Vehicle control method, medium, controller and vehicle

Abstract

The invention relates to the field of vehicles, in particular to a vehicle control method, a medium, a controller and a vehicle. The method comprises the steps that water surface information of a road surface on which a vehicle runs is determined, and the water surface information comprises the height from water and / or the water depth of a preset part of the vehicle; and according to the water surface information and the current working state of the vehicle related parts, the vehicle related parts are controlled to act. Therefore, the possibility that water enters the preset part of the vehicle can be determined according to the height from the water and / or the water depth, and then the possibility that related parts (such as an engine) of the vehicle are influenced by water entering the preset part of the vehicle is determined, namely the possibility that the related parts of the vehicle can operate safely is determined; in this way, based on the possibility of safe operation of the vehicle-related parts and the current working state, the vehicle-related parts are controlled to act, the operation safety of the vehicle-related parts can be improved, the risk of damage to the vehicle-related parts is reduced, and the wading safety of the vehicle is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicles, and in particular, to a vehicle control method, a medium, a controller and a vehicle. Background Art

[0002] When driving, vehicles will pass through various road conditions. For general passenger cars, how to ensure the safe driving of vehicles when passing through flooded sections has always been a major issue facing the automotive field. Currently, there is no relevant technology that proposes corresponding control strategies for vehicles driving in water to protect the vehicles accordingly. Summary of the invention

[0003] The purpose of the present disclosure is to provide a vehicle control method, a medium, a controller and a vehicle to improve the safety of the vehicle during wading.

[0004] In order to achieve the above object, the present disclosure provides a vehicle control method according to a first aspect, comprising:

[0005] Determining water surface information of a road surface on which the vehicle is traveling, wherein the water surface information includes the height of a preset component of the vehicle from water and / or the water depth;

[0006] The actions of the vehicle-related components are controlled according to the water surface information and the current working status of the vehicle-related components.

[0007] A second aspect of the present disclosure provides a vehicle control device, comprising:

[0008] A first determination module is used to determine water surface information of a road surface on which the vehicle is traveling, wherein the water surface information includes a height of a preset component of the vehicle from water and / or a water depth;

[0009] The first control module is used to control the actions of the vehicle-related components according to the water surface information and the current working status of the vehicle-related components.

[0010] A third aspect of the present disclosure provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method provided in the first aspect of the present disclosure.

[0011] A fourth aspect of the present disclosure provides a controller, comprising:

[0012] a memory having a computer program stored thereon;

[0013] A processor, when the computer program is executed by the processor, implements the steps of the method provided in the first aspect of the present disclosure.

[0014] A fifth aspect of the present disclosure provides a vehicle for implementing the steps of the method provided in the first aspect of the present disclosure.

[0015] In the above technical solution, the water surface information of the road surface on which the vehicle is traveling is determined, wherein the water surface information includes the height of the vehicle's preset components from the water and / or the water depth; the actions of the vehicle's relevant components are controlled according to the water surface information and the current working state of the vehicle's relevant components. In this way, the possibility of water entering the vehicle's preset components can be determined by the height of the water and / or the water depth, and then the possibility of the vehicle's relevant components (such as the engine) being affected by the water entering the vehicle's preset components can be clarified, that is, the possibility of the vehicle's relevant components being able to operate safely is determined; in this way, based on the possibility of safe operation of the vehicle's relevant components and the current working state, the actions of the vehicle's relevant components are controlled, which can improve the safety of the operation of the vehicle's relevant components, reduce the risk of damage to the vehicle's relevant components, and improve the safety of the vehicle's wading.

[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0018] Figure 1 is a flowchart of a vehicle control method provided by an exemplary embodiment of the present disclosure.

[0019] Figure 2 is a flowchart of a vehicle control method provided by an exemplary embodiment of the present disclosure.

[0020] Figure 3 is a flowchart of a vehicle control method provided by an exemplary embodiment of the present disclosure.

[0021] Figure 4 is a flowchart of a vehicle control method provided by an exemplary embodiment of the present disclosure.

[0022] Figure 5 is a flowchart of a vehicle control method provided by an exemplary embodiment of the present disclosure.

[0023] Figure 6 is a flowchart of a vehicle control method provided by an exemplary embodiment of the present disclosure.

[0024] Figure 7 is a block diagram of a vehicle control device provided by an exemplary embodiment of the present disclosure.

[0025] Figure 8 is a block diagram of a controller provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0027] Figure 1 FIG. 1 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present disclosure. The method can be applied to a controller provided on a vehicle. Figure 1 As shown, the method may include S101 to S102.

[0028] S101, determining water surface information of the road on which the vehicle is traveling.

[0029] The water surface information includes the height from water and / or the water depth of a preset component of the vehicle, and the preset component of the vehicle includes at least one of an exhaust port and an air inlet.

[0030] For example, a water depth acquisition device pre-set on the vehicle can be used to obtain a water height signal. Then, the water surface information of the corresponding position can be determined based on the water height signal. Among them, the water height refers to the distance between the location of the vehicle preset component and the water surface, and the water depth refers to the water depth in the vertical direction of the location of the vehicle preset component. For the same vehicle preset component, the water height and water depth are a set of interrelated data, which can be used to reflect the possibility of water entering the vehicle preset component. The water depth acquisition device can be a contact sensor, such as a float type, a capacitive type, and other liquid level depth detection sensors, or a non-contact sensor, such as an ultrasonic, laser, radar, and other sensors. Due to the relatively large size of the vehicle, when the vehicle body is tilted, the actual water depth of various parts of the vehicle may be significantly different. Therefore, multiple contact sensors and / or non-contact sensors can be set at different positions of the vehicle to improve the accuracy of the determined water surface information.

[0031] For example, two non-contact water depth sensors can be arranged at the front and rear of the vehicle. For another example, two contact water depth sensors can be arranged at the left and right rearview mirrors of the vehicle body. For another example, two contact water depth sensors can be arranged at the front and rear of the vehicle, and two non-contact water depth sensors can be arranged at the left and right rearview mirrors of the vehicle body. In this way, the advantages of both contact and non-contact water depth sensors can be combined to improve the accuracy of the determined water surface information.

[0032] S102, controlling the actions of the vehicle-related components according to the water surface information and the current working status of the vehicle-related components.

[0033] For example, water surface information can reflect the possibility of water ingress into the preset components of the vehicle. When the vehicle passes through a flooded section, the preset components of the vehicle may be flooded because the distance between the water surface and the vehicle (height from the water) is too small (it can also be understood as too deep water), which may cause the vehicle-related components (such as the engine) to come into contact with water, affecting the operational safety of the vehicle-related components. Among them, the smaller the height from the water and the deeper the water depth, the lower the possibility of safe operation of the vehicle-related components. The current working status of the vehicle-related components includes the operating status and the outage status. According to the water surface information and the current working status of the vehicle-related components, the action of the vehicle-related components is controlled, so that the vehicle-related components can be operated under higher safety conditions and cannot be restarted under lower safety conditions, so as to reduce the risk of damage to the vehicle-related components and improve the safety of the vehicle wading.

[0034] For example, the possibility of safe operation of vehicle-related components can be determined by setting the first distance threshold corresponding to the vehicle preset components. If the height from the water of any vehicle preset component is less than the corresponding first distance threshold, it can be determined that the possibility of safe operation of the vehicle-related component is low, and the vehicle-related component can be controlled to be in a shutdown state and prohibited from restarting in combination with the current working state of the vehicle-related component; if the height from the water of the vehicle preset components is not less than the corresponding first distance threshold, it can be determined that the possibility of safe operation of the vehicle-related component is high, and the vehicle-related component can be controlled to maintain the operating state at the last moment or to be in an operating state in combination with the current working state of the vehicle-related component.

[0035] In the above technical solution, the water surface information of the road surface on which the vehicle is traveling is determined, wherein the water surface information includes the height of the vehicle's preset components from the water and / or the water depth; the actions of the vehicle's relevant components are controlled according to the water surface information and the current working state of the vehicle's relevant components. In this way, the possibility of water entering the vehicle's preset components can be determined by the height of the water and / or the water depth, and then the possibility of the vehicle's relevant components (such as the engine) being affected by the water entering the vehicle's preset components can be clarified, that is, the possibility of the vehicle's relevant components being able to operate safely is determined; in this way, based on the possibility of safe operation of the vehicle's relevant components and the current working state, the actions of the vehicle's relevant components are controlled, which can improve the safety of the operation of the vehicle's relevant components, reduce the risk of damage to the vehicle's relevant components, and improve the safety of the vehicle's wading.

[0036] Optionally, the vehicle-related component may be an engine, and correspondingly, S102 may include:

[0037] Control the start and stop of the engine according to the water surface information and the current working status of the engine.

[0038] In an optional embodiment, controlling the start and stop of the engine according to the water surface information and the current working state of the engine may include:

[0039] If the current working state of the engine is the running state, the engine is controlled to maintain the running state;

[0040] If the current working state of the engine is a shutdown state, the start and stop of the engine are controlled according to the water surface information and the first threshold value.

[0041] For example, if the current working state of the engine is the running state, it can be determined that the engine is still able to operate normally, that is, it can be determined that the operation of the engine is not affected by water and there is no operating obstacle. Even if the engine may be exposed to water entering from the outside, due to the different specific contact positions between the water and the engine, the actual operation of the engine may not be affected by water. At this time, the engine can be controlled to continue to run to ensure that the vehicle can continue to move forward.

[0042] In another optional embodiment, controlling the start and stop of the engine according to the water surface information and the current working state of the engine may include:

[0043] If the current working state of the engine is the running state, the start and stop of the engine are controlled according to the water surface information and the fourth threshold value;

[0044] If the current working state of the engine is a shutdown state, the start and stop of the engine are controlled according to the water surface information and the first threshold value.

[0045] If the current working state of the engine is the running state, controlling the start and stop of the engine according to the water surface information and the fourth threshold value may include:

[0046] When the current working state of the engine is the running state, if the first condition is met, the engine is prohibited from starting, and the first condition includes: the height of the preset component of the vehicle from the water is less than the fourth distance threshold, or the water depth is greater than the fourth water depth threshold;

[0047] When the current working state of the engine is the running state, if the second condition is met, the engine is controlled to maintain running, and the second condition includes: the height of the vehicle preset component from the water is greater than the fourth distance threshold, or the water depth is less than the fourth water depth threshold.

[0048] Among them, the fourth distance threshold in the fourth threshold is smaller than the first distance threshold in the first threshold, and the fourth water depth threshold in the fourth threshold is larger than the first water depth threshold in the first threshold. By way of example, the first threshold and the fourth threshold corresponding to the preset component of the vehicle can be pre-set, wherein the first threshold includes the first distance threshold and the first water depth threshold, and the fourth threshold includes the fourth distance threshold and the fourth water depth threshold. Taking the preset component of the vehicle as an air inlet as an example, the first distance threshold and the fourth distance threshold corresponding to the air inlet can be set based on the nozzle height of the exhaust port, wherein the fourth distance threshold is smaller than the first distance threshold; the first water depth threshold and the fourth water depth threshold corresponding to the air inlet can be set based on the nozzle height of the exhaust port, wherein the fourth water depth threshold is larger than the first water depth threshold.

[0049] If the current working state of the engine is the running state, it can be determined that the engine can still operate normally, that is, it can be determined that the operation of the engine is temporarily not affected by water. At this time, the fourth threshold can be combined to further determine the possibility of safe operation of the engine. If the first condition is met, it can be determined that the engine is likely to be affected by water and then stalled. To ensure its safe operation, the engine can be prohibited from starting, that is, the engine is prohibited from restarting, and the engine can also be controlled to stop running. If the second condition is met, it can be determined that the possibility of the engine being affected by water and then stalling is relatively small. At this time, the engine can be controlled to continue running to ensure that the vehicle can continue to move forward.

[0050] In the present disclosure, if the vehicle preset components may include multiple components, therefore, in order to ensure the safe operation of the engine, the engine start can be prohibited when any vehicle preset component meets the corresponding conditions; when each vehicle preset component meets the corresponding conditions, the engine start can be controlled.

[0051] In the above embodiment, if the current working state of the engine is a shutdown state, controlling the start and stop of the engine according to the water surface information and the first threshold value may include:

[0052] When the current working state of the engine is the shutdown state, if the third condition is met, the engine is prohibited from starting, and the third condition includes: the height of the preset component of the vehicle from the water is less than the first distance threshold, or the water depth is greater than the first water depth threshold;

[0053] When the current working state of the engine is the shutdown state, if the fourth condition is met, the engine is controlled to start, and the fourth condition includes: the height of the vehicle preset component from the water is greater than the first distance threshold, or the water depth is less than the first water depth threshold.

[0054] If the height of the vehicle's preset component from the water is less than the first distance threshold corresponding to the air inlet, or the water depth is greater than the first water depth threshold, it can be determined that water may flow directly into the vehicle's preset component, or water may splash into the vehicle's preset component due to the vehicle's forward movement, and the engine is likely to stop operating due to contact with water entering from the outside. When the current working state of the engine is the shutdown state, if the third condition is met, it is determined that the engine is likely to stop operating due to contact with water entering from the outside, and the engine can be prohibited from starting, that is, the engine can be prohibited from restarting after stopping, so as to ensure the safety of the engine during operation and reduce the risk of engine damage.

[0055] On the contrary, when the current working state of the engine is the shutdown state, if the fourth condition is met, it can be determined that the possibility of the engine shutting down again or even stalling due to contact with water entering from the outside is low, and the possibility of the engine being able to operate safely is high at this time. The previous shutdown may be due to slight water ingress. If the water level is low at this time, the engine can be started, and the engine exhaust can discharge the water in the exhaust pipe. Therefore, the engine can be controlled to start and run to ensure that the vehicle can continue to move forward.

[0056] Figure 2 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present disclosure. Figure 2 , the implementation process of the vehicle control method provided by the present disclosure can be more clearly understood. Figure 2 As shown, the method may include S201 to S205.

[0057] S201, determine whether the current working state of the engine is a running state. If yes, execute S202; if not, execute S203.

[0058] S202, controlling the engine to maintain a running state.

[0059] S203, determining whether the height of the vehicle preset component from the water is less than a first distance threshold. If so, executing S204; if not, executing S205.

[0060] S204, prohibiting engine starting.

[0061] S205, controlling the engine to start.

[0062] Figure 3 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present disclosure. Figure 3 , the implementation process of the vehicle control method provided by the present disclosure can be more clearly understood. Figure 3 As shown, the method may include S201 to S207.

[0063] S201, determine whether the current working state of the engine is a running state. If yes, execute S206; if not, execute S203.

[0064] S206, determining whether the height of the vehicle preset component from the water is less than a fourth distance threshold. If so, executing S207; if not, executing S202.

[0065] S207, controlling the engine to stop and prohibiting restarting.

[0066] S203, determining whether the height of the vehicle preset component from the water is less than a first distance threshold. If so, executing S204; if not, executing S205.

[0067] S204, prohibiting engine starting.

[0068] S205, controlling the engine to start.

[0069] The specific manner of performing the operation of each step has been described in detail in the embodiment of the method, and will not be described in detail here. In this way, the safety of engine operation can be improved, the risk of engine damage can be reduced, and the safety of vehicle wading can be improved.

[0070] Optionally, after executing step S102, the vehicle control method provided by the present disclosure may further include:

[0071] The engine start and stop are controlled according to whether the engine has stalled.

[0072] In an optional embodiment, controlling the start and stop of the engine according to whether the engine has a flameout event may include:

[0073] If the engine stalls, the engine is prohibited from starting.

[0074] For example, the engine flameout event occurs, that is, the vehicle flameout event occurs, and after the flameout event occurs, the engine is in a flameout state. During the vehicle wading process, the cause of the engine flameout event is most likely that the operation of the engine is seriously affected by the water entering from the outside. Therefore, when the vehicle flameout event occurs, the engine can be prohibited from restarting to reduce the risk of engine damage. The engine is different in a shutdown state and a flameout state. During the vehicle wading process, the vehicle engine in the present disclosure may not be controlled by a flameout command, that is, the vehicle flameout at this time is not a controlled flameout, that is, the flameout in the present disclosure may indicate that the engine is accidentally shut down, rather than a controlled cessation of operation. Shutdown means that the operating state stops, and it cannot reflect whether the reason for the shutdown is an accident.

[0075] For example, it can be determined in the following way whether the engine has stalled: during the wading process of the vehicle, if the engine of the vehicle was not in a stalled state at the previous moment, if the working state of the engine at the previous moment was in a running state and the current working state is a stopped state, it can be determined that the vehicle has stalled at the current moment. During the wading process of the vehicle, if the engine of the vehicle was not in a stalled state at the previous moment, if the working state of the engine at the previous moment was in a stopped state, or the working state of the engine at the previous moment was in a running state and the current working state is a running state, it can be determined that the vehicle has not stalled at the current moment.

[0076] In an optional embodiment, controlling the start and stop of the engine according to whether the engine has a flameout event may include:

[0077] When the vehicle has not stalled and the current working state of the engine is a shutdown state, if the fifth condition is met, the engine is controlled to start. The fifth condition includes: the height of a preset component of the vehicle from the water is greater than a second distance threshold, or the water depth is less than a second water depth threshold.

[0078] The second distance threshold is greater than the first distance threshold, and the second water depth threshold is less than the first water depth threshold.

[0079] For example, if the vehicle has not experienced a flameout event, it can be determined that the engine has not been seriously affected by water entering from the outside, and there is still a possibility that the engine can continue to run without damaging itself. The second distance threshold corresponding to the vehicle preset component can be preset. For example, the second distance threshold corresponding to the air inlet can be set based on the nozzle height of the air inlet, and the second distance threshold corresponding to the exhaust port can be set based on the nozzle height of the exhaust port. The second distance threshold corresponding to the same vehicle preset component is greater than the first distance threshold. The setting of the second water depth threshold is similar to the setting of the second distance threshold, and will not be repeated here.

[0080] If the fifth condition is met, it can be determined that the vehicle is a certain distance away from the water surface, or the water depth is small, and the possibility of water entering the vehicle's preset parts is low. At this time, the engine is more likely to run safely, and the engine can be controlled to start and run to ensure that the vehicle can continue to move forward.

[0081] In an optional embodiment, controlling the start and stop of the engine according to whether the engine has a flameout event may include:

[0082] When the vehicle does not stall, if the sixth condition is met, the engine is controlled to maintain the working state at the last moment.

[0083] The sixth condition includes: the current working state of the engine is the running state, or the current working state of the engine is the stopping state and the height of the vehicle's preset component from the water is not greater than the second distance threshold, or the current working state of the engine is the stopping state and the water depth is greater than the second water depth threshold.

[0084] For example, when the vehicle has not stalled, if the current working state of the engine is the running state, it can be determined that the engine is still able to operate normally, that is, it can be determined that the operation of the engine is not affected by water and there is no operating obstacle. To ensure that the vehicle can continue to move forward, the working state of the engine at the previous moment can be maintained, that is, the engine is controlled to be in the running state.

[0085] When the vehicle has not stalled, if the current working state of the engine is a shutdown state, it can be determined that the conditions for controlling the engine to start and run were not met at the previous moment; if it is determined that the current working state of the engine is a shutdown state and the height of the vehicle's preset component from the water is not greater than the second distance threshold, or, the current working state of the engine is a shutdown state and the water depth is greater than the second water depth threshold, it can be determined that if the engine is controlled to run at this time, there is still a possibility that the engine will shut down due to contact with water entering from the outside, that is, the possibility of safe operation of the engine is insufficient, but the possibility that the engine will shut down due to contact with water entering from the outside is not sufficient to directly control the engine to prohibit restarting. At this time, in order to ensure the safe operation of the engine itself, the working state of the engine at the previous moment can continue to be maintained, that is, the engine is controlled to be in a shutdown state.

[0086] Figure 4 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present disclosure. Figure 4 , the implementation process of the vehicle control method provided by the present disclosure during the vehicle wading process can be more clearly understood. Figure 4 As shown, the method may include S204, S205, and S208 to S211.

[0087] S208, determine whether the engine has stalled. If so, execute Figure 2 If not, execute step S209.

[0088] S209, judging whether the current working state of the engine is the running state. If so, executing S211; if not, executing S210.

[0089] S210, determining whether the height of the vehicle preset component from the water is greater than a second distance threshold. If so, executing S205; if not, executing S211.

[0090] S211, controlling the engine to maintain the working state at the last moment.

[0091] The specific manner of performing the operation in each step has been described in detail in the embodiment of the method, and will not be elaborated here. In this way, the start and stop of the engine can be controlled based on the possibility of safe operation of the engine, the current working state of the engine, and the flameout state during the vehicle wading process, so as to improve the safety of engine operation, reduce the risk of engine damage, and improve the safety of vehicle wading.

[0092] Optionally, the vehicle control method provided by the present disclosure may further include:

[0093] According to the water surface information, the vehicle is controlled to enter the wading mode;

[0094] When entering the wading mode, the steps of controlling the actions of the vehicle-related components are executed according to the water surface information and the current working status of the vehicle-related components.

[0095] For example, when the height of the preset vehicle component included in the water surface information from the water is less than the standard distance threshold, or the water depth of the preset vehicle component included in the water surface information is greater than the standard water depth threshold, the vehicle can be controlled to enter the wading mode autonomously. For another example, the user can control the vehicle to enter the wading mode by pressing a button to start the wading mode based on the water surface information. The button can be a physical button for the wading mode, or a virtual button on a smart tablet or smart phone, which is not limited here.

[0096] Optionally, before controlling the vehicle to enter the wading mode, the vehicle control method provided by the present disclosure may further include: Figure 5 S301 to S303 shown:

[0097] S301, in response to receiving a start instruction of the wading mode, generating an engine verification instruction according to water surface information and the current working state of the engine, the engine verification instruction is used to control the operating state of the engine.

[0098] For example, if the user presses a button to start the wading mode, a start instruction for the wading mode may be generated. Alternatively, if the time duration of the height of the vehicle's preset component from the water being less than the standard distance threshold reaches a time threshold, the vehicle controller may automatically generate a start instruction for the wading mode. Alternatively, if the time duration of the water depth of the vehicle's preset component being greater than the standard water depth threshold reaches a time threshold, the vehicle controller may automatically generate a start instruction for the wading mode.

[0099] Optionally, before the start instruction is generated, the vehicle control method provided by the present disclosure may further include:

[0100] If the height of the preset component of the vehicle from the water is less than the third distance threshold, or the water depth is greater than the third water depth threshold, a start request for the wading mode is generated, and the start request is used to prompt the user to issue a start instruction for the wading mode.

[0101] Among them, the third distance threshold is greater than the second distance threshold, the second distance threshold is greater than the first distance threshold, the third water depth threshold is less than the second water depth threshold, and the second water depth threshold is less than the first water depth threshold.

[0102] For example, if the height of the preset component of the vehicle from the water is less than the third distance threshold, or the water depth is greater than the third water depth threshold, it can be determined that the vehicle is passing through a wading section, and the current water depth may affect the driving safety of the vehicle. At this time, a start request can be generated. For example, a start request of "request to enter wading mode" can be displayed on the vehicle display screen. For another example, a speaker can be set in the vehicle, and the above start request can be voice broadcast through the speaker to prompt the user and improve the driving safety of the vehicle.

[0103] The third distance threshold can be preset. For example, the third distance threshold corresponding to the air inlet can be set based on the nozzle height of the air inlet, and the third distance threshold corresponding to the exhaust port can be set based on the nozzle height of the exhaust port. The third distance threshold corresponding to the same vehicle preset component is greater than the second distance threshold, and the second distance threshold is greater than the first distance threshold. The setting of the third water depth threshold is similar to the setting of the third distance threshold, which will not be repeated here. In this way, by dividing into different distance thresholds / water depth thresholds, the possibility of water ingress into the preset components of the vehicle can be distinguished when the vehicle passes through a wading section, so that the vehicle can execute the corresponding control steps to improve the safety of the vehicle's wading driving.

[0104] Returning to step S301, the engine verification instruction may include an engine shutdown instruction and an engine operation instruction. The engine verification instruction may be generated according to the height from the water and the current working state of the engine in the following manner:

[0105] When the current working state of the engine is the shutdown state, if the seventh condition is met, an engine shutdown instruction is generated, wherein the seventh condition includes: the height of the vehicle preset component from the water is less than the first distance threshold, or the water depth corresponding to the vehicle preset component is greater than or equal to the first water depth threshold;

[0106] When the current working state of the engine is the shutdown state, if the eighth condition is met, an engine operation instruction is generated, and the eighth condition includes: the height of the vehicle preset component from the water is greater than the first distance threshold, or the water depth is less than the first water depth threshold;

[0107] When the current working state of the engine is the running state, an engine running instruction is generated.

[0108] Among them, if the current working state of the engine is the running state, it can be determined that the engine can still operate normally at present, that is, it can be determined that the operation of the engine is not affected by water, there is no operating obstacle, the engine is in a safe operating state, and an engine operation instruction can be generated. If the current working state of the engine is the shutdown state, the possibility of the engine shutting down due to contact with water entering from the outside can be judged according to the relationship between the height from the water and the first distance threshold, or the relationship between the water depth and the first water depth threshold. If the seventh condition is met, it can be determined that the possibility of the engine shutting down due to contact with water entering from the outside is high. In order to ensure the safety of the engine, an engine shutdown instruction can be generated to control the engine to shut down. Among them, the engine shutdown instruction can also be used to prohibit the engine from restarting and reduce the risk of engine damage. On the contrary, if the eighth condition is met, it can be determined that the possibility of the engine shutting down due to contact with water entering from the outside is low, and an engine operation instruction can be generated to control the engine operation to ensure that the vehicle can continue to move forward.

[0109] In this way, by generating the engine verification instruction, the engine's own operating safety can be ensured before the vehicle enters the wading mode.

[0110] S302, determining whether there is an abnormality in the engine according to the working state of the engine after a preset period of time.

[0111] For example, the preset time length can be preset, for example, can be set to 3s. By setting the preset time length, the execution of the engine and other components can be provided with response time, thereby improving the accuracy of the result of determining whether there is an abnormality in the engine.

[0112] Among them, the following methods can be used to determine whether the engine is abnormal:

[0113] If the engine verification instruction is an engine operation instruction, and the working state of the engine after the preset time is the operation state, it is determined that there is no abnormality in the engine;

[0114] If the engine verification instruction is an engine shutdown instruction, and the working state of the engine after the preset time period is a shutdown state, it is determined that there is no abnormality in the engine.

[0115] In this way, if the state that the engine is expected to reach is consistent with the working state of the engine after the preset time, it can be determined that there is no abnormality in the engine, thereby ensuring that the engine can be used normally before entering the wading mode. On the contrary, if the above conditions for determining that there is no abnormality in the engine are not met, it can be determined that there is an abnormality in the engine, and the operation of the engine is uncontrolled, and the corresponding engine out of control prompt information can be generated to enable the user to promptly understand the abnormal condition of the engine and perform maintenance in time.

[0116] S303: If it is determined that there is no abnormality with the engine, the vehicle is controlled to enter a wading mode.

[0117] In this way, by generating the engine verification instruction, it is possible to ensure the safety of the engine's own operation before the vehicle enters the wading mode, and at the same time determine whether the engine has any abnormalities, thereby ensuring that the engine can be used normally before entering the wading mode.

[0118] Figure 6 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present disclosure. Figure 6 , the implementation process of the vehicle control method provided by the present disclosure before the vehicle enters the wading mode can be more clearly understood. Figure 6 As shown, the method may include S401 to S408.

[0119] S401, in response to receiving a wading mode start instruction, determining whether the current working state of the engine is a running state. If so, executing S402; if not, executing S403.

[0120] S402, generating an engine operation instruction to control the engine to be in an operating state.

[0121] S403, determining whether the height of the preset component of the vehicle from the water is greater than a first distance threshold. If so, executing S402; if not, executing S404.

[0122] S404, generating an engine shutdown instruction to control the engine to be in a shutdown state.

[0123] S405, obtaining the working status of the engine after a preset time period.

[0124] S406, if the engine verification instruction is an engine operation instruction, and the working state of the engine after the preset time is the operation state, it is determined that there is no abnormality in the engine.

[0125] S407, if the engine verification instruction is an engine shutdown instruction, and the working state of the engine after the preset time is a shutdown state, it is determined that there is no abnormality in the engine.

[0126] S408: If it is determined that there is no abnormality with the engine, the vehicle is controlled to enter a wading mode.

[0127] The specific manner of executing the operation of each step has been described in detail in the embodiment of the method, and will not be elaborated here. In this way, the engine can be judged whether there is any abnormality in the engine while ensuring the safety of the engine's own operation before the vehicle enters the wading mode, ensuring that the engine can be used normally before entering the wading mode.

[0128] Optionally, at least one water depth acquisition device is provided on the vehicle, and the vehicle control method provided by the present disclosure further includes:

[0129] Acquire the signal collected by each water depth collection device;

[0130] The water surface information is determined based on the signals collected by each water depth collection device.

[0131] Optionally, a first water depth collection device may be provided on the left side of the vehicle, and a second water depth collection device may be provided on the right side of the vehicle; the vehicle preset components include at least one of an exhaust port and an air inlet;

[0132] Determining the height above water of intended vehicle components may include:

[0133] Acquire a first water height signal collected by a first water depth acquisition device and a second water height signal collected by a second water depth acquisition device;

[0134] Determining the height of the air inlet from the water according to the first height-from-water signal, the second height-from-water signal, and the position of the air inlet;

[0135] The height of the exhaust port from the water is determined according to the first height-from-water signal, the second height-from-water signal, and the position of the exhaust port.

[0136] For example, the first water height signal and the second water height signal are both valid signals, that is, the values ​​of the specific water heights in the signals do not exceed the range of water heights allowed to be collected by the water depth collection device.

[0137] For example, the height of the air inlet from the water can be determined by the following formula:

[0138] h IL =S L -P IL_Z cos(α)cos(β)-P IL_X sin(α)cos(β)

[0139] h IR =S R -P IR_Z cos(α)cos(β)-P IR_X sin(α)cos(β)

[0140]

[0141] Among them, h I is the height of the air inlet from the water, h IL h is the height of the air inlet from the water at the projection point of the plane where the first water depth acquisition device is located, IR S is the height of the air inlet from the water at the projection point of the second water depth acquisition device, L is the first water height signal, S R is the second water height signal, α is the vehicle body pitch angle, β is the vehicle body roll angle, P IL_Zis the Z-direction water height from the air inlet to the first water depth acquisition device, P IL_x is the X-direction height from the air inlet to the first water depth acquisition device, P IL_Y is the Y-axis height from the air inlet to the first water depth acquisition device, P IR_Z is the Z-direction water height from the air inlet to the second water depth collection device, P IR_X is the X-direction height from the air inlet to the second water depth collection device, P IR_Y It is the Y-direction height from the air inlet to the second water depth collection device.

[0142] For example, the height of the vent from the water can be determined using the following formula:

[0143] h VL =S L -P VL_Z cos(α)cos(β)-P VL_x sin(α)cos(β)

[0144] h VR =S R -P VR_Z cos(α)cos(β)-P VR_X sin(α)cos(β)

[0145]

[0146] Among them, h V is the height of the exhaust port from the water, h VL h is the height of the exhaust port from the water at the projection point of the plane where the first water depth collection device is located, VR S is the height of the exhaust port from the water at the projection point of the second water depth acquisition device, L is the first water height signal, S R is the second water height signal, α is the vehicle body pitch angle, β is the vehicle body roll angle, P VL_Z P is the Z-direction height from the exhaust port to the first water depth collection device, VL_x P is the height from the exhaust port to the first water depth collection device in the X direction, VL_Y P is the Y-axis height from the exhaust port to the first water depth collection device, VR_Z P is the Z-direction height from the exhaust port to the second water depth collection device, VR_X P is the height from the exhaust port to the second water depth collection device in the X direction, VR_Y It is the Y-direction height from the exhaust port to the second water depth collection device.

[0147] The three-dimensional coordinate system involved in the above formula can be a vehicle coordinate system. The origin of the vehicle coordinate system coincides with the center of mass of the vehicle. When the vehicle is stationary on a horizontal road, the X-axis is parallel to the ground and points to the front of the vehicle, the Z-axis passes through the center of mass of the vehicle and points upward, and the Y-axis points to the left of the driver.

[0148] Optionally, when the preset vehicle component includes an exhaust port, the vehicle control method provided by the present disclosure may further include:

[0149] If the water surface information corresponding to the exhaust port satisfies the ninth condition and the current working state of the engine is the running state, the target power of the engine is determined according to the water surface information corresponding to the exhaust port, wherein the ninth condition includes: the height of the exhaust port from the water is less than the fifth distance threshold, or the water depth corresponding to the exhaust port is greater than or equal to the fifth water depth threshold;

[0150] Control the engine operation according to the target power.

[0151] For example, the fifth distance threshold and the fifth water depth threshold may be preset. If the ninth condition is met, it may be determined that the vehicle is in a wading process. The target power of the engine may be determined according to the water surface information corresponding to the exhaust port in the following manner:

[0152] Determining the target power corresponding to the current height of the exhaust port from the water according to a predetermined correspondence between the height of the exhaust port from the water and the target power;

[0153] Alternatively, the target power corresponding to the water depth corresponding to the current exhaust port is determined according to a predetermined correspondence between the water depth corresponding to the exhaust port and the target power.

[0154] Among them, the correspondence between the height of the exhaust port from the water and the target power of the engine, and the correspondence between the water depth corresponding to the exhaust port and the target power can be preset through test results, and the correspondence can be expressed, for example, by a function, a mapping table, etc. The corresponding target power can be found through this correspondence. Among them, the height of the exhaust port from the water and the target power are negatively correlated, and the water depth corresponding to the exhaust port and the target power are positively correlated. The engine can work according to the speed and torque corresponding to the target power. In this way, the operating power of the engine is controlled according to the water surface information of the exhaust port when the vehicle is wading, which can improve the accuracy of the engine power control requirements and the robustness of the function, so that the exhaust pipe back pressure of the engine is greater than the water pressure, so that the engine exhaust is smooth and stable.

[0155] Optionally, when the preset vehicle component includes an air intake, the vehicle control method provided by the present disclosure may further include:

[0156] According to the water surface information corresponding to the air inlet and the air inlet position, air inlet water ingress warning information is generated, and the air inlet water ingress warning information is used to remind the user that water may ingress into the air inlet.

[0157] For example, the water inlet warning distance and water depth of the air inlet warning can be determined based on the position of the air inlet. If the height of the air inlet from the water is less than the water inlet warning distance, or the water depth corresponding to the air inlet is greater than the water inlet warning depth, then the water inlet warning information can be generated. The warning message "there is a risk of water inflow at the air inlet" can be displayed on the vehicle display screen. Alternatively, a speaker can also be provided in the vehicle, and the above-mentioned warning information can be voice broadcast through the speaker. In this way, when there is a risk of water inflow at the vehicle air inlet, the user can be prompted to improve the driving safety of the vehicle. The warning information can also include the actual values ​​of the height of the air inlet from the water and / or the water depth to assist the user to better understand the wading situation of the air inlet, thereby preventing the engine from being damaged due to water inflow at the air inlet and improving the user experience.

[0158] Optionally, in S102, controlling the actions of vehicle-related components according to the water surface information and the current working states of the vehicle-related components may include:

[0159] The actions of the vehicle-related components are controlled according to the water surface information, the current working status of the vehicle-related components and the warning thresholds corresponding to the vehicle-related components.

[0160] The vehicle-related components may include at least one of air conditioning, active suspension, and wet area components. The engine compartment and the lower part of the car that are exposed to the air and often affected by rain and water are called wet areas, and the components arranged in the wet areas are called wet area components. For example, the wet area components may include electrical equipment such as audio equipment and fans.

[0161] For example, according to the water surface information, the current working state of the vehicle-related components and the warning thresholds corresponding to the vehicle-related components, it may include:

[0162] If the height of the vehicle's preset component from water is less than the water height warning threshold corresponding to the air conditioner, or the water depth is not less than the water depth warning threshold corresponding to the air conditioner, and the air conditioner is currently in the external circulation mode, the air conditioner is controlled to enter the internal circulation mode;

[0163] If the height of the preset component of the vehicle from the water is less than the water height warning threshold corresponding to the active suspension, or the water depth is not less than the water depth warning threshold corresponding to the active suspension, and the active suspension is not in the preset position, the active suspension is controlled to rise to the preset position;

[0164] If the water height of the vehicle's preset component is less than the water height warning threshold corresponding to the wet area component, or the water depth is not less than the water depth warning threshold corresponding to the wet area component, and the wet area component is in the energized state, the wet area component is controlled to be shut down and the power supply is cut off.

[0165] For example, the water height warning threshold and water depth warning threshold corresponding to the air conditioner can be determined based on the actual position of the air inlet or exhaust port. If the water height of the vehicle's preset component is less than the water height warning threshold corresponding to the air conditioner, or the water depth is not less than the water depth warning threshold corresponding to the air conditioner, it can be determined that the vehicle is at risk of water ingress. The air conditioner can be controlled to enter the internal circulation mode, closing the air flow channels inside and outside the vehicle to reduce the risk of water ingress in the vehicle.

[0166] For example, the water height warning threshold and water depth warning threshold corresponding to the active suspension can be determined based on the actual position of the active suspension in the vehicle, and the preset position can be the highest suspension height of the active suspension. If the water height of the preset component of the vehicle is less than the water height warning threshold corresponding to the active suspension, or the water depth is not less than the water depth warning threshold corresponding to the active suspension, it can be determined that the active suspension may be affected by the water entering the vehicle from the outside. In order to reduce the damage to the active suspension, the active suspension can be controlled to rise to the preset position.

[0167] For example, the water height warning threshold and water depth warning threshold corresponding to the wet area component can be determined based on the actual position of the wet area component in the vehicle. If the height of the vehicle preset component from water is less than the water height warning threshold corresponding to the wet area component, or the water depth is not less than the water depth warning threshold corresponding to the wet area component, it can be determined that the wet area component is likely to be affected by water entering the vehicle from the outside. In order to ensure the safety of the operation of the wet area component and prevent the control circuit of the wet area component from short-circuiting, the wet area component can be controlled to be shut down and the power supply can be cut off.

[0168] Based on the same inventive concept, the present disclosure also provides a vehicle control device. Figure 7 is a block diagram of a vehicle control device provided by an exemplary embodiment of the present disclosure. Figure 7 , the vehicle control device 600 may include:

[0169] A first determination module 601 is used to determine water surface information of a road surface on which a vehicle is traveling, wherein the water surface information includes a height of a preset component of the vehicle from water and / or a water depth;

[0170] The first control module 602 is used to determine water surface information of the road surface on which the vehicle is traveling, wherein the water surface information includes the height and / or water depth of a preset component of the vehicle from the water.

[0171] In the above technical solution, the water surface information of the road surface on which the vehicle is traveling is determined, wherein the water surface information includes the height of the vehicle's preset components from the water and / or the water depth; the actions of the vehicle's relevant components are controlled according to the water surface information and the current working state of the vehicle's relevant components. In this way, the possibility of water entering the vehicle's preset components can be determined by the height of the water and / or the water depth, and then the possibility of the vehicle's relevant components (such as the engine) being affected by the water entering the vehicle's preset components can be clarified, that is, the possibility of the vehicle's relevant components being able to operate safely is determined; in this way, based on the possibility of safe operation of the vehicle's relevant components and the current working state, the actions of the vehicle's relevant components are controlled, which can improve the safety of the operation of the vehicle's relevant components, reduce the risk of damage to the vehicle's relevant components, and improve the safety of the vehicle's wading.

[0172] Optionally, the vehicle-related component is an engine, and the first control module 602 is used to control the action of the vehicle-related component in the following manner, including:

[0173] The start and stop of the engine are controlled according to the water surface information and the current working state of the engine.

[0174] Optionally, the first control module 602 includes:

[0175] A first control submodule, configured to control the engine to maintain the running state if the current working state of the engine is the running state;

[0176] The second control submodule is used to control the start and stop of the engine according to the water surface information and the first threshold value if the current working state of the engine is a shutdown state.

[0177] Optionally, the first control module 602 includes:

[0178] a third control submodule, configured to control the start and stop of the engine according to the water surface information and a fourth threshold value if the current working state of the engine is a running state;

[0179] The fourth control submodule is used to control the start and stop of the engine according to the water surface information and the first threshold value if the current working state of the engine is a shutdown state.

[0180] Optionally, the third control submodule is used to control the start and stop of the engine according to the water surface information and the fourth threshold value in the following manner:

[0181] When the current working state of the engine is the running state, if a first condition is met, the engine is prohibited from starting, and the first condition includes: the height of the vehicle preset component from the water is less than the fourth distance threshold, or the water depth is greater than the fourth water depth threshold;

[0182] When the current working state of the engine is the running state, if the second condition is met, the engine is controlled to maintain running, and the second condition includes: the height of the vehicle preset component from the water is greater than the fourth distance threshold, or the water depth is less than the fourth water depth threshold.

[0183] Optionally, the second control submodule or the fourth control submodule is used to control the start and stop of the engine according to the water surface information and the first threshold value in the following manner:

[0184] When the current working state of the engine is the shutdown state, if a third condition is met, the engine is prohibited from starting, and the third condition includes: the height of the vehicle preset component from the water is less than a first distance threshold, or the water depth is greater than a first water depth threshold;

[0185] When the current working state of the engine is a shutdown state, if a fourth condition is met, the engine is controlled to start, and the fourth condition includes: the height of the vehicle preset component from the water is greater than the first distance threshold, or the water depth is less than the first water depth threshold.

[0186] Optionally, the apparatus 600 further includes:

[0187] The second control module is used to control the start and stop of the engine according to whether the engine has a flameout event.

[0188] Optionally, the second control module includes:

[0189] The fifth control submodule is used to prohibit starting the engine if a flameout event occurs in the engine.

[0190] Optionally, the second control module includes:

[0191] The sixth control submodule is used to control the engine to start if the fifth condition is met when the vehicle has not stalled and the current working state of the engine is a shutdown state, and the fifth condition includes: the height of the vehicle's preset component from water is greater than a second distance threshold, or the water depth is less than a second water depth threshold, wherein the second distance threshold is greater than the first distance threshold, and the second water depth threshold is less than the first water depth threshold.

[0192] Optionally, the second control module includes:

[0193] The seventh control submodule is used to control the engine to maintain the working state at the previous moment if the sixth condition is met when the vehicle has not stalled, and the sixth condition includes: the current working state of the engine is a running state, or the current working state of the engine is a shutdown state and the height of the vehicle's preset component from the water is not greater than a second distance threshold, or the current working state of the engine is a shutdown state and the water depth is greater than a second water depth threshold.

[0194] Optionally, the apparatus 600 further includes:

[0195] A third control module, used for controlling the vehicle to enter a wading mode according to the water surface information;

[0196] The first control module is used to execute the step of controlling the actions of the vehicle-related components according to the water surface information and the current working status of the vehicle-related components when entering the wading mode.

[0197] The vehicle-related component is an engine, and the third control module includes:

[0198] a generating submodule, configured to generate an engine verification instruction in response to receiving a start instruction of the wading mode, according to the water surface information and the current working state of the engine, wherein the engine verification instruction is used to control the operating state of the engine;

[0199] A determination submodule, used to determine whether the engine is abnormal according to the working state of the engine after a preset period of time;

[0200] An eighth control submodule is configured to control the vehicle to enter the wading mode if it is determined that there is no abnormality in the engine.

[0201] Optionally, the device 600 further includes:

[0202] a request module, configured to generate a start request for the wading mode if the height of the preset component of the vehicle from the water is less than a third distance threshold, or the water depth is greater than a third water depth threshold, wherein the start request is used to prompt a user to issue a start instruction for the wading mode,

[0203] The third distance threshold is greater than the second distance threshold, the second distance threshold is greater than the first distance threshold, the third water depth threshold is less than the second water depth threshold, and the second water depth threshold is less than the first water depth threshold.

[0204] Optionally, the engine verification instruction includes an engine shutdown instruction and an engine operation instruction, and the generation submodule is used to generate the engine verification instruction in the following manner:

[0205] When the current working state of the engine is the shutdown state, if the seventh condition is met, the engine shutdown instruction is generated, wherein the seventh condition includes: the height of the vehicle preset component from the water is less than the first distance threshold, or the water depth corresponding to the vehicle preset component is greater than or equal to the first water depth threshold;

[0206] When the current working state of the engine is the shutdown state, if the eighth condition is met, the engine operation instruction is generated, and the eighth condition includes: the height of the vehicle preset component from the water is greater than the first distance threshold, or the water depth is less than the first water depth threshold;

[0207] When the current working state of the engine is the running state, the engine running instruction is generated.

[0208] Optionally, the determination submodule is used to determine whether the engine has an abnormality in the following manner:

[0209] If the engine verification instruction is the engine running instruction, and the working state of the engine after the preset time period is the running state, it is determined that there is no abnormality in the engine;

[0210] If the engine verification instruction is the engine shutdown instruction, and the working state of the engine after the preset time period is a shutdown state, it is determined that there is no abnormality in the engine.

[0211] Optionally, at least one water depth acquisition device is provided on the vehicle, and the device 600 further includes:

[0212] An acquisition module, used to acquire the signal collected by each of the water depth acquisition devices;

[0213] The second determination module is used to determine the water surface information according to the signal collected by each of the water depth collection devices.

[0214] Optionally, the water depth acquisition device includes a first water depth acquisition device and a second water depth acquisition device; the vehicle preset component includes at least one of an exhaust port and an air inlet; and the second determination module is used to determine the height of the vehicle preset component from the water in the following manner:

[0215] Acquire a first water height signal collected by the first water depth acquisition device and a second water height signal collected by the second water depth acquisition device;

[0216] Determining the height of the air inlet from the water according to the first height-from-water signal, the second height-from-water signal, and the position of the air inlet;

[0217] The height of the exhaust port from the water is determined according to the first height-from-water signal, the second height-from-water signal, and the position of the exhaust port.

[0218] Optionally, the vehicle preset component includes an exhaust port, the vehicle related component is an engine, and the device 600 further includes:

[0219] a third determination module, configured to determine the target power of the engine according to the water surface information corresponding to the exhaust port if the water surface information corresponding to the exhaust port satisfies a ninth condition and the current working state of the engine is a running state, wherein the ninth condition includes: the height of the exhaust port from the water is less than a fifth distance threshold, or the water depth corresponding to the exhaust port is greater than or equal to a fifth water depth threshold;

[0220] A fourth control module is used to control the operation of the engine according to the target power.

[0221] Optionally, the third determination module is used to determine the target power of the engine according to the water surface information corresponding to the exhaust port in the following manner:

[0222] Determining the target power corresponding to the current height of the exhaust port from the water according to a predetermined correspondence between the height of the exhaust port from the water and the target power, wherein the height of the exhaust port from the water and the target power are negatively correlated;

[0223] Alternatively, the target power corresponding to the water depth corresponding to the current exhaust port is determined based on a predetermined correspondence between the water depth corresponding to the exhaust port and the target power, wherein the water depth corresponding to the exhaust port and the target power are positively correlated.

[0224] Optionally, the vehicle preset component includes an air inlet, and the device 600 further includes:

[0225] The early warning module is used to generate early warning information of water ingress into the air inlet according to the water surface information corresponding to the air inlet and the position of the air inlet, wherein the early warning information of water ingress into the air inlet is used to remind the user that water may ingress into the air inlet.

[0226] Optionally, the first control module 602 further includes:

[0227] The ninth control submodule is used to control the action of the vehicle-related components according to the water surface information, the current working status of the vehicle-related components and the warning thresholds corresponding to the vehicle-related components.

[0228] Optionally, the ninth control submodule includes:

[0229] The tenth control submodule is used to control the air conditioner to enter the internal circulation mode if the water height of the preset component of the vehicle is less than the water height warning threshold corresponding to the air conditioner or the water depth is not less than the water depth warning threshold corresponding to the air conditioner, and the air conditioner is currently in the external circulation mode.

[0230] Optionally, the ninth control submodule includes:

[0231] The eleventh control submodule is used to control the active suspension to rise to the preset position if the water height of the preset component of the vehicle is less than the water height warning threshold corresponding to the active suspension or the water depth is not less than the water depth warning threshold corresponding to the active suspension, and the active suspension is not in the preset position.

[0232] Optionally, the ninth control submodule includes:

[0233] The eleventh and twelfth control submodules are used to control the wet area component to shut down and cut off the power supply if the water height of the preset component of the vehicle is less than the water height warning threshold corresponding to the wet area component or the water depth is not less than the water depth warning threshold corresponding to the wet area component, and the wet area component is in a powered-on state.

[0234] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0235] Figure 8 FIG. 7 is a block diagram of a controller 700 provided by an exemplary embodiment of the present disclosure. Figure 8 As shown, the controller 700 may include: a processor 701 and a memory 702. The controller 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0236] The processor 701 is used to control the overall operation of the controller 700 to complete all or part of the steps in the above-mentioned vehicle control method. The memory 702 is used to store various types of data to support the operation of the controller 700, and these data may include, for example, instructions for any application or method used to operate on the controller 700, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 702 or sent through the communication component 705. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, and the other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the controller 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 705 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0237] In an exemplary embodiment, the controller 700 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned vehicle control method.

[0238] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned vehicle control method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 702 including program instructions, and the above-mentioned program instructions can be executed by the processor 701 of the controller 700 to complete the above-mentioned vehicle control method.

[0239] The present disclosure also provides a vehicle, including the vehicle control device 600 provided by the present disclosure, or the controller 700 provided by the present disclosure, to implement the above-mentioned vehicle control method, wherein the preset components of the vehicle include an air intake and an exhaust port.

[0240] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0241] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0242] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle control method, characterized in that: include: Determining water surface information of a road surface on which the vehicle is traveling, wherein the water surface information includes the height of a preset component of the vehicle from water and / or the water depth; The actions of the vehicle-related components are controlled according to the water surface information and the current working status of the vehicle-related components.

2. The method according to claim 1, characterized in that The vehicle-related component is an engine, and controlling the operation of the vehicle-related component according to the water surface information and the current working state of the vehicle-related component includes: The start and stop of the engine are controlled according to the water surface information and the current working state of the engine.

3. The method according to claim 2, characterized in that The controlling the start and stop of the engine according to the water surface information and the current working state of the engine comprises: If the current working state of the engine is a running state, controlling the engine to maintain the running state; If the current working state of the engine is a shutdown state, the start and stop of the engine are controlled according to the water surface information and the first threshold value.

4. The method according to claim 2, characterized in that: The controlling the start and stop of the engine according to the water surface information and the current working state of the engine comprises: If the current working state of the engine is the running state, controlling the start and stop of the engine according to the water surface information and a fourth threshold value; If the current working state of the engine is a shutdown state, the start and stop of the engine are controlled according to the water surface information and the first threshold value.

5. The method according to claim 4, characterized in that If the current working state of the engine is the running state, controlling the start and stop of the engine according to the water surface information and the fourth threshold value includes: When the current working state of the engine is the running state, if a first condition is met, the engine is prohibited from starting, the first condition comprising: the height of the vehicle preset component from the water is less than a fourth distance threshold, or the water depth is greater than a fourth water depth threshold; When the current working state of the engine is the running state, if the second condition is met, the engine is controlled to maintain running, and the second condition includes: the height of the vehicle preset component from the water is greater than the fourth distance threshold, or the water depth is less than the fourth water depth threshold.

6. The method according to claim 3 or 4, characterized in that: If the current working state of the engine is a shutdown state, controlling the start and stop of the engine according to the water surface information and a first threshold value includes: When the current working state of the engine is the shutdown state, if a third condition is met, the engine is prohibited from starting, and the third condition includes: the height of the vehicle preset component from the water is less than a first distance threshold, or the water depth is greater than a first water depth threshold; When the current working state of the engine is a shutdown state, if a fourth condition is met, the engine is controlled to start, and the fourth condition includes: the height of the vehicle preset component from the water is greater than the first distance threshold, or the water depth is less than the first water depth threshold.

7. The method according to claim 6, characterized in that After controlling the start and stop of the engine, the method further includes: The start and stop of the engine are controlled according to whether a flameout event occurs in the engine.

8. The method according to claim 7, characterized in that The controlling the start and stop of the engine according to whether the engine has a flameout event comprises: If a flameout event occurs in the engine, starting of the engine is prohibited.

9. The method according to claim 7, characterized in that: The controlling the start and stop of the engine according to whether the engine has a flameout event comprises: When the vehicle has not been turned off and the current working state of the engine is a shutdown state, if a fifth condition is met, the engine is controlled to start, and the fifth condition includes: the height of the preset component of the vehicle from the water is greater than a second distance threshold, or the water depth is less than a second water depth threshold; The second distance threshold is greater than the first distance threshold, and the second water depth threshold is less than the first water depth threshold.

10. The method according to claim 7, characterized in that The method further comprises: controlling the start and stop of the engine according to whether the engine has a flameout event. When the vehicle does not stall, if the sixth condition is met, the engine is controlled to maintain the working state at the last moment. The sixth condition includes: the current working state of the engine is the running state, or the current working state of the engine is the stopping state and the height of the vehicle preset component from the water is not greater than the second distance threshold, or the current working state of the engine is the stopping state and the water depth is greater than the second water depth threshold.

11. The method according to claim 1, characterized in that: Also includes: According to the water surface information, controlling the vehicle to enter a wading mode; When entering the wading mode, the step of controlling the actions of the vehicle-related components according to the water surface information and the current working status of the vehicle-related components is executed.

12. The method according to claim 11, characterized in that The vehicle-related component is an engine, and controlling the vehicle to enter a wading mode according to the water surface information includes: In response to receiving a start instruction of the wading mode, generating an engine verification instruction according to the water surface information and the current working state of the engine, wherein the engine verification instruction is used to control the operating state of the engine; Determining whether the engine is abnormal according to the working state of the engine after a preset period of time; If it is determined that there is no abnormality in the engine, the vehicle is controlled to enter the wading mode.

13. The method according to claim 12, characterized in that The method further comprises: If the height of the preset component of the vehicle from the water is less than a third distance threshold, or the water depth is greater than a third water depth threshold, a start request for the wading mode is generated, and the start request is used to prompt the user to issue a start instruction for the wading mode. The third distance threshold is greater than the second distance threshold, the second distance threshold is greater than the first distance threshold, the third water depth threshold is less than the second water depth threshold, and the second water depth threshold is less than the first water depth threshold.

14. The method according to claim 12, characterized in that The engine verification instruction includes an engine shutdown instruction and an engine operation instruction; The generating of the engine verification instruction according to the water surface information and the current working state of the engine comprises: When the current working state of the engine is the shutdown state, if the seventh condition is met, the engine shutdown instruction is generated, wherein the seventh condition includes: the height of the vehicle preset component from the water is less than the first distance threshold, or the water depth corresponding to the vehicle preset component is greater than or equal to the first water depth threshold; When the current working state of the engine is the shutdown state, if the eighth condition is met, the engine operation instruction is generated, and the eighth condition includes: the height of the vehicle preset component from the water is greater than the first distance threshold, or the water depth is less than the first water depth threshold; When the current working state of the engine is the running state, the engine running instruction is generated.

15. The method according to claim 12, characterized in that The engine verification instruction includes an engine shutdown instruction and an engine operation instruction; The determining whether the engine is abnormal according to the working state of the engine after a preset time period includes: If the engine verification instruction is the engine running instruction, and the working state of the engine after the preset time period is the running state, it is determined that there is no abnormality in the engine; If the engine verification instruction is the engine shutdown instruction, and the working state of the engine after the preset time period is a shutdown state, it is determined that there is no abnormality in the engine.

16. The method according to claim 1, characterized in that At least one water depth acquisition device is provided on the vehicle, and the method further comprises: Acquire the signal collected by each of the water depth collection devices; The water surface information is determined according to the signals collected by each of the water depth collection devices.

17. The method according to claim 16, characterized in that The water depth collection device includes a first water depth collection device and a second water depth collection device; the vehicle preset component includes at least one of an exhaust port and an air inlet; The water surface information includes the height from the water, and determining the height from the water of the preset components of the vehicle includes: Acquire a first water height signal collected by the first water depth acquisition device and a second water height signal collected by the second water depth acquisition device; Determining the height of the air inlet from the water according to the first height-from-water signal, the second height-from-water signal, and the position of the air inlet; The height of the exhaust port from the water is determined according to the first height-from-water signal, the second height-from-water signal, and the position of the exhaust port.

18. The method according to any one of claims 1 to 17, characterized in that: The vehicle preset component includes an exhaust port, the vehicle related component is an engine, and the method further includes: If the water surface information corresponding to the exhaust port satisfies the ninth condition and the current working state of the engine is the running state, the target power of the engine is determined according to the water surface information corresponding to the exhaust port, wherein the ninth condition includes: the height of the exhaust port from the water is less than the fifth distance threshold, or the water depth corresponding to the exhaust port is greater than or equal to the fifth water depth threshold; The engine is controlled to operate according to the target power.

19. The method according to claim 18, characterized in that The step of determining the target power of the engine according to the water surface information corresponding to the exhaust port comprises: Determining the target power corresponding to the current height of the exhaust port from the water according to a predetermined correspondence between the height of the exhaust port from the water and the target power, wherein the height of the exhaust port from the water and the target power are negatively correlated; Alternatively, the target power corresponding to the water depth corresponding to the current exhaust port is determined based on a predetermined correspondence between the water depth corresponding to the exhaust port and the target power, wherein the water depth corresponding to the exhaust port and the target power are positively correlated.

20. The method according to claim 1, characterized in that The vehicle preset component includes an air intake, and the method further includes: According to the water surface information corresponding to the air inlet and the position of the air inlet, air inlet water ingress warning information is generated, and the air inlet water ingress warning information is used to remind the user that water may ingress into the air inlet.

21. The method according to claim 1, characterized in that The controlling the actions of the vehicle-related components according to the water surface information and the current working states of the vehicle-related components comprises: The actions of the vehicle-related components are controlled according to the water surface information, the current working status of the vehicle-related components and the warning thresholds corresponding to the vehicle-related components.

22. The method according to claim 21, characterized in that The vehicle-related components include an air conditioner, and controlling the actions of the vehicle-related components according to the water surface information, the current working state of the vehicle-related components, and the warning thresholds corresponding to the vehicle-related components includes: If the water height of the vehicle's preset component is less than the water height warning threshold corresponding to the air conditioner or the water depth is not less than the water depth warning threshold corresponding to the air conditioner, and the air conditioner is currently in the external circulation mode, the air conditioner is controlled to enter the internal circulation mode.

23. The method according to claim 21, characterized in that The vehicle-related components include an active suspension, and controlling the actions of the vehicle-related components according to the water surface information, the current working state of the vehicle-related components, and the warning thresholds corresponding to the vehicle-related components includes: If the water height of the vehicle preset component is less than the water height warning threshold corresponding to the active suspension or the water depth is not less than the water depth warning threshold corresponding to the active suspension, and the active suspension is not in the preset position, the active suspension is controlled to rise to the preset position.

24. The method according to claim 21, characterized in that The vehicle-related components include wet area components, and controlling the actions of the vehicle-related components according to the water surface information, the current working state of the vehicle-related components, and the warning thresholds corresponding to the vehicle-related components includes: If the water height of the preset component of the vehicle is less than the water height warning threshold corresponding to the wet area component or the water depth is not less than the water depth warning threshold corresponding to the wet area component, and the wet area component is in an energized state, the wet area component is controlled to be turned off and the power supply is cut off.

25. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 24 are implemented.

26. A controller, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 24.

27. A vehicle, characterized in that: Steps for implementing the method according to any one of claims 1 to 24.

28. The vehicle according to claim 27, characterized in that The vehicle preset components include an air intake and an exhaust port.

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