Vehicle control method, medium, controller, and vehicle

Abstract

The present disclosure relates to the field of vehicles, and in particular, to a vehicle control method, medium, controller and vehicle. The method comprises: determining water surface information of a driving surface of the vehicle, wherein the water surface information comprises a water height and / or a water depth of a preset component of the vehicle; and controlling a vehicle-related component to act according to the water surface information and a current working state of the vehicle-related component. In this way, the possibility of water entering the preset component of the vehicle can be determined according to the water height and / or the water depth, and the possibility of the vehicle-related component (such as an engine) being affected by the water in the preset component of the vehicle can be determined, i.e. the possibility of the vehicle-related component being able to operate safely can be determined. Thus, the vehicle-related component is controlled to act based on the possibility of the vehicle-related component operating safely and the current working state, which can improve the safety of the vehicle-related component operating, reduce the risk of the vehicle-related component being damaged, and improve the safety of the vehicle wading.

Description

TECHNICAL FIELD

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

[0002] When a vehicle is in a driving state, it will pass through various road conditions. For a general passenger car, how to ensure the safe driving of the vehicle when passing through a water section has been a major issue in the automotive field. Currently, there is no related technology to propose a corresponding control strategy for vehicle water driving to protect the vehicle accordingly. SUMMARY

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

[0004] To achieve the above purpose, the first aspect of the present disclosure provides a vehicle control method, comprising:

[0005] determining water surface information of a vehicle driving road surface, wherein the water surface information comprises a water height and / or water depth of a preset component of the vehicle;

[0006] controlling the action of a vehicle-related component according to the water surface information and the current working state of the vehicle-related component.

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

[0008] a first determination module for determining water surface information of a vehicle driving road surface, wherein the water surface information comprises a water height and / or water depth of a preset component of the vehicle;

[0009] a first control module for controlling the action of a vehicle-related component according to the water surface information and the current working state of the vehicle-related component.

[0010] The 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 by the first aspect of the present disclosure.

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

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

[0013] a processor, wherein the computer program is executed by the processor to implement the steps of the method provided by the first aspect of the present disclosure.

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

[0015] In the technical solution, the water surface information of the vehicle driving road surface is determined, wherein the water surface information comprises the water height and / or water depth of the vehicle preset component; and the vehicle related component is controlled to act according to the water surface information and the current working state of the vehicle related component. In this way, the possibility of water entering the vehicle preset component can be determined according to the water height and / or water depth, and then the possibility of the vehicle related component (such as the engine) being affected by the water entering the vehicle preset component can be determined, that is, the possibility of the vehicle related component being able to safely operate can be determined. In this way, the vehicle related component is controlled to act based on the possibility of the vehicle related component safely operating and the current working state, so that the safety of the vehicle related component operating can be improved, the risk of the vehicle related component being damaged can be reduced, and the safety of the vehicle wading can be improved.

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

[0017] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, and are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation of the present disclosure. In the 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 embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended for illustration and explanation of the present disclosure and are not intended to limit the present disclosure.

[0027] Figure 1 is a flowchart 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. As shown in Figure 1 , the method can include S101-S102.

[0028] S101, determine water surface information of a driving surface of the vehicle.

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

[0030] For example, a water depth acquisition device provided in advance 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. The water height refers to the distance between the position of the preset component of the vehicle and the water surface, and the water depth refers to the water depth in the vertical direction of the position of the preset component of the vehicle. For the same preset component of the vehicle, the water height and the water depth are a set of correlated data, both of which can be used to reflect the possibility of water entering the preset component of the vehicle. The water depth acquisition device can be a contact sensor, such as a float ball type, a capacitive type, or other liquid level depth detection sensor, or a non-contact sensor, such as an ultrasonic type, a laser type, or a radar type sensor. Since the size of the vehicle is relatively large, the actual water depth of each part of the vehicle can be significantly different when the vehicle is in a tilted state. Therefore, a plurality of contact sensors and / or non-contact sensors can be arranged 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, control the operation of the vehicle-related component according to the water surface information and the current working state of the vehicle-related component.

[0033] For example, the water surface information can reflect the possibility of water entering the vehicle preset components, and when the vehicle passes through the water section, the distance between the water surface and the vehicle (the water height) can be too small (or the water depth can be too large), which can cause water to enter the vehicle preset components, and further cause the vehicle related components (such as the engine) to be in contact with water, thereby affecting the safe operation of the vehicle related components. Wherein, the smaller the water height, the deeper the water depth, and the lower the possibility of safe operation of the vehicle related components. The current working state of the vehicle related components includes the running state and the shutdown state. According to the water surface information and the current working state of the vehicle related components, the action of the vehicle related components is controlled, so that the vehicle related components can run in a higher safety condition, and cannot be started again in a lower safety condition, thereby reducing the risk of damage to the vehicle related components and improving the safety of the vehicle in water.

[0034] For example, the first distance threshold corresponding to the vehicle preset component can be set to determine the possibility of safe operation of the vehicle related components. If the water height 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 components is low, and the action of the vehicle related components can be controlled in combination with the current working state of the vehicle related components, so that it is in a shutdown state and is prohibited from being started again; if the water height of the vehicle preset component is not less than the corresponding first distance threshold, it can be determined that the possibility of safe operation of the vehicle related components is high, and the action of the vehicle related components can be controlled in combination with the current working state of the vehicle related components, so that it maintains the running state at the previous time or is in a running state.

[0035] In the above technical solution, the water surface information of the vehicle driving road surface is determined, wherein the water surface information includes the water height and / or the water depth of the vehicle preset component; and the action of the vehicle related components is controlled according to the water surface information and the current working state of the vehicle related components. In this way, the possibility of water entering the vehicle preset components can be determined by the water height and / or the water depth, and the possibility of the vehicle related components (such as the engine) being affected by the water entering the vehicle preset components can be further determined, that is, the possibility of safe operation of the vehicle related components can be determined; in this way, the action of the vehicle related components is controlled based on the possibility of safe operation of the vehicle related components and the current working state, which can improve the safety of the vehicle related components, reduce the risk of damage to the vehicle related components, and improve the safety of the vehicle in water.

[0036] Alternatively, the vehicle related component can be an engine, and correspondingly, S102 can include:

[0037] According to the water surface information and the current working state of the engine, the start and stop of the engine are controlled.

[0038] In an optional embodiment, according to the water surface information and the current working state of the engine, the start and stop of the engine can 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 the stop state, the engine is controlled to start or stop 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 can still operate normally at present, that is, it can be determined that the running of the engine is not affected by water and no running obstacle occurs. Even if the engine may be in contact with water entering from the outside, because of the difference in the specific contact position of the water and the engine, the actual running of the engine may not be affected by the water. At this time, the engine can be controlled to continue running to ensure that the vehicle can continue to move forward.

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

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

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

[0045] If the current working state of the engine is the running state, the engine is controlled to start or stop according to the water surface information and the fourth threshold value.

[0046] When the current working state of the engine is the running state, if the first condition is met, the engine is prohibited to start, and the first condition includes that the distance of the preset component of the vehicle from the water is less than the fourth distance threshold value or the water depth is greater than the fourth water depth threshold value.

[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 the running, and the second condition includes that the distance of the preset component of the vehicle from the water is greater than the fourth distance threshold value or the water depth is less than the fourth water depth threshold value.

[0048] 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. For example, the first threshold and the fourth threshold corresponding to the vehicle preset component can be preset in advance, where 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 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 pipe height of the exhaust port, where the fourth distance threshold is smaller than the first distance threshold; and the first water depth threshold and the fourth water depth threshold corresponding to the air inlet can be set based on the pipe height of the exhaust port, where 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 at present, that is, it can be determined that the running 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 running of the engine. If the first condition is met, it can be determined that the possibility of the engine being affected by water and then being extinguished is relatively large, in order to ensure the safety of the running of the engine, the engine start can be prohibited, that is, the engine restart is prohibited, 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 being extinguished 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 component can include multiple components, therefore, in order to ensure the safety of the running of the engine, the engine start can be prohibited when any vehicle preset component meets the corresponding condition; the engine start can be controlled when each vehicle preset component meets the corresponding condition.

[0051] In the above embodiment, if the current working state of the engine is the stop state, the start and stop of the engine are controlled according to the water surface information and the first threshold, which can include:

[0052] When the current working state of the engine is the stop state, if the third condition is met, the engine start is prohibited, and the third condition includes that the water height of the vehicle preset component 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 stop state, if the fourth condition is met, the engine start is controlled, and the fourth condition includes that the water height of the vehicle preset component is greater than the first distance threshold, or the water depth is less than the first water depth threshold.

[0054] If the water height of the vehicle preset component 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 can directly flow into the vehicle preset component, or water splashed into the vehicle preset component due to the vehicle driving forward, and the possibility of engine shutdown due to contact with externally entering water is high. When the current working state of the engine is the shutdown state, if the third condition is met, it is determined that the possibility of engine shutdown due to contact with externally entering water is high, and the engine start can be prohibited, that is, the restart of the engine after shutdown is prohibited, to ensure the safety of the engine 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 engine shutdown or even engine stall due to contact with externally entering water is low, and the possibility of safe operation of the engine is high at this time. The previous shutdown may be slight water entry, and if the water surface is low at this time, the engine can be started, and the water in the exhaust pipe is discharged by the engine exhaust, so the engine start can be controlled to ensure that the vehicle can continue to drive forward.

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

[0057] S201, determine whether the current working state of the engine is a running state. If yes, perform S202; if no, perform S203.

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

[0059] S203, determine whether the water height of the vehicle preset component is less than the first distance threshold. If yes, perform S204; if no, perform S205.

[0060] S204, prohibit the engine start.

[0061] S205, control the engine to start.

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

[0063] ​​S201, determining whether the current working state of the engine is a running state. If yes, performing S206; if no, performing S203.

[0064] S206, determining whether the water height of the vehicle preset component is less than a fourth distance threshold. If yes, performing S207; if no, performing S202.

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

[0066] S203, determining whether the water height of the vehicle preset component is less than a first distance threshold. If yes, performing S204; if no, performing S205.

[0067] S204, prohibiting the engine to start.

[0068] S205, controlling the engine to start.

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

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

[0071] Controlling the start and stop of the engine according to whether the engine has a stall event.

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

[0073] If the engine has a stall event, prohibiting the engine to start.

[0074] For example, the engine has a stall event, that is, the vehicle has a stall event, and after the stall event occurs, the engine is in a stall state. In the process of the vehicle wading, the cause of the engine stall event is most likely that the running of the engine is seriously affected by the water entering from the outside. Therefore, when the vehicle has a stall event, the engine can be prohibited from restarting, thereby reducing the risk of engine damage. The engine in a stop running state is different from the engine in a stall state. In the process of the vehicle wading, the engine of the vehicle in the present disclosure can not be controlled by the stall instruction, that is, the vehicle at this time is not a controlled stall, that is, the stall in the present disclosure can represent an accidental engine shutdown, but not a controlled stop running. The stop running indicates that the running state is stopped, and cannot reflect whether the stop running reason is accidental.

[0075] For example, whether the engine has a stall event can be determined as follows: during the process of the vehicle wading, if the engine of the vehicle is not in the stall state at the previous time, and the working state of the engine at the previous time is in the running state and the current working state is in the stop state, it can be determined that the vehicle has a stall event at the current time. During the process of the vehicle wading, if the engine of the vehicle is not in the stall state at the previous time, and the working state of the engine at the previous time is in the stop state, or the working state of the engine at the previous time is in the running state and the current working state is in the running state, it can be determined that the vehicle does not have a stall event at the current time.

[0076] In an optional embodiment, according to whether the engine has a stall event, the control of the start-stop of the engine can include:

[0077] When the vehicle does not have a stall event and the current working state of the engine is in the stop state, if the fifth condition is met, the engine is controlled to start, and the fifth condition includes that the distance from the water of the preset component of the vehicle is greater than a second distance threshold, or the water depth is less than a second water depth threshold.

[0078] 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.

[0079] For example, if the vehicle does not have a stall event, it can be determined that the engine is not seriously affected by the water from the outside, and there is still a possibility to continue to run and not to be damaged. The second distance threshold corresponding to the preset component of the vehicle can be pre-set, for example, the second distance threshold corresponding to the air inlet can be set based on the pipe height of the air inlet, the second distance threshold corresponding to the air outlet can be set based on the pipe height of the air outlet, and the second distance threshold corresponding to the same preset component of the vehicle 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, which will not be described here.

[0080] If the fifth condition is met, it can be determined that the vehicle has a certain distance from the water surface, or the water depth is small, and the possibility of water entering the preset component of the vehicle is low, at this time, the possibility of the engine running safely is higher, and the engine can be controlled to start running to ensure that the vehicle can continue to move forward.

[0081] In an optional embodiment, according to whether the engine has a stall event, the control of the start-stop of the engine can include:

[0082] When the vehicle does not have a stall event, if the sixth condition is met, the engine is controlled to maintain the working state at the previous time,

[0083] The sixth condition comprises: the current working state of the engine is the running state, or the current working state of the engine is the shutdown state and the water distance of the preset component of the vehicle is not greater than the second distance threshold, or the current working state of the engine is the shutdown state and the water depth is greater than the second water depth threshold.

[0084] For example, when the vehicle does not have the stalling event, 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 is determined that the running of the engine is not affected by water and no running obstacle occurs, so as to ensure that the vehicle can continue to move forward, the working state of the engine at the last moment can be maintained, that is, the engine is controlled to be in the running state.

[0085] When the vehicle does not have the stalling event, if the current working state of the engine is the shutdown state, it can be determined that the condition for controlling the engine to start running is not met at the last moment, and if it is determined that the current working state of the engine is the shutdown state and the water distance of the preset component of the vehicle is not greater than the second distance threshold, or the current working state of the engine is the 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 moment, the engine still has the possibility of shutdown due to contact with water from the outside, that is, the possibility of safe running of the engine is insufficient, but the possibility of shutdown of the engine due to contact with water from the outside is insufficient to directly control the engine to prohibit restart at this moment, at this moment, in order to ensure the safety of the engine itself, the working state of the engine at the last moment can be continued to maintain, that is, the engine is controlled to be in the shutdown state.

[0086] Figure 4 is a flowchart of the vehicle control method provided by an example embodiment of the present disclosure. Through the flowchart, the implementation process of the vehicle control method provided by the present disclosure in the vehicle wading process can be more clearly understood. Figure 4 As shown in FIG. 8, the method can comprise S204, S205 and S208 to S211. Figure 4

[0087] S208, determining whether the engine has the stalling event. If yes, performing step S204 in S200; if no, performing S209. Figure 2

[0088] S209, determining whether the current working state of the engine is the running state. If yes, performing S211; if no, performing S210.

[0089] S210, determining whether the water distance of the preset component of the vehicle is greater than the second distance threshold. If yes, performing S205; if no, performing S211.

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

[0091] ​​The specific manner in which the various steps perform operations has been described in detail in the embodiments related to the method, and will not be described in detail here. In this way, during the process of the vehicle wading, 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, so as to improve the safety of the engine operation, reduce the risk of engine damage, and improve the safety of the vehicle wading.

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

[0093] According to the water surface information, the vehicle enters the wading mode;

[0094] When entering the wading mode, the step of controlling the vehicle related components to act according to the water surface information and the current working state of the vehicle related components is performed.

[0095] For example, the vehicle can be controlled to automatically enter the wading mode when the water height of the vehicle preset component included in the water surface information is less than the standard distance threshold, or the water depth of the vehicle preset component included in the water surface information is greater than the standard water depth threshold. For another example, the user can control the vehicle to enter the wading mode by pressing the key for starting the wading mode based on the water surface information. The key can be a physical key of the wading mode or a virtual key of a smart tablet or a 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 can further include S301 to S303 as shown in Figure 5

[0097] S301, in response to receiving the 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, the engine verification instruction being used to control the running state of the engine.

[0098] For example, if the user presses the key for starting the wading mode, the start instruction of the wading mode can be generated. Alternatively, when the water height of the vehicle preset component is less than the standard distance threshold for a duration reaching a duration threshold, the vehicle controller can automatically generate the start instruction of the wading mode. Alternatively, when the water depth of the vehicle preset component is greater than the standard water depth threshold for a duration reaching a duration threshold, the vehicle controller can automatically generate the start instruction of the wading mode.

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

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

[0101] wherein the third distance threshold is greater than the second distance threshold, and the second distance threshold is greater than the first distance threshold, and 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 water height of the vehicle preset component 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 water-involved road section, and the current water depth is likely to affect the driving safety of the vehicle. At this time, the start request can be generated. For example, the start request of "requesting to enter the water-involved mode" can be displayed through the vehicle-mounted display screen. For another example, a loudspeaker can also be arranged in the vehicle, and the start request described above can be voice broadcast through the loudspeaker to prompt the user and improve the driving safety of the vehicle.

[0103] The third distance threshold can be pre-set. For example, the third distance threshold corresponding to the air inlet can be set based on the pipe height of the air inlet, and the third distance threshold corresponding to the air outlet can be set based on the pipe height of the air outlet. 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 third water depth threshold is set similarly to the third distance threshold, which will not be described herein again. In this way, by dividing different distance thresholds / water depth thresholds, the possibility of water entering the vehicle preset component can be distinguished when the vehicle passes through the water-involved road section, so that the vehicle performs corresponding control steps and improves the safety of the vehicle driving through water.

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

[0105] When the current working state of the engine is the stop state, if a seventh condition is met, the engine stop instruction is generated, wherein the seventh condition includes that the water height of the vehicle preset component 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 stop state, if an eighth condition is met, the engine operation instruction is generated, and the eighth condition includes that the water height of the vehicle preset component 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 operation state, the engine operation instruction is generated.

[0108] If the current working state of the engine is the running state, it can be determined that the engine can still run normally, that is, the engine running is not affected by water and no running obstacle occurs, and the engine is in a safe running state, and the engine running instruction can be generated. If the current working state of the engine is the shutdown state, the possibility that the engine is shut down due to contact with water from the outside can be judged according to the relationship between the water height 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 that the engine is shut down due to contact with water from the outside is high, and the engine shutdown instruction can be generated to control the engine to shut down, so as to ensure the safety of the engine. The engine shutdown instruction can also be used to prohibit the engine from restarting, thereby reducing the risk of engine damage. Conversely, if the eighth condition is met, it can be determined that the possibility that the engine is shut down due to contact with water from the outside is low, and the engine running instruction can be generated to control the engine to run, so as to ensure that the vehicle can continue to move forward.

[0109] In this way, through the generated engine verification instruction, the running safety of the engine itself can be ensured before the vehicle enters the water mode.

[0110] S302, determining whether the engine has an abnormality according to the working state of the engine after the preset time length.

[0111] For example, the preset time length can be set in advance, for example, can be set to 3s. Through the setting of the preset time length, a response time can be provided for the execution of the engine and the like, and the accuracy of the result of determining whether the engine has an abnormality can be improved.

[0112] The determination of whether the engine has an abnormality can be performed in the following manner:

[0113] If the engine verification instruction is the engine running instruction, and the working state of the engine after the preset time length is the running state, it is determined that the engine has no abnormality.

[0114] If the engine verification instruction is the engine shutdown instruction, and the working state of the engine after the preset time length is the shutdown state, it is determined that the engine has no abnormality.

[0115] In this way, if the state expected to be reached by the engine is consistent with the working state of the engine after the preset time length, it can be determined that the engine has no abnormality, and the engine can be used normally before entering the water mode. Conversely, if the conditions for determining that the engine has no abnormality are not met, it can be determined that the engine has an abnormality, and the running of the engine is not controlled, and the engine out-of-control prompt information can be generated to enable the user to learn about the abnormality of the engine in a timely manner and to perform maintenance in a timely manner.

[0116] S303, if it is determined that the engine has no abnormality, controlling the vehicle to enter the water mode.

[0117] Thus, by generating the engine verification instruction, it can be ensured that the engine itself is safe to operate before the vehicle enters the wading mode, and it can be determined whether the engine is abnormal, and it can be ensured that the engine can be normally used before entering the wading mode.

[0118] Figure 6 is a flowchart of the vehicle control method provided by an example embodiment of the present disclosure. Through the flowchart, 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. As shown in the flowchart, the method can include S401 to S408. Figure 6 Thus, by generating the engine verification instruction, it can be ensured that the engine itself is safe to operate before the vehicle enters the wading mode, and it can be determined whether the engine is abnormal, and it can be ensured that the engine can be normally used before entering the wading mode. Figure 6 As shown in the flowchart, the method can 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 yes, S402 is executed; if no, S403 is executed.

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

[0121] S403, determining whether the distance from the water height of the preset component of the vehicle is greater than a first distance threshold. If yes, S402 is executed; if no, S404 is executed.

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

[0123] S405, obtaining the working state of the engine after a preset time length.

[0124] S406, if the engine verification instruction is the engine running instruction, and the working state of the engine after the preset time length is the running state, it is determined that the engine is not abnormal.

[0125] S407, if the engine verification instruction is the engine stop instruction, and the working state of the engine after the preset time length is the stop state, it is determined that the engine is not abnormal.

[0126] S408, if it is determined that the engine is not abnormal, controlling the vehicle to enter the wading mode.

[0127] The specific manner in which each step performs the operation has been described in detail in the embodiments related to the method, and will not be described in detail here. Thus, it can be ensured that the engine itself is safe to operate before the vehicle enters the wading mode, and it can be determined whether the engine is abnormal, and it can be ensured that the engine can be normally used before entering the wading mode.

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

[0129] acquire signals collected by each water-depth collection device;

[0130] determine water surface information according to the signals collected by each water-depth collection device.

[0131] Optionally, the first water-depth collection device is arranged on the left side of the vehicle, and the second water-depth collection device is arranged on the right side of the vehicle; and the vehicle preset component includes at least one of an air inlet and an air outlet;

[0132] determining the water height of the vehicle preset component can include:

[0133] acquiring a first water height signal collected by the first water-depth collection device and a second water height signal collected by the second water-depth collection device;

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

[0135] determining the water height of the air outlet according to the first water height signal, the second water height signal, and the position of the air outlet.

[0136] For example, the first water height signal and the second water height signal are both valid signals, i.e., the specific water height values 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 water height of the air inlet 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] wherein h I is the water height of the air inlet, h IL is the water height of the air inlet at the projection point of the first water-depth collection device, h IR is the water height of the air inlet at the projection point of the second water-depth collection device, S L is the first water height signal, S R is the second water height signal, α is the body pitch angle, β is the body roll angle, and P IL_ZP is the Z-axis height from the air inlet to the first water depth acquisition device. IL_x P is the X-axis height of the air inlet from the first water depth acquisition device above the water. IL_Y P is the Y-axis height above the water from the air inlet to the first water depth sampling device. IR_Z P is the Z-axis height above the water from the air inlet to the second water depth sampling device. IR_X P is the X-axis height of the air inlet from the second water depth sampling device above the water. IR_Y The distance from the air inlet to the second water depth sampling device in the Y direction is the height above the water.

[0142] For example, the height of the vent above 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 h is the height of the vent from the water. VL h is the height of the vent outlet from the water level at the projection point of the plane where the first water depth acquisition device is located. VR S is the height of the vent outlet above the water level at the projection point of the second water depth acquisition device. L S is the first distance from the water height signal. R The second water height signal, α is the vehicle pitch angle, β is the vehicle roll angle, P VL_Z P is the Z-axis height from the exhaust port to the first water depth acquisition device. VL_x P is the X-axis distance from the exhaust port to the first water depth acquisition device. VL_Y P is the Y-axis distance from the exhaust port to the first water depth acquisition device. VR_Z P is the Z-axis height from the exhaust port to the second depth acquisition device above the water. VR_X P is the X-axis distance from the exhaust port to the second depth acquisition device above the water. VR_Y The distance from the exhaust port to the second water depth acquisition device in the Y direction is the height of the water.

[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 vehicle center of mass, and when the vehicle is in a stationary state on a horizontal road surface, the X-axis is parallel to the ground and points forward of the vehicle, the Z-axis passes through the vehicle center of mass and points upward, and the Y-axis points to the left of the driver.

[0148] Optionally, in the case where the vehicle preset component includes an exhaust port, the vehicle control method provided by the present disclosure can further include:

[0149] If the water surface information corresponding to the exhaust port satisfies a ninth condition, and the current working state of the engine is the running state, then according to the water surface information corresponding to the exhaust port, the target power of the engine is determined, wherein the ninth condition includes that the water height of the exhaust port 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;

[0150] According to the target power, the engine is controlled to run.

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

[0152] According to a predetermined corresponding relationship between the water height of the exhaust port and the target power, the target power corresponding to the water height of the current exhaust port is determined;

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

[0154] The corresponding relationship between the water height of the exhaust port and the target power of the engine, and the corresponding relationship between the water depth corresponding to the exhaust port and the target power can be pre-set by test results, which can be represented by functions, mapping tables, etc. The corresponding target power can be found through the corresponding relationship. The water height of the exhaust port and the target power of the engine 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, according to the water surface information of the exhaust port when the vehicle is wading, the running power of the engine is controlled, which can improve the accuracy and robustness of the engine power control requirements, so that the exhaust back pressure of the engine is greater than the water pressure, thereby making the engine exhaust smooth and stable.

[0155] Optionally, in the case where the vehicle preset component includes an intake port, the vehicle control method provided by the present disclosure can further include:

[0156] According to the water surface information corresponding to the air inlet and the position of the air inlet, air inlet water entry warning information is generated, and the air inlet water entry warning information is used to prompt the user that the air inlet is likely to have water entry.

[0157] For example, the air inlet water entry warning distance and the air inlet water entry warning water depth can be determined based on the position of the air inlet. If the water height of the air inlet is less than the air inlet water entry warning distance, or the water depth corresponding to the air inlet is greater than the air inlet water entry warning water depth, the air inlet water entry warning information can be generated. The warning information that "the air inlet has a water entry risk" can be displayed on the vehicle display screen. Alternatively, a loudspeaker can be provided in the vehicle, and the above-mentioned warning information can be voice broadcast through the loudspeaker. In this way, the user can be prompted when the air inlet of the vehicle has a water entry risk, and the driving safety of the vehicle is improved. The actual values of the water height and / or the water depth of the air inlet can also be included in the warning information to help the user better understand the water entry situation of the air inlet, thereby preventing the engine from being damaged due to water entry into the air inlet and improving the user experience.

[0158] Optionally, in S102, according to the water surface information and the current working state of the vehicle related component, the vehicle related component is controlled to act, which can include:

[0159] According to the water surface information, the current working state of the vehicle related component, and the warning threshold value corresponding to the vehicle related component, the vehicle related component is controlled to act.

[0160] The vehicle related component can include at least one of an air conditioner, an active suspension, and a wet area component. The area where the engine compartment and the lower half of the car are exposed to air and are often affected by rain and water is called a wet area, and the components arranged in the wet area are called wet area components, for example, the wet area components can include audio, fans, and other electrical equipment.

[0161] For example, according to the water surface information, the current working state of the vehicle related component, and the warning threshold value corresponding to the vehicle related component, the vehicle related component can include:

[0162] If the water height of the vehicle preset component is less than the water height warning threshold value corresponding to the air conditioner, or the water depth is not less than the water depth warning threshold value 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 water height of the vehicle preset component is less than the water height warning threshold value corresponding to the active suspension, or the water depth is not less than the water depth warning threshold value 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 distance from water height of the vehicle preset component is less than the distance from 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 closed and the power supply is cut off.

[0165] For example, the distance from water height warning threshold and the water depth warning threshold corresponding to the air conditioner can be determined based on the actual position of the air inlet or the air outlet. If the distance from water height of the vehicle preset component is less than the distance from 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 has a risk of water ingress. The air conditioner can be controlled to enter an internal circulation mode, and the air flow channel between the inside and outside of the vehicle is closed to reduce the risk of water ingress in the vehicle.

[0166] For example, the distance from water height warning threshold and the 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 distance from water height of the vehicle preset component is less than the distance from 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 distance from water height warning threshold and the 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 distance from water height of the vehicle preset component is less than the distance from 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 has the possibility of being affected by the water entering the vehicle from the outside. In order to ensure the safety of the operation of the wet area component and prevent the short circuit of the control circuit of the wet area component, the wet area component can be controlled to be closed and the power supply is cut off.

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

[0169] A first determination module 601 is configured to determine water surface information of a driving surface of a vehicle, wherein the water surface information includes a distance from water height and / or a water depth of a vehicle preset component.

[0170] A first control module 602 is configured to determine water surface information of a driving surface of a vehicle, wherein the water surface information includes a distance from water height and / or a water depth of a vehicle preset component.

[0171] In the technical solution, the water surface information of the vehicle driving road surface is determined, wherein the water surface information comprises a water height of the vehicle preset component and / or a water depth; and the vehicle related component is controlled to act according to the water surface information and the current working state of the vehicle related component. In this way, the possibility of water entering the vehicle preset component can be determined according to the water height and / or the water depth, and then the possibility of the vehicle related component (such as the engine) being affected by the water entering the vehicle preset component can be determined, that is, the possibility of the vehicle related component being able to safely operate can be determined. In this way, the vehicle related component is controlled to act based on the possibility of the vehicle related component safely operating and the current working state, so that the safety of the vehicle related component operating can be improved, the risk of the vehicle related component being damaged can be reduced, and the safety of the vehicle wading can be improved.

[0172] Optionally, the vehicle related component is an engine, and the first control module 602 is configured to control the vehicle related component to act by:

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

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

[0175] a first control sub-module configured to, if the current working state of the engine is a running state, control the engine to maintain the running state;

[0176] a second control sub-module configured to, if the current working state of the engine is a stop state, control the start and stop of the engine according to the water surface information and a first threshold value.

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

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

[0179] a fourth control sub-module configured to, if the current working state of the engine is a stop state, control the start and stop of the engine according to the water surface information and a first threshold value.

[0180] Optionally, the third control sub-module is configured to control the start and stop of the engine according to the water surface information and the fourth threshold value by:

[0181] if the first condition is met when the current working state of the engine is a running state, the engine is prohibited from starting, and the first condition comprises that the water height of the vehicle preset component is less than the fourth distance threshold value or the water depth is greater than the fourth water depth threshold value.

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

[0183] Optionally, the second control submodule or the fourth control submodule is configured to control starting and stopping of the engine according to the water surface information and a first threshold by:

[0184] When the current working state of the engine is the stopped state, if a third condition is met, the engine is prohibited from starting, and the third condition comprises that the water distance of the vehicle preset component 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 the stopped state, if a fourth condition is met, the engine is controlled to start, and the fourth condition comprises that the water distance of the vehicle preset component is greater than the first distance threshold, or the water depth is less than the first water depth threshold.

[0186] Optionally, the device 600 further comprises:

[0187] The second control module is configured to control starting and stopping of the engine according to whether the engine has a flameout event.

[0188] Optionally, the second control module comprises:

[0189] The fifth control submodule is configured to prohibit the engine from starting if the engine has a flameout event.

[0190] Optionally, the second control module comprises:

[0191] The sixth control submodule is configured to control the engine to start when the vehicle does not have a flameout event, the current working state of the engine is the stopped state, and a fifth condition is met, and the fifth condition comprises that the water distance of the vehicle preset component 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 comprises:

[0193] The seventh control submodule is configured to, when the vehicle does not have a stall event, control the engine to maintain the working state at the previous time if a sixth condition is met, the sixth condition including: the current working state of the engine is the running state, or the current working state of the engine is the stop running state and the water distance of the vehicle preset component is not greater than a second distance threshold, or the current working state of the engine is the stop running state and the water depth is greater than a second water depth threshold.

[0194] Optionally, the apparatus 600 further includes:

[0195] The third control module is configured to control the vehicle to enter the wading mode according to the water surface information.

[0196] The first control module is configured to, when entering the wading mode, perform the step of controlling the vehicle related component to act according to the water surface information and the current working state of the vehicle related component.

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

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

[0199] The determining submodule is configured to determine whether the engine has an abnormality according to the working state of the engine after a preset time length.

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

[0201] Optionally, the apparatus 600 further includes:

[0202] The requesting module is configured to generate a start request of the wading mode if the water distance of the vehicle preset component is less than a third distance threshold, or the water depth is greater than a third water depth threshold, the start request being used to prompt a user to issue a start instruction of 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 stop running instruction and an engine running instruction, and the generating submodule is configured to generate the engine verification instruction by the following way:

[0205] When the current working state of the engine is the stop state, if a seventh condition is met, the engine stop instruction is generated, wherein the seventh condition comprises that the water distance of the vehicle preset component is less than a first distance threshold, or the water depth corresponding to the vehicle preset component is greater than or equal to a first water depth threshold;

[0206] When the current working state of the engine is the stop state, if an eighth condition is met, the engine running instruction is generated, and the eighth condition comprises that the water distance of the vehicle preset component 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 determining sub-module is configured to determine whether the engine is abnormal by 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 length is the running state, it is determined that the engine is not abnormal.

[0210] If the engine verification instruction is the engine stop instruction, and the working state of the engine after the preset time length is the stop state, it is determined that the engine is not abnormal.

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

[0212] An acquisition module is configured to acquire signals collected by each water depth acquisition device.

[0213] A second determining module is configured to determine the water surface information according to the signals collected by each water depth acquisition device.

[0214] Optionally, the water depth acquisition device comprises a first water depth acquisition device and a second water depth acquisition device, and the vehicle preset component comprises at least one of an exhaust port and an air inlet. The second determining module is configured to determine the water distance of the vehicle preset component by the following manner:

[0215] The first water distance signal collected by the first water depth acquisition device and the second water distance signal collected by the second water depth acquisition device are acquired.

[0216] The water distance of the air inlet is determined according to the first water distance signal, the second water distance signal and the position of the air inlet.

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

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

[0219] The third determining module is configured to determine a 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 meets a ninth condition, and the current working state of the engine is a running state. The ninth condition includes that the water height from the exhaust port 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] The fourth control module is configured to control the engine to run according to the target power.

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

[0222] According to a predetermined corresponding relationship between the water height from the exhaust port and the target power, a target power corresponding to the current water height from the exhaust port is determined, where the water height from the exhaust port and the target power are in a negative correlation relationship.

[0223] Alternatively, according to a predetermined corresponding relationship between the water depth corresponding to the exhaust port and the target power, a target power corresponding to the current water depth corresponding to the exhaust port is determined, where the water depth corresponding to the exhaust port and the target power are in a positive correlation relationship.

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

[0225] The warning module is configured to generate air inlet water entry warning information according to the water surface information corresponding to the air inlet and the air inlet position, where the air inlet water entry warning information is used to prompt a user that there is a possibility of water entry in the air inlet.

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

[0227] The ninth control submodule is configured to control the vehicle related component to act according to the water surface information, the current working state of the vehicle related component, and a warning threshold corresponding to the vehicle related component.

[0228] Optionally, the ninth control submodule includes:

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

[0230] Optionally, the ninth control submodule comprises:

[0231] The eleventh control submodule is configured to control the active suspension to rise to a preset position if the distance-to-water height of the vehicle preset component is less than a distance-to-water height warning threshold corresponding to the active suspension or the water depth is not less than a 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 comprises:

[0233] The twelfth control submodule is configured to control the wet area component to be turned off and cut off power supply if the distance-to-water height of the vehicle preset component is less than a distance-to-water height warning threshold corresponding to the wet area component or the water depth is not less than a water depth warning threshold corresponding to the wet area component, and the wet area component is in a powered-on state.

[0234] As to the apparatus in the above-mentioned embodiments, the specific manners in which various modules perform operations have been described in detail in the embodiments of the method, and thus will not be described in detail here.

[0235] Figure 8 is a block diagram of a controller 700 provided by an example embodiment of the present disclosure. As shown in Figure 8 the controller 700 can include a processor 701 and a memory 702. The controller 700 can 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 configured to control overall operations of the controller 700 to complete all or part of the steps of the vehicle control method described above. The memory 702 is configured to store various types of data to support operations of the controller 700, which can include, for example, instructions for any application or method operating on the controller 700, and application-related data, such as contact data, messages, pictures, audio, video, and the like. 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 (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 703 can include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component is configured to output and / or input audio signals. For example, the audio component can include a microphone configured to receive external audio signals. The received audio signals can be further stored in the memory 702 or transmitted through the communication component 705. The audio component also includes at least one speaker configured to output audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 705 is configured to perform 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, and the like, or a combination of one or more of them, is not limited herein. Therefore, the corresponding communication component 705 can include a Wi-Fi module, a Bluetooth module, an NFC module, and the like.

[0237] In an exemplary embodiment, the controller 700 can be implemented by one or more Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor or other electronic elements for executing the vehicle control method described above.

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

[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 vehicle control method described above, wherein the vehicle preset components include the air inlet and the air outlet.

[0240] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details in the above-described embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0241] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again by the present disclosure.

[0242] In addition, any combination of various different embodiments of the present disclosure can also be made, as long as it does not deviate from the idea of the present disclosure, and it should also be considered as the disclosed content of the present disclosure.

Claims

1. A vehicle control method characterized by, The method comprises: determining water surface information of a driving surface of a vehicle, wherein the water surface information comprises a water height of a preset component of the vehicle and / or a water depth; controlling a vehicle-related component to act according to the water surface information and a current working state of the vehicle-related component; wherein the vehicle-related component is an engine, and the controlling the vehicle-related component to act according to the water surface information and the current working state of the vehicle-related component comprises: controlling start and stop of the engine according to the water surface information and the current working state of the engine; wherein the controlling 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 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, controlling start and stop of the engine according to the water surface information and a first threshold value; wherein the controlling start and stop of the engine according to the water surface information and the fourth threshold value if the current working state of the engine is the running state comprises: if a first condition is met when the current working state of the engine is the running state, prohibiting the engine from starting, the first condition comprising that the water height of the preset component of the vehicle is less than a fourth distance threshold value or the water depth is greater than a fourth water depth threshold value; if a second condition is met when the current working state of the engine is the running state, controlling the engine to maintain running, the second condition comprising that the water height of the preset component of the vehicle is greater than the fourth distance threshold value or the water depth is less than the fourth water depth threshold value; wherein the controlling 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 the shutdown state comprises: if a third condition is met when the current working state of the engine is the shutdown state, prohibiting the engine from starting, the third condition comprising that the water height of the preset component of the vehicle is less than a first distance threshold value or the water depth is greater than a first water depth threshold value; if a fourth condition is met when the current working state of the engine is the shutdown state, controlling the engine to start, the fourth condition comprising that the water height of the preset component of the vehicle is greater than the first distance threshold value or the water depth is less than the first water depth threshold value.

2. The method of claim 1, wherein, After the start and stop of the engine are controlled, the method further comprises: controlling start and stop of the engine according to whether a stall event of the engine occurs.

3. The method of claim 2, wherein, The controlling start and stop of the engine according to whether the stall event of the engine occurs comprises: if the stall event of the engine occurs, prohibiting the engine from starting.

4. The method of claim 2, wherein, The controlling start and stop of the engine according to whether the stall event of the engine occurs comprises: if a fifth condition is met, the engine is controlled to start when the vehicle does not have the stalling event and the current working state of the engine is the stop state, the fifth condition comprises that the water distance of the vehicle preset component 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.

5. The method of claim 2, wherein, The method further comprises: if a sixth condition is met, the engine is controlled to maintain the working state at the last time when the vehicle does not have the stalling event, The sixth condition comprises that the current working state of the engine is the running state, or the current working state of the engine is the stop state and the water distance of the vehicle preset component is not greater than the second distance threshold, or the current working state of the engine is the stop state and the water depth is greater than the second water depth threshold.

6. The method of claim 1, wherein, Further comprising: According to the water surface information, the vehicle is controlled to enter the wading mode; When entering the wading mode, the step of controlling the vehicle related components according to the water surface information and the current working state of the vehicle related components is executed.

7. The method of claim 6, wherein, The vehicle related component is an engine, and the step of controlling the vehicle to enter the wading mode according to the water surface information comprises: In response to receiving a start instruction of the wading mode, an engine verification instruction is generated according to the water surface information and the current working state of the engine, the engine verification instruction is used to control the running state of the engine; According to the working state of the engine after a preset time length, it is determined whether the engine has an abnormality; If it is determined that the engine has no abnormality, the vehicle is controlled to enter the wading mode.

8. The method of claim 7, wherein, The method further comprises: If the water distance of the vehicle preset component is less than a third distance threshold, or the water depth is greater than a third water depth threshold, a start request of the wading mode is generated, the start request is used to prompt a user to issue a start instruction of the wading mode, wherein 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.

9. The method of claim 7, wherein, The engine verification instruction comprises an engine stop instruction and an engine running instruction; The step of generating the engine verification instruction according to the water surface information and the current working state of the engine comprises: if a seventh condition is met when the current working state of the engine is the stop state, the engine stop instruction is generated, wherein the seventh condition comprises that the water distance of the vehicle preset component 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; if an eighth condition is met when the current working state of the engine is the stop state, the engine running instruction is generated, the eighth condition comprises that the water distance of the vehicle preset component 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.

10. The method of claim 7, wherein, The engine verification instruction comprises an engine stop running instruction and an engine running instruction; The determination of whether the engine is abnormal according to the working state of the engine after the preset time length comprises: If the engine verification instruction is the engine running instruction and the working state of the engine after the preset time length is the running state, it is determined that the engine is not abnormal. If the engine verification instruction is the engine stop running instruction and the working state of the engine after the preset time length is the stop running state, it is determined that the engine is not abnormal.

11. The method of claim 1, wherein, The vehicle is provided with at least one water depth acquisition device, and the method further comprises: Obtaining signals collected by each water depth acquisition device; According to the signals collected by each water depth acquisition device, the water surface information is determined.

12. The method of claim 11, wherein, The water depth acquisition device comprises a first water depth acquisition device and a second water depth acquisition device; the vehicle preset component comprises at least one of an exhaust port and an air inlet; The water surface information comprises a water height, and the water height of the vehicle preset component is determined by: Obtaining 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; According to the first water height signal, the second water height signal, and the position of the air inlet, the water height of the air inlet is determined; According to the first water height signal, the second water height signal, and the position of the exhaust port, the water height of the exhaust port is determined.

13. The method according to any one of claims 1 to 12, characterized in that, The vehicle preset component comprises an exhaust port, and the vehicle related component is an engine, and the method further comprises: If the water surface information corresponding to the exhaust port satisfies a 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 comprises that the water height of the exhaust port 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; According to the target power, the engine is controlled to run.

14. The method of claim 13, wherein, The determination of the target power of the engine according to the water surface information corresponding to the exhaust port comprises: According to a predetermined corresponding relationship between the water height of the exhaust port and the target power, the target power corresponding to the current water height of the exhaust port is determined, wherein the water height of the exhaust port and the target power are in a negative correlation relationship; Or, according to a predetermined corresponding relationship between the water depth corresponding to the exhaust port and the target power, the target power corresponding to the current water depth corresponding to the exhaust port is determined, wherein the water depth corresponding to the exhaust port and the target power are in a positive correlation relationship.

15. The method of claim 1, wherein, The vehicle preset component comprises an air inlet, and the method further comprises: According to the water surface information corresponding to the air inlet and the position of the air inlet, air inlet water entry warning information is generated, which is used to prompt the user that there is a possibility of water entry in the air inlet.

16. The method of claim 1, wherein, The method comprises: The method comprises:

17. The method of claim 16, wherein, The vehicle-related component comprises an air conditioner, and the method comprises: If the distance from water of the vehicle preset component is less than the distance from water 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 an external circulation mode, the air conditioner is controlled to enter an internal circulation mode.

18. The method of claim 16, wherein, The vehicle-related component comprises an active suspension, and the method comprises: If the distance from water of the vehicle preset component is less than the distance from water 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 a preset position, the active suspension is controlled to rise to the preset position.

19. The method of claim 16, wherein, The vehicle-related component comprises a wet area component, and the method comprises: If the distance from water of the vehicle preset component is less than the distance from water 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, the wet area component is controlled to be turned off and powered off.

20. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by a processor to implement the steps of the method of any one of claims 1-19.

21. A controller characterized by, The method comprises: 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 of any one of claims 1-19.

22. A vehicle characterized by The method comprises:

23. The vehicle of claim 22, wherein, The vehicle preset component comprises an air inlet and an air outlet. The vehicle preset component comprises an air inlet and an air outlet.

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