehicle is invalid, step S7 is executed.

[0246] S7: Is the accumulated value of floating state_slipping, floating state_suspension and floating state_attitude angle greater than the first threshold?

[0247] When the accumulated value of floating state_slipping, floating state_suspension and floating state_attitude angle is greater than the first threshold, execute step S3; when the accumulated value of floating state_slipping, floating state_suspension and floating state_attitude angle is less than the first threshold, execute step S8.

[0248] S8: The vehicle is in a non-floating state.

[0249] Fig. 9 The method shown can be applied to a vehicle, for example, a data processing device in the vehicle. For possible implementations of the data processing device, refer to the above-mentioned related description. Fig. 9 In the embodiment shown, the floating state of the vehicle can be determined by integrating multiple pieces of information, such as at least two pieces of information including wading depth information, vehicle state information (the state information may include multiple items), and vehicle body posture information, thereby effectively improving the accuracy of determining the floating state of the vehicle.

[0250] The method of the embodiment of the present application is described in detail above, and the device of the embodiment of the present application is provided below.

[0251] See also Fig.10 , Fig.10 1 is a schematic diagram of a data processing device provided in an embodiment of the present application. The data processing device 100 may include an acquisition unit 1001 and a processing unit 1002. The data processing device 100 is used to implement the aforementioned data processing method, for example Figure 3 or Fig. 9 The data processing method in the illustrated embodiment.

[0252] It should be noted that the division of the above multiple units is only a logical division based on functions, and does not limit the specific structure of the data processing device 100. In a specific implementation, some functional modules may be subdivided into more small functional modules, and some functional modules may be combined into one functional module.

[0253] In a possible implementation, the acquiring unit 1001 is configured to:

[0254] Obtaining the wading depth information of the vehicle;

[0255] Get vehicle status information;

[0256] The processing unit 1002 is used to determine the floating state of the vehicle according to the wading depth information of the vehicle and the state information of the vehicle.

[0257] In a possible implementation, the processing unit 1002 is further configured to determine that the vehicle is in a floating state when the wading depth information of the vehicle satisfies a first condition and the state information of the vehicle satisfies a second condition.

[0258] In a possible implementation, a vehicle includes a plurality of wheels, wading depth information of the vehicle includes a plurality of wading depths, each of the plurality of wading depths is used to indicate a water depth at one of the plurality of wheels, and the wading depth information of the vehicle satisfies a first condition, including:

[0259] Each wading depth of the plurality of wading depths is greater than a first water depth threshold and less than a second water depth threshold.

[0260] In a possible implementation manner, the vehicle includes a plurality of wading sensors, and the acquisition unit 1001 is further configured to:

[0261] Obtaining measurement data from multiple water-related sensors;

[0262] Acquiring vehicle body posture information, the vehicle body posture information including the vehicle body pitch angle and the vehicle body roll angle;

[0263] The processing unit 1002 is further configured to determine the wading depth information of the vehicle according to the measurement data and the vehicle body posture information.

[0264] In a possible implementation manner, the vehicle includes a plurality of wheels, and the state information of the vehicle includes slip values ​​of the plurality of wheels.

[0265] The vehicle status information satisfies the second condition, including:

[0266] Each slip value of the plurality of slip values ​​falls within a first slip value range.

[0267] In a possible implementation manner, the vehicle includes a plurality of wheel speed sensors, and the acquisition unit 1001 is further configured to:

[0268] Obtain wheel speed information from multiple wheel speed sensors;

[0269] Get the vehicle speed information;

[0270] The processing unit 1002 is further configured to determine a plurality of slip values ​​according to the wheel speed information and the vehicle speed information.

[0271] In a possible implementation, the vehicle includes a plurality of suspensions, and the state information of the vehicle includes heights of the plurality of suspensions;

[0272] The vehicle status information satisfies the second condition including:

[0273] The height of each of the plurality of suspensions falls within a first height range.

[0274] In a possible implementation manner, the vehicle further includes a plurality of suspension height sensors, and the acquisition unit 1001 is further configured to acquire measurement data from the plurality of suspension height sensors;

[0275] The processing unit 1002 is further configured to determine the heights of the plurality of suspensions according to the measurement data.

[0276] In a possible implementation manner, the vehicle includes a plurality of wheels and a plurality of suspensions, and the state information of the vehicle includes at least one of slip values ​​of the plurality of wheels and heights of the plurality of suspensions; the state information of the vehicle satisfies the second condition, including:

[0277] The slip value of each wheel among the slip values ​​of the plurality of wheels falls within the first slip value range, or the height of each suspension among the heights of the plurality of suspensions falls within the first height range.

[0278] In a possible implementation, the processing unit 1002 is further configured to:

[0279] determining validity of slip values ​​of a plurality of wheels when the wading depth information of the vehicle satisfies a first condition and the state information of the vehicle does not satisfy a second condition;

[0280] When the slip values ​​of the plurality of wheels are all valid, it is determined that the vehicle is in a non-floating state.

[0281] In one possible implementation, the vehicle status information includes slip values ​​of multiple wheels, heights of multiple suspensions, and body posture information of the vehicle. The processing unit 1002 is also used to determine that the vehicle is in a floating state when the vehicle's wading depth information satisfies a first condition, the vehicle's status information does not satisfy a second condition, and the vehicle's body posture information satisfies a third condition.

[0282] In a possible implementation manner, the vehicle body posture information includes a vehicle body pitch angle and a vehicle body roll angle;

[0283] The vehicle's body posture information satisfies the third condition, including:

[0284] The vehicle body pitch angle falls within the first angle range and the vehicle body roll angle falls within the second angle range. In a possible implementation, the vehicle includes a plurality of tilt sensors, and the acquisition unit 1001 is further used to acquire vehicle body posture information from the plurality of tilt sensors;

[0285] The processing unit 1002 is further configured to:

[0286] Determine the driving state of the vehicle according to the wheel speed information;

[0287] When the driving state of the vehicle is a non-driving state, a body pitch angle of the vehicle and a body roll angle of the vehicle are determined based on the body posture information.

[0288] In one possible implementation, the vehicle status information includes slip values ​​of multiple wheels, heights of multiple suspensions, and body posture information of the vehicle. The processing unit 1002 is also used to determine the floating state of the vehicle based on the slip values ​​of multiple wheels, heights of multiple suspensions, and body posture information of the vehicle when the wading depth information of the vehicle does not meet the first condition and the wading depth information of the vehicle is determined to be invalid.

[0289] In a possible implementation manner, the vehicle body posture information includes a vehicle body pitch angle and a vehicle body roll angle, and the processing unit 1002 is further configured to:

[0290] When at least two conditions in the condition set are satisfied, determining that the vehicle is in a floating state;

[0291] When less than two conditions in the condition set are satisfied, determining that the vehicle is in a non-floating state;

[0292] The condition set includes the following three conditions:

[0293] Condition 1: the slip value of each wheel among the slip values ​​of the multiple wheels falls within the first slip value range;

[0294] Condition 2: the height of each of the plurality of suspensions falls within a first height range;

[0295] Condition 3: the vehicle body pitch angle falls within the first angle range and the vehicle body roll angle falls within the second angle range.

[0296] It should be noted that the above-mentioned units (acquisition unit 1001 and processing unit 1002) are used to execute the relevant steps of the above-mentioned method. For example, acquisition unit 1001 is used to execute the relevant contents of step S301 and step S302, and processing unit 1002 is used to execute the relevant contents of step S303.

[0297] Fig.11 The structure diagram of another data processing device provided in an embodiment of the present application is shown. The data processing device is a device with processing capabilities, where the device can be a physical device, such as a server (such as a rack server), a host, etc., or a virtual device, such as a virtual machine, a container, etc.

[0298] like Fig.11 As shown, the data processing device 110 includes: a processor 1101 and a memory 1102 and one or more programs, and may include a communication interface 1103. It should be understood that the present application does not limit the number of processors and memories in the data processing device 110.

[0299] The processor 1101 is a module for performing calculations, and may include a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a microcontroller unit (MCU), or one or more integrated circuits for controlling the execution of the above program.

[0300] The memory 1102 is used to provide a storage space, and the storage space can optionally store application data, user data, operating system, computer programs, etc. The memory 1102 may include a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, and may also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0301] The memory 1102 may exist independently and be connected to the processor 1101 via a bus. The memory 1102 may also be integrated with the processor 1101.

[0302] The communication interface 1103 is used to provide information input or output for the at least one processor. And / or, the communication interface 1103 can be used to receive data sent externally and / or send data to the outside. The communication interface 1103 can be a wired link interface including an Ethernet cable, etc., or a wireless link (Wi-Fi, Bluetooth, general wireless transmission and other wireless communication technologies, etc.) interface. Optionally, the communication interface 1103 can also include a transmitter (such as a radio frequency transmitter, an antenna, etc.) coupled to the interface, or a receiver, etc.

[0303] In the embodiment of the present application, the one or more programs are stored in the memory 1102 in the form of program codes and are configured to be executed by the processor 1101. The programs include instructions for implementing the steps in the above-mentioned vehicle state recognition method. Figure 3 , Fig. 9 That is, the memory 1102 stores executable instructions, and the processor 1101 executes the executable instructions to implement the aforementioned vehicle state recognition method, for example Figure 3 That is, the memory 1102 stores instructions for executing the vehicle state identification method.

[0304] Alternatively, executable instructions are stored in the memory 1102, and the processor 1101 executes the executable instructions to respectively implement the functions of one or more units (or devices) in the aforementioned acquisition unit and processing unit communication unit, thereby realizing the vehicle status recognition method.

[0305] The embodiment of the present application further provides a vehicle, the vehicle comprising the aforementioned data processing device 100 or the aforementioned data processing device 110, the vehicle being used to implement the aforementioned vehicle state recognition method, for example Figure 3 , Fig. 9 The vehicle state recognition method in the embodiment of the present invention.

[0306] The present application also provides a computer program product including instructions. The computer program product may be software or a program product including instructions that can be run on a computing device or stored in any available medium. The computer program instructions are used to implement the aforementioned vehicle state recognition method, for example Figure 3 , Fig. 9 The vehicle state recognition method in the embodiment of the present invention.

[0307] The present application also provides a computer-readable storage medium. The computer-readable storage medium includes instructions for implementing the aforementioned vehicle state recognition method, such as Figure 3 , Fig. 9 The vehicle state recognition method in the embodiment of the present invention.

[0308] The computer-readable storage medium may be any available medium that can be stored by a data processing device, or a data storage device such as a data center including one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk).

[0309] In the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0310] The "at least one" mentioned in the embodiments of the present application refers to one or more, and "plurality" refers to two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0311] Furthermore, unless otherwise specified, the ordinal numbers such as "first" and "second" used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first height threshold and the second height threshold are only for the convenience of description, and do not represent the difference in the deployment order, importance, etc. of the first height threshold and the second height threshold.

[0312] Those skilled in the art will appreciate that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0313] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle state recognition method, characterized in that: The method is applied to a vehicle, and comprises: Acquiring wading depth information of the vehicle; Acquiring status information of the vehicle; The floating state of the vehicle is determined according to the wading depth information of the vehicle and the state information of the vehicle.

2. The method according to claim 1, characterized in that The vehicle includes a plurality of wading sensors, and the method further includes: acquiring measurement data from the plurality of water wading sensors; Acquiring body posture information of the vehicle, wherein the body posture information includes a body pitch angle of the vehicle and a body roll angle of the vehicle; The wading depth information of the vehicle is determined according to the measurement data and the vehicle body posture information.

3. The method according to claim 1 or 2, characterized in that: Determining the floating state of the vehicle according to the wading depth information of the vehicle and the state information of the vehicle includes: When the wading depth information of the vehicle satisfies a first condition and the state information of the vehicle satisfies a second condition, it is determined that the vehicle is in a floating state.

4. The method according to claim 3, characterized in that The vehicle comprises a plurality of wheels, the wading depth information of the vehicle comprises a plurality of wading depths, each of the plurality of wading depths being used to indicate a water depth at one of the plurality of wheels, The wading depth information of the vehicle satisfies the first condition, including: Each of the plurality of wading depths is greater than a first water depth threshold and less than a second water depth threshold.

5. The method according to claim 3 or 4, characterized in that: The vehicle comprises a plurality of wheels, and the state information of the vehicle comprises slip values ​​of the plurality of wheels. The vehicle status information meets the second condition including: The slip value of each of the plurality of wheels falls within a first slip value range.

6. The method according to claim 3 or 4, characterized in that: The vehicle comprises a plurality of wheels and a plurality of suspensions, and the state information of the vehicle comprises at least one of slip values ​​of the plurality of wheels and heights of the plurality of suspensions; The vehicle status information meets the second condition including: The slip value of each wheel among the slip values ​​of the plurality of wheels falls within a first slip value range, or the height of each suspension among the heights of the plurality of suspensions falls within a first height range.

7. The method according to any one of claims 3 to 6, characterized in that: The determining the floating state of the vehicle according to the wading depth information of the vehicle and the state information of the vehicle comprises: determining validity of the slip values ​​of the plurality of wheels when the wading depth information of the vehicle satisfies the first condition and the state information of the vehicle does not satisfy the second condition; When the slip values ​​of the plurality of wheels are all valid, it is determined that the vehicle is in a non-floating state.

8. The method according to any one of claims 3 to 7, characterized in that: The state information of the vehicle includes slip values ​​of the multiple wheels, heights of the multiple suspensions, and body posture information of the vehicle, and determining the floating state of the vehicle according to the wading depth information of the vehicle and the state information of the vehicle includes: When the wading depth information of the vehicle satisfies the first condition, the state information of the vehicle does not satisfy the second condition, and the body posture information of the vehicle satisfies the third condition, it is determined that the vehicle is in a floating state.

9. The method according to claim 8, characterized in that The vehicle body posture information includes the vehicle body pitch angle and the vehicle body roll angle; The vehicle body posture information satisfies the third condition, including: A body pitch angle of the vehicle falls within a first angle range and a body roll angle of the vehicle falls within a second angle range.

10. The method according to any one of claims 3 to 9, characterized in that: The state information of the vehicle includes slip values ​​of the multiple wheels, heights of the multiple suspensions, and body posture information of the vehicle, and determining the floating state of the vehicle according to the wading depth information of the vehicle and the state information of the vehicle includes: When the wading depth information of the vehicle does not satisfy the first condition and it is determined that the wading depth information of the vehicle is invalid, the floating state of the vehicle is determined according to the slip values ​​of the multiple wheels, the heights of the multiple suspensions and the body posture information of the vehicle.

11. The method according to claim 10, characterized in that The vehicle body posture information includes a vehicle body pitch angle and a vehicle body roll angle, and determining the floating state of the vehicle according to the slip values ​​of the multiple wheels, the heights of the multiple suspensions and the vehicle body posture information includes: When at least two conditions in the condition set are satisfied, determining that the vehicle is in a floating state; When less than two conditions in the condition set are satisfied, determining that the vehicle is in a non-floating state; The condition set includes the following three conditions: Condition 1: the slip value of each wheel among the slip values ​​of the plurality of wheels falls within a first slip value range; Condition 2: the height of each of the plurality of suspensions falls within a first height range; Condition 3: the pitch angle of the vehicle falls within a first angle range and the roll angle of the vehicle falls within a second angle range.

12. A data processing device, characterized in that: The data processing device comprises a processor and a memory, wherein a program is stored in the memory, and the program comprises instructions for executing the method according to any one of claims 1 to 11.

13. A vehicle, characterized in that: The vehicle comprises a data processing device as claimed in claim 12, and the vehicle is used to implement the method as claimed in any one of claims 1-11.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, wherein the computer program includes instructions for executing the method according to any one of claims 1 to 11.

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