Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, the method is applied to the technical field of vehicles, and the method comprises the steps that wading state information of the vehicle is acquired; under the condition that the wading state information meets a preset condition, a first air suspension set is determined from the multiple air suspensions according to the wading state information; and based on a preset first control period, controlling each first air suspension in the first air suspension set to deflate and inflate. Based on the scheme, the lifting force can be provided for the vehicle body, the sinking speed of the vehicle is reduced, and the safety of the vehicle in the wading environment is effectively improved.

Description

Technical Field

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

[0002] When a vehicle is driving, encountering a water environment is one of the common risk situations. Especially when the vehicle accidentally falls into deep water, the safety of the people in the vehicle will be seriously threatened. As the vehicle sinks, the difficulty of escaping for the people in the vehicle also increases. Therefore, slowing down the sinking speed of the vehicle is of great significance to improving the safety of the people in the vehicle in a water environment. Summary of the invention

[0003] The present application provides a vehicle control method, device, vehicle and storage medium, which can provide a lifting force for the vehicle body, slow down the sinking speed of the vehicle, and effectively improve the safety of the vehicle in a wading environment.

[0004] In a first aspect, a vehicle control method is provided, the vehicle comprising a plurality of wheels and a plurality of air suspensions corresponding to the plurality of wheels one by one; the method comprising:

[0005] Obtain the vehicle's wading status information;

[0006] When the wading state information satisfies a preset condition, determining a first air suspension set from a plurality of air suspensions according to the wading state information;

[0007] Based on a preset first control cycle, each first air suspension in the first air suspension set is controlled to be deflated and inflated.

[0008] Through the above scheme, the wading state information of the vehicle is first obtained to provide an accurate basis for subsequent decision-making. When the wading state information meets the preset conditions, the first air suspension set can be quickly identified and determined from the multiple air suspensions of the vehicle. Subsequently, based on the first control cycle, each first air suspension in the first air suspension set is controlled to be deflated and inflated in an orderly manner. In this way, the rapid response characteristics of the first air suspension can be effectively utilized, and the reaction force on the water body can be generated by dynamically adjusting the impulse of the wheel, thereby providing a lifting force for the vehicle body, slowing down the sinking speed of the vehicle, and effectively improving the safety of the vehicle in a wading environment.

[0009] In combination with the first aspect, in certain possible implementations, after obtaining the vehicle's wading status information, before determining the first air suspension set from multiple air suspensions based on the wading status information, it also includes: if the wading status information includes the vehicle's wading depth, and the wading depth is higher than a preset wading depth threshold, then it is determined that the wading status information meets the preset conditions, and the wading depth is determined based on the vertical distance between the bottom reference position of the vehicle and the water surface of the wading environment in which the vehicle is located; if the wading status information includes the vehicle's wheel suspension status information, and the wheel suspension status information indicates that there is at least one suspended wheel suspended in the water among the multiple wheels, then it is determined that the wading status information meets the preset conditions.

[0010] Through the above scheme, the wading depth and the wheel suspension state are comprehensively considered. When the wading depth is too high, or some wheels are suspended in the water, it can be determined that the preset conditions are met to trigger the air suspension inflation and deflation control, thereby providing lifting force for the vehicle body and improving the safety of wading driving.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, a first air suspension set is determined from multiple air suspensions according to wading status information, including: if the wading status information includes the wading depth of the vehicle, and the wading depth is higher than a preset wading depth threshold, then each air suspension among the multiple air suspensions is respectively determined as a first air suspension, and a first air suspension set is determined based on each first air suspension; if the wading status information includes the wading depth and wheel suspension status information of the vehicle, and the wading depth is not higher than the preset wading depth threshold, and the wheel suspension status information indicates that there is at least one suspended wheel suspended in water among the multiple wheels, then the air suspension corresponding to each suspended wheel among the at least one suspended wheel is respectively determined as a first air suspension, and a first air suspension set is determined based on each first air suspension; if the wading status information only includes the wheel suspension status information of the vehicle, and the wheel suspension status information indicates that there is at least one suspended wheel suspended in water among the multiple wheels, then the air suspension corresponding to each suspended wheel among the at least one suspended wheel is respectively determined as a first air suspension, and a first air suspension set is determined based on each first air suspension.

[0012] Through the above scheme, the first air suspension set that needs to be adjusted is accurately identified and selected according to different situations of wading status information. When the wading depth is too high, all air suspensions are included in the control range to ensure that the vehicle as a whole has sufficient lifting force; when the wading depth is not high but there are suspended wheels, only the air suspension corresponding to the suspended wheels is controlled, which enhances the vehicle's adaptability to complex wading environments and provides more reliable protection for the safety of the vehicle in wading environments.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle also includes a power supply for supplying power to the air suspension; based on a preset first control cycle, each first air suspension in the first air suspension set is controlled to be deflated and inflated, including: obtaining power limit data of the power supply; determining the maximum control number of the air suspension of the vehicle at the current moment according to the power limit data of the power supply; determining the target control strategy according to the maximum control number and the number of first air suspensions in the first air suspension set; based on the preset first control cycle and the target control strategy, controlling each first air suspension in the first air suspension set to be deflated and inflated.

[0014] Through the above scheme, by acquiring the power limit data of the power supply for the air suspension, the maximum control quantity of the vehicle for the air suspension at the current moment can be intelligently determined, and then the target control strategy is determined according to the maximum control quantity and the first air suspension quantity of the first air suspension set, and based on the preset first control cycle and the target control strategy, the vehicle can orderly control the deflation and inflation of each air suspension in the first air suspension set. In this way, it is ensured that the operation of the air suspension will not exceed the power supply capacity of the power supply, and power supply damage or system failure caused by power overload is effectively avoided.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the target control strategy is the first control strategy or the second control strategy; the target control strategy is determined according to the maximum control number and the first air suspension number of the first air suspension set, including: if the maximum control number is not less than the first air suspension number of the first air suspension set, then the first control strategy is determined; if the maximum control number is less than the first air suspension number of the first air suspension set, then the second control strategy is determined.

[0016] Through the above scheme, by comparing the maximum control number with the first air suspension number, the first control strategy or the second control strategy can be intelligently selected. When the power of the power supply is sufficient and the maximum control number is not less than the first air suspension number, the first control strategy is adopted to ensure that the vehicle can obtain a better lifting effect in wading conditions. When the power of the power supply is limited and the maximum control number is less than the first air suspension number, the second control strategy is adopted to effectively avoid power overload and improve the safety of the vehicle in wading environments.

[0017] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on a preset first control cycle and a target control strategy, each first air suspension in the first air suspension set is controlled to be deflated and inflated, including: if the target control strategy is the first control strategy, then based on the preset first control cycle, each first air suspension is controlled to be deflated, and each first air suspension is controlled to be inflated after reaching the target stroke; if the target control strategy is the second control strategy, the first air suspension set is divided into multiple first air suspension groups, and the number of first air suspensions in the first air suspension group is equal to the maximum control number; based on the preset first control cycle, the first air suspensions of each first air suspension group are controlled to be deflated in turn, and the first air suspensions of each first air suspension group are controlled to be inflated after reaching the target stroke.

[0018] Through the above scheme, when the first control strategy is adopted, all the first air suspensions can be deflated and inflated in an orderly manner based on the preset first control cycle to provide a stable lifting force for the vehicle. Under the second control strategy, the first air suspension set is divided into multiple groups, and the number of each group matches the maximum control number, which can avoid power overload and ensure that each group of first air suspensions can be controlled in a timely and effective manner.

[0019] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after obtaining the vehicle's wading status information, it also includes: when the wading status information meets the preset conditions, if the vehicle's inclination angle in the target posture detection direction is greater than the preset inclination angle threshold, then according to the target posture detection direction, a second air suspension set is determined from multiple air suspensions; based on a preset second control cycle, each second air suspension in the second air suspension set is controlled to deflate and inflate so that the vehicle's inclination angle in the target posture detection direction is not greater than the preset inclination angle threshold.

[0020] Through the above scheme, by monitoring the wading state and tilt angle of the vehicle, the second air suspension set can be determined when the preset conditions are met and the vehicle tilt angle exceeds the threshold. Subsequently, based on the preset second control cycle, the deflation and inflation of the second air suspension are controlled to effectively adjust the vehicle posture and ensure that the tilt angle remains within a safe range. In this way, the safety hazards caused by excessive tilting of the vehicle in a wading environment are effectively avoided, and the stability and safety of the vehicle in a wading environment are enhanced.

[0021] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after determining the first air suspension set from multiple air suspensions according to the wading status information, it also includes: if the inclination angle of the vehicle in the target posture detection direction is greater than a preset inclination angle threshold, then in the first air suspension set, the inflation speed parameter of the first air suspension that is consistent with the target posture detection direction is configured as the first inflation speed parameter, and the inflation speed parameter of the first air suspension that is inconsistent with the target posture detection direction is configured as the second inflation speed parameter, the inflation speed parameter of the first air suspension is used to adjust the inflation speed, and the first inflation speed parameter is higher than the second inflation speed parameter.

[0022] Through the above scheme, the inflation speed parameter of each first air suspension in the first air suspension set can be adjusted according to the wading state information and tilt angle of the vehicle. For the first air suspension that is consistent with the target posture detection direction, its inflation speed parameter is set to a higher first inflation speed parameter to quickly increase the lifting force in this direction and effectively correct the vehicle tilt. For the first air suspension that does not conform to the target posture detection direction, a lower second inflation speed parameter is used to avoid posture imbalance caused by overinflation. This differentiated inflation speed configuration improves the response speed and accuracy of vehicle posture adjustment and ensures the stability and safety of the vehicle in wading environments.

[0023] In a second aspect, a vehicle control device is provided, the vehicle comprising a plurality of wheels, and a plurality of air suspensions corresponding to the plurality of wheels one by one; the device comprising:

[0024] An acquisition unit, used for acquiring wading status information of the vehicle;

[0025] a determining unit, configured to determine a first air suspension set from a plurality of air suspensions according to the wading state information when the wading state information satisfies a preset condition;

[0026] The control unit is used to control each first air suspension in the first air suspension set to deflate and inflate based on a preset first control cycle.

[0027] In a third aspect, a vehicle is provided, wherein the vehicle comprises:

[0028] A memory for storing executable program codes;

[0029] A processor is used to call and run the executable program code from the memory so that the vehicle executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0030] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0031] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of a vehicle wading scenario provided in an embodiment of the present application;

[0033] Figure 2 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0034] Figure 3 This is an example schematic diagram of the correspondence between a wheel and an air suspension provided in an embodiment of the present application;

[0035] Figure 4 is an example schematic diagram of a wading state set provided in an embodiment of the present application;

[0036] Figure 5 It is a flowchart of determining whether a preset condition is met provided by an embodiment of the present application;

[0037] Figure 6 is a schematic diagram of a flow chart of determining a first air suspension set provided by an embodiment of the present application;

[0038] Figure 7 is a schematic diagram of a flow chart of controlling the deflation and inflation of a first air suspension provided in an embodiment of the present application;

[0039] Figure 8 This is an example schematic diagram of controlling based on different control strategies provided in an embodiment of the present application;

[0040] Fig. 9 It is a schematic diagram of a flow chart of posture correction based on a second control cycle provided in an embodiment of the present application;

[0041] Fig.10 is an example schematic diagram of vehicle posture correction provided by an embodiment of the present application;

[0042] Fig.11 This is a schematic diagram of an example of the angle division of a vehicle's periphery provided in an embodiment of the present application;

[0043] Fig.12 This is a schematic diagram of an example of a timing relationship between a first control period and a second control period provided in an embodiment of the present application;

[0044] Fig.13 This is a schematic diagram of an example of a timing relationship between a first control period and a second control period provided in an embodiment of the present application;

[0045] Fig.14 It is a schematic diagram of a flow chart of posture correction based on inflation speed provided in an embodiment of the present application;

[0046] Fig.15 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0047] Fig.16 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0049] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0050] See also Figure 1 , Figure 1 This is a schematic diagram of a vehicle wading scene provided by an embodiment of the present application. During vehicle driving, the wading environment constitutes a potential risk factor, especially when the vehicle accidentally falls into deeper waters, the risk will rise sharply. Specifically, when the vehicle begins to sink, the gravity it is subjected to is greater than the buoyancy it is subjected to, and its body gradually moves from above the water surface to below the water surface, constantly approaching the ground below the water surface. In this process, the people in the car not only have to face the oppressive feeling brought by the rising water level, but also have to deal with the space limitations and reduction of escape routes caused by the sinking of the vehicle. As the water level continues to rise, the space inside the car is rapidly compressed, and the escape window and time become increasingly limited. Therefore, slowing down the sinking speed of the vehicle is of vital importance to improving the safety of the people in the car in the wading environment.

[0051] In response to the above problems, the main solutions provided by the embodiments of the present application include: first, obtaining the wading state information of the vehicle to provide an accurate basis for subsequent decision-making. When the wading state information meets the preset conditions, the first air suspension set can be quickly identified and determined from the multiple air suspensions of the vehicle. Subsequently, based on the first control cycle, each first air suspension in the first air suspension set is controlled to be deflated and inflated in an orderly manner. In this way, the rapid response characteristics of the first air suspension can be effectively utilized, and the reaction force on the water body can be generated by dynamically adjusting the impulse of the wheel, thereby providing a lifting force for the vehicle body, slowing down the sinking speed of the vehicle, and effectively improving the safety of the vehicle in a wading environment.

[0052] based on Figure 1 The scene shown is shown below. Figure 2 - Fig.14 , the vehicle control method provided in the embodiment of the present application is introduced in detail.

[0053] See also Figure 2 , Figure 2 The flowchart of a vehicle control method provided in an embodiment of the present application is shown in FIG. 1 , wherein the vehicle includes a plurality of wheels and a plurality of air suspensions corresponding to the plurality of wheels. Figure 2 As shown, the method of the embodiment of the present application may include the following steps S101-S103.

[0054] S101, obtaining wading status information of the vehicle.

[0055] Specifically, the vehicle includes multiple wheels and multiple air suspensions corresponding to the multiple wheels one by one, which means that the vehicle is equipped with multiple wheels (usually four, i.e. two front wheels and two rear wheels, but may also be six, eight or other numbers), and each wheel is equipped with an independently controllable air suspension.

[0056] The air suspension involved in this embodiment is an active air suspension, and the vehicle can control the air suspension to inflate or deflate to achieve dynamic adjustment of the suspension height. Generally, when it is necessary to improve the vehicle's passability or maintain the balance of the vehicle body, the vehicle control can send an inflation command to the air suspension to increase the air pressure inside it, thereby raising the wheels; on the contrary, when it is necessary to lower the height of the vehicle body or reduce energy consumption, the control can send a deflation command to reduce the air pressure inside the air suspension, and the wheels will drop accordingly.

[0057] See also Figure 3 , Figure 3 1 is an example schematic diagram of a wheel and an air suspension provided in an embodiment of the present application. Figure 3As shown, the four wheels of the vehicle are the left front wheel, the right front wheel, the left rear wheel and the right rear wheel. Then, the vehicle also includes air suspensions corresponding to the four wheels, namely:

[0058] Air suspension corresponding to the left front wheel;

[0059] Air suspension corresponding to the right front wheel;

[0060] Air suspension corresponding to the left rear wheel;

[0061] Air suspension for the right rear wheel.

[0062] In this way, each wheel has its own independent air suspension, and the vehicle can independently adjust the suspension height of each wheel as needed to achieve more refined suspension control and better driving performance.

[0063] The wading state information of a vehicle refers to various state parameters of the vehicle's contact and interaction with the water body during wading. The process of obtaining the wading state information of the vehicle can be to use relevant sensors of the vehicle, such as water level sensors, wheel speed sensors, body posture sensors, visual sensors, etc., to monitor the state of the vehicle in the water in real time. These sensors can capture key information such as the wading depth of the vehicle, whether the wheels are suspended, and the tilt angle of the vehicle body when wading.

[0064] In some possible implementations, the wading state information of the vehicle includes the wading depth of the vehicle, which is determined by measuring the vertical distance between the bottom reference position of the vehicle (such as the lowest point of the chassis) and the water surface of the wading environment in which the vehicle is located. In one possible implementation, the wading state information of the vehicle also includes the suspension state information of the vehicle's wheels. When the wheels lose contact with the ground due to excessive water depth, the wheels are in a suspended state. In addition, the wading state information of the vehicle may also include other information related to wading driving, such as the vehicle's forward speed, steering wheel angle, water flow conditions, etc.

[0065] If the wading state information includes the wading depth of the vehicle, then obtaining the wading depth of the vehicle can be specifically performed as follows: using the vehicle's water level sensor to monitor in real time the vertical distance between the vehicle's bottom reference position (such as the lowest point of the chassis) and the water surface of the wading environment in which the vehicle is located. The water level sensor can be installed at the bottom of the vehicle and can accurately measure the water depth. The water depth data collected by the water level sensor is transmitted to the vehicle's control system in real time. The vehicle's control system can analyze the vehicle's wading depth based on the water depth data collected by the water level sensor, thereby providing a basis for subsequent decision-making.

[0066] If the wading state information includes the vehicle's wheel suspension state information, then obtaining the vehicle's wheel suspension state information can be specifically performed as follows: monitoring the rotation of the wheel and / or the change in the body's posture through at least one sensor such as the vehicle's wheel speed sensor and body posture sensor. When the wheel loses contact with the ground due to excessive water depth, that is, is in a suspended state, the wheel speed will change, and the body posture will also fluctuate significantly. The above sensors can capture these changes and transmit relevant information to the vehicle's control system. By analyzing these data, the control system can determine whether the vehicle's wheels are in a suspended state (combined with the vehicle being in a wading environment, that is, determine whether the wheels are suspended in the water), and the degree of suspension, thereby providing a basis for subsequent decision-making.

[0067] S102: When the wading state information satisfies a preset condition, determine a first air suspension set from a plurality of air suspensions according to the wading state information.

[0068] Specifically, after a vehicle wades through water, in some cases the vehicle may sink entirely, in some cases the vehicle may sink partially, and in some cases the vehicle may not sink at all. Figure 4 , Figure 4 It is an example schematic diagram of a wading state set provided in an embodiment of the present application, wherein the wading state set includes at least six possible wading states.

[0069] like Figure 4 As shown, it is assumed that the preset wading depth threshold is determined based on the vertical distance between the bottom reference position of the vehicle and the lower edge of the driver's door window of the vehicle. Then, in the first wading state, the wading depth of the vehicle is obviously not higher than the preset wading depth threshold, but the vehicle is still some distance away from the underwater ground. At this time, all the wheels are suspended and the vehicle may sink as a whole; in the second wading state, the wading depth of the vehicle is obviously higher than the preset wading depth threshold, and the vehicle is still some distance away from the underwater ground. At this time, all the wheels are suspended, and the vehicle may sink as a whole; in the third wading state, the wading depth of the vehicle is obviously higher than the preset wading depth threshold, and the vehicle is no longer sinking, and at this time all the wheels are in contact with the underwater ground; in the fourth wading state, the wading depth of the vehicle is obviously not higher than the preset wading depth threshold, and all the wheels are in contact with the underwater ground, and the vehicle will not sink; in the fifth wading state, the wading depth of the vehicle is obviously not higher than the preset wading depth threshold, part of the wheels are in contact with the underwater ground, and the other part of the wheels are suspended, and the vehicle may sink in the direction of the suspended wheels; in the sixth wading state, the wading depth of the vehicle is obviously higher than the preset wading depth threshold, part of the wheels are in contact with the underwater ground, and the other part of the wheels are suspended, and the vehicle may sink in the direction of the suspended wheels.

[0070] Therefore, whether a vehicle is safe after wading depends on the vehicle's wading depth and whether the vehicle's wheels are suspended in the water. Suspended wheels indicate the possibility of sinking. Therefore, the preset condition refers to the standard used to judge whether a vehicle is safe after wading. This standard comprehensively considers the vehicle's wading depth and the suspension state of the wheels.

[0071] After obtaining the wading state information of the vehicle, it is necessary to determine whether the wading state information meets the preset conditions. Specifically, the wading depth of the vehicle can be determined from the wading state information of the vehicle, and whether the preset conditions are met based on the wading depth of the vehicle; or, the wheel suspension state information of the vehicle can be determined from the wading state information of the vehicle, and whether the preset conditions are met based on the wheel suspension state information; or, the wading depth and wheel suspension state information of the vehicle can be determined from the wading state information of the vehicle, and whether the preset conditions are met based on the wading depth and wheel suspension state information.

[0072] Therefore, regarding the above judgment process, on the one hand, the wading depth can be compared with the preset wading depth threshold, and on the other hand, it can be determined whether there is at least one suspended wheel suspended in the water among the multiple wheels of the vehicle based on the wheel suspension state information. If the wading depth is higher than the preset wading depth threshold, or there is at least one suspended wheel suspended in the water among the multiple wheels of the vehicle, it can be considered that the wading state information meets the preset conditions. On the contrary, if the wading depth is not higher than the preset wading depth threshold, and there is not at least one suspended wheel suspended in the water among the multiple wheels of the vehicle, it can be considered that the wading state information does not meet the preset conditions.

[0073] If the wading status information does not meet the preset conditions, it means that the vehicle is currently relatively safe in the wading environment and there is no risk of sinking. Therefore, there is no need to control the air suspension for periodic deflation and inflation.

[0074] If the wading state information meets the preset conditions, it indicates that the vehicle is currently unsafe in the wading environment and there is a risk of sinking. At this time, it is necessary to further determine the first air suspension set from multiple air suspensions based on the wading state information. Specifically, the first air suspension set includes at least one first air suspension, and the first air suspension refers to the air suspension selected for periodic deflation and inflation. It can be understood that in some cases, all the air suspensions of the vehicle are determined as the first air suspension; in some cases, part of the air suspensions of the vehicle are determined as the first air suspension.

[0075] S103, based on a preset first control cycle, controlling each first air suspension in the first air suspension set to be deflated and inflated.

[0076] Specifically, the first control cycle involved in this embodiment refers to a cycle of controlling each first air suspension in the first air suspension set to complete one deflation and one inflation. Specifically, the first control cycle starts from when the first first air suspension is controlled to start deflation until the last first air suspension is inflated and restored to the initial state.

[0077] It is understandable that the time span of the first control cycle is not necessarily fixed, and may be affected by the deflation speed and inflation speed of the first air suspension, as well as external factors such as the vehicle sinking speed and the water environment.

[0078] Since the vehicle may continue to sink in a wading environment, in order to maintain the stability of the vehicle body and slow down the sinking speed, the first control cycle may have one or more, that is, the first air suspension needs to be deflated and inflated once or more times. This periodic control strategy can continuously provide lifting force for the vehicle body to counteract the tendency of the vehicle to sink.

[0079] Therefore, based on the preset first control cycle, each first air suspension in the first air suspension set is controlled to be deflated and inflated, specifically: in each first control cycle, each first air suspension in the first air suspension set is controlled to be deflated according to a certain timing. This timing can be sequential, alternating, or synchronous, depending on the sinking of the vehicle, the response speed of the air suspension, and the optimization of the control strategy. During the deflation process, the wheels will sink and contact the water surface or the ground under the water, and the buoyancy of the water body or the support force of the ground will be used to slow down the sinking speed of the vehicle. At the same time, the vehicle's own weight will generate downward pressure on the air suspension, causing the travel of the air suspension to be compressed.

[0080] It can be understood that for any target first air suspension, after the target first air suspension is controlled to be deflated, on the one hand, the water body generates an upward buoyancy on the wheel corresponding to the target first air suspension, and the buoyancy will be transmitted to the target first air suspension, thereby slowing down the sinking speed of the vehicle; on the other hand, the vehicle's own weight will generate a downward pressure on the target first air suspension. Under the action of the forces in the upper and lower directions, the travel of the target first air suspension will be compressed, that is, the wheel will sink a certain distance relative to the vehicle body.

[0081] Then, the target first air suspension is controlled to be inflated, and the target first air suspension generates an upward thrust to the corresponding wheel, and the wheel impulse increases accordingly. The wheel impulse can be expressed as:

[0082] Ft=mV

[0083] Among them, Ft represents the wheel impulse, which is a physical quantity that describes the change in wheel momentum. The magnitude of the wheel impulse reflects the speed and degree of the change in wheel momentum, and its direction is consistent with the direction of the wheel speed change. m represents the wheel mass, which is the amount or amount of material the wheel has, and is used to describe the magnitude of the inertia of an object. The greater the mass of the wheel, the greater its inertia, and the greater the force required to change its state of motion. V represents the wheel speed change, which is the change in wheel speed within a certain time interval. The speed change is a vector whose magnitude is equal to the magnitude of the speed change and whose direction is the same as the speed change.

[0084] When the wheel impulse increases, the reaction force of the water on the wheel will also increase. This reaction force is transmitted to the car body through the wheels and air suspension, thereby forming an upward lifting force to help the vehicle resist sinking and maintain stability.

[0085] In some possible implementations, the vehicle's wheels or other components (such as additionally installed airbag components) provide a certain buoyancy for the vehicle. On this basis, by controlling the deflation and inflation of each first air suspension, it is possible to allow the vehicle to float or at least slow down its sinking speed, thereby buying more escape time and rescue opportunities for the occupants of the vehicle.

[0086] In this embodiment, the wading state information of the vehicle is first obtained to provide an accurate basis for subsequent decision-making. When the wading state information meets the preset conditions, the first air suspension set can be quickly identified and determined from the multiple air suspensions of the vehicle. Subsequently, based on the first control cycle, each first air suspension in the first air suspension set is controlled to be deflated and inflated in an orderly manner. In this way, the rapid response characteristics of the first air suspension can be effectively utilized, and the reaction force on the water body can be generated by dynamically adjusting the impulse of the wheel, thereby providing a lifting force for the vehicle body, slowing down the sinking speed of the vehicle, and effectively improving the safety of the vehicle in a wading environment.

[0087] See also Figure 5 , provides a flow chart of determining whether a preset condition is met for an embodiment of the present application, such as Figure 5 As shown, the method of the embodiment of the present application may include the following steps S201-S202, and steps S201-S202 may be Figure 2 In the illustrated embodiment, the process is performed after step S101 and before step S102 of “determining a first air suspension set from a plurality of air suspensions according to wading state information”.

[0088] S201, if the wading state information includes the wading depth of the vehicle, and the wading depth is higher than a preset wading depth threshold, determining that the wading state information meets a preset condition, the wading depth being determined based on a vertical distance between a bottom reference position of the vehicle and a water surface of a wading environment in which the vehicle is located;

[0089] S202: If the wading state information includes wheel suspension state information of the vehicle, and the wheel suspension state information indicates that there is at least one suspended wheel suspended in water among the multiple wheels, it is determined that the wading state information meets a preset condition.

[0090] Specifically, if the wading state information includes the wading depth of the vehicle, the wading depth may be compared with a preset wading depth threshold.

[0091] In one possible case, the wading depth is not higher than the preset wading depth threshold. The vehicle may have just entered the wading environment or the water in the wading environment is not very deep. At this time, it is impossible to determine whether air suspension control is needed simply by comparing the wading depth with the preset wading depth threshold.

[0092] In one possible scenario, the wading depth is higher than the preset wading depth threshold, indicating that the vehicle is already in a deeper wading environment. At this time, the vehicle may begin to sink due to insufficient buoyancy, or it may be difficult for the occupants to escape because it has sunk to the ground. Therefore, air suspension control is required to change the impulse of the wheels by adjusting the inflation and deflation states of the air suspension, generate a reaction force on the water body, and provide a lifting force for the vehicle body, thereby slowing down the sinking speed of the vehicle or even making the vehicle float, ensuring the safety of the occupants. Therefore, in this case, it can be determined that the wading state information meets the preset conditions to trigger subsequent air suspension control.

[0093] If the wading state information includes wheel suspension state information of the vehicle, it can be determined whether there is at least one suspended wheel suspended in water among the multiple wheels of the vehicle according to the wheel suspension state information.

[0094] In one possible case, the wheel suspension state information indicates that there is no at least one suspended wheel among the multiple wheels of the vehicle suspended in the water. This may be because the water in the wading environment where the vehicle is located is shallow and all the wheels of the vehicle have touched the ground. It may also be that the vehicle has completely sunk in the water and all the wheels of the vehicle have touched the ground. In this case, it is impossible to determine whether air suspension control is required based solely on the content indicated by the wheel suspension state information.

[0095] In one possible case, the wheel suspension status information indicates that there is at least one suspended wheel among the multiple wheels of the vehicle that is suspended in the water, indicating that some of the wheels of the vehicle have lost contact with the ground and the vehicle may begin to tilt or sink. Therefore, air suspension control is required to change the impulse of the wheel by adjusting the inflation and deflation state of the air suspension, generate a reaction force on the water body, provide a lifting force for the vehicle body, thereby slowing down the sinking speed of the vehicle or even making the vehicle float, ensuring the safety of the people in the vehicle. Therefore, in this case, it can be determined that the wading status information meets the preset conditions to trigger the subsequent air suspension control.

[0096] In this embodiment, the wading depth and the wheel suspension state are comprehensively considered. When the wading depth is too high, or some wheels are suspended in the water, it can be determined that the preset conditions are met to trigger the air suspension inflation and deflation control, thereby providing lifting force for the vehicle body and improving the safety of the vehicle in the wading environment.

[0097] See also Figure 6 , a schematic diagram of a process for determining a first air suspension set is provided for an embodiment of the present application, such as Figure 6 As shown, based on Figure 5 The embodiment shown in the figure introduces the wading state information. The method of the embodiment of the present application may include the following steps S301-S303. Steps S301-S303 may be used as Figure 2 The illustrated embodiment shows a detailed step of "determining a first air suspension set from a plurality of air suspensions according to the wading state information" in step S102.

[0098] S301, if the wading state information includes a wading depth of the vehicle, and the wading depth is higher than a preset wading depth threshold, determining each of the multiple air suspensions as a first air suspension, and determining a first air suspension set based on each of the first air suspensions;

[0099] S302, if the wading state information includes the wading depth of the vehicle and the wheel suspension state information, and the wading depth is not higher than the preset wading depth threshold, and the wheel suspension state information indicates that there is at least one suspended wheel suspended in the water among the multiple wheels, then the air suspension corresponding to each suspended wheel in the at least one suspended wheel is respectively determined as a first air suspension, and a first air suspension set is determined based on each first air suspension;

[0100] S303, if the wading state information only includes the wheel suspension state information of the vehicle, and the wheel suspension state information indicates that there is at least one suspended wheel suspended in the water among the multiple wheels, then the air suspension corresponding to each suspended wheel in the at least one suspended wheel is respectively determined as a first air suspension, and a first air suspension set is determined based on each first air suspension.

[0101] Specifically, the wading state information includes at least one of the wading depth of the vehicle and wheel suspension state information.

[0102] If the wading state information includes the wading depth of the vehicle, and the wading depth is higher than a preset wading depth threshold, each of the multiple air suspensions can be determined as a first air suspension. For example, assuming that the vehicle includes an air suspension corresponding to the left front wheel, an air suspension corresponding to the right front wheel, an air suspension corresponding to the left rear wheel, and an air suspension corresponding to the right rear wheel, the air suspension corresponding to the left front wheel, the air suspension corresponding to the right front wheel, the air suspension corresponding to the left rear wheel, and the air suspension corresponding to the right rear wheel can be determined as the first air suspension.

[0103] If the wading state information includes the wading depth of the vehicle and the wheel suspension state information, and the wading depth is not higher than the preset wading depth threshold, and the wheel suspension state information indicates that there is at least one suspended wheel suspended in the water among the multiple wheels, then the air suspension corresponding to each suspended wheel in the at least one suspended wheel can be determined as the first air suspension. For example, assuming that the vehicle includes an air suspension corresponding to the left front wheel, an air suspension corresponding to the right front wheel, an air suspension corresponding to the left rear wheel, and an air suspension corresponding to the right rear wheel, and the left front wheel and the right front wheel are suspended wheels, then the air suspension corresponding to the left front wheel and the air suspension corresponding to the right front wheel can be determined as the first air suspension respectively.

[0104] If the wading state information only includes the wheel suspension state information of the vehicle, and the wheel suspension state information indicates that there is at least one suspended wheel suspended in the water among the multiple wheels, then the air suspension corresponding to each suspended wheel in the at least one suspended wheel can be respectively determined as the first air suspension, and the first air suspension set is determined based on each first air suspension. For example, assuming that the vehicle includes an air suspension corresponding to the left front wheel, an air suspension corresponding to the right front wheel, an air suspension corresponding to the left rear wheel, and an air suspension corresponding to the right rear wheel, and the left rear wheel and the right rear wheel are suspended wheels, then the air suspension corresponding to the left rear wheel and the air suspension corresponding to the right rear wheel can be respectively determined as the first air suspension.

[0105] For the first air suspensions determined in any of the above-mentioned ways, a first air suspension set can be finally determined based on each of the first air suspensions.

[0106] In this embodiment, according to different situations of wading state information, the first air suspension set that needs to be adjusted is accurately identified and selected. When the wading depth is too high, all air suspensions are included in the control range to ensure that the vehicle as a whole obtains sufficient lifting force; when the wading depth is not high but there are suspended wheels, only the air suspension corresponding to the suspended wheels is controlled, which enhances the adaptability of the vehicle to complex wading environments and provides more reliable protection for the safety of the vehicle in wading environments.

[0107] See also Figure 7 , a schematic diagram of a flow chart of controlling the deflation and inflation of a first air suspension is provided for an embodiment of the present application, such as Figure 7 As shown, the method of the embodiment of the present application may include the following steps S201-S208.

[0108] S401, obtaining power limit data of a power supply;

[0109] S402, determining the maximum control quantity of the air suspension of the vehicle at the current moment according to the power limit data of the power supply.

[0110] Specifically, the power source involved in this embodiment refers to a device or system that provides electrical energy to the vehicle, which can be the vehicle's own battery, generator or other energy storage and conversion device, or an external power supply device. The power source is responsible for supplying power to various electrical devices of the vehicle, including but not limited to the vehicle's air suspension system.

[0111] The power limit data of a power supply refers to the maximum power value that the power supply can stably provide under current conditions or the power range that can be continuously output within a certain period of time. The power limit data of a power supply is determined by the power supply's own characteristics, current status (such as power, temperature, etc.) and external conditions (such as ambient temperature, grid voltage, etc.). Regarding the process of obtaining the power limit data of a power supply, it can be specifically manifested as the vehicle control system interacting with the power management system through a communication interface to request and obtain the power limit data of the power supply. The power management system will calculate the maximum power that the power supply can safely provide at the current moment, that is, the power limit data of the power supply, based on the real-time status and external conditions of the power supply, and feed back the power limit data of the power supply to the vehicle control system.

[0112] Since the vehicle needs a certain amount of power to control the air suspension, especially to control the air suspension for inflation, it is necessary to determine the maximum number of air suspensions that the vehicle can control at the current moment based on the power limit data of the power supply. This process can be specifically performed as follows: according to the acquired power limit data of the power supply, the maximum number of air suspensions that can be simultaneously controlled for inflation under the current conditions is calculated. This number is the maximum number of air suspensions that the vehicle can control at the current moment. Through this step, it can be ensured that the vehicle will not exceed the power limit of the power supply while meeting the air suspension control requirements, thereby ensuring the stable operation and safety of the vehicle's electrical system.

[0113] After step S402 is executed, "determine the target control strategy based on the maximum control quantity and the number of first air suspensions in the first air suspension set; control each first air suspension in the first air suspension set to deflate and inflate based on the preset first control cycle and target control strategy" can be executed, which can be specifically refined into steps S403-S404 and steps S405-S406.

[0114] S403, if the maximum control quantity is not less than the first air suspension quantity of the first air suspension set, determining a first control strategy;

[0115] S404: If the target control strategy is the first control strategy, then based on a preset first control cycle, each first air suspension is controlled to be deflated, and each first air suspension is controlled to be inflated after reaching a target travel.

[0116] Specifically, if the maximum control quantity is not less than the first air suspension quantity of the first air suspension set, it indicates that the power source can provide sufficient power, and even if the vehicle controls all the first air suspensions in the first air suspension set to be inflated at the same time, the power limit of the power source will not be exceeded. In this case, the target control strategy is determined to be the first control strategy.

[0117] Furthermore, when the target control strategy is the first control strategy, each first air suspension is controlled to be deflated based on a preset first control cycle, and each first air suspension is controlled to be inflated after reaching a target stroke. To expand the process, in each first control cycle, all first air suspensions in the first air suspension set are controlled to start deflation in a predetermined order or synchronously. During the deflation process, the stroke of the first air suspension is gradually compressed.

[0118] When the first air suspension is deflated to a certain extent, that is, after the first air suspension reaches the target travel, each first air suspension is controlled to be inflated. During the inflation process, the air pressure inside the air suspension increases, and the wheel impulse increases accordingly. During this process, the reaction force of the water on the wheel is also transmitted to the vehicle body through the wheel and the air suspension, forming an upward lifting force, which further helps the vehicle resist sinking and maintain stability.

[0119] Through such periodic deflation and inflation control, the impulse of the wheel can be dynamically adjusted to continuously provide lifting force for the vehicle body, thereby effectively slowing down the sinking speed of the vehicle and improving the safety of the vehicle in wading environments.

[0120] In a possible implementation, each first air suspension may be controlled to be inflated simultaneously to jointly form a larger upward lifting force.

[0121] S405: If the maximum control quantity is lower than the first air suspension quantity of the first air suspension set, determine a second control strategy.

[0122] S406, if the target control strategy is the second control strategy, the first air suspension set is divided into multiple first air suspension groups, and the number of first air suspensions in the first air suspension group is equal to the maximum control number; based on the preset first control cycle, the first air suspension of each first air suspension group is controlled to be deflated in turn, and the first air suspension of each first air suspension group is controlled to be inflated after reaching the target stroke.

[0123] Specifically, if the maximum control quantity is lower than the first air suspension quantity of the first air suspension set, it indicates that the power source cannot provide sufficient power, and if the vehicle controls all the first air suspensions in the first air suspension set to inflate at the same time, the power limit of the power source will be exceeded. In this case, the target control strategy is determined to be the second control strategy.

[0124] Furthermore, when the target control strategy is the first control strategy, the first air suspension set is first divided into a plurality of first air suspension groups, and the number of first air suspensions in the first air suspension group is equal to the maximum control number. For example, assuming that the vehicle includes an air suspension corresponding to the left front wheel, an air suspension corresponding to the right front wheel, an air suspension corresponding to the left rear wheel, and an air suspension corresponding to the right rear wheel, and the maximum control number is 2, then the air suspension corresponding to the left front wheel and the air suspension corresponding to the right front wheel can be divided into the first air suspension group 1, and the air suspension corresponding to the left rear wheel and the air suspension corresponding to the right rear wheel can be divided into the first air suspension group 2, that is, a total of two groups of first air suspension groups are divided, and the number of first air suspensions in any group of first air suspension groups is 2 (equal to the maximum control number).

[0125] Further, based on the preset first control cycle, the first air suspensions of each first air suspension group are controlled to be deflated in sequence, and the first air suspensions of each first air suspension group are controlled to be inflated after reaching the target stroke. To expand the process, in each first control cycle, a group of first air suspension groups is selected first according to a predetermined order to start control. For the selected first air suspension group, each first air suspension in it is controlled to be deflated, and during the deflation process, the stroke of each first air suspension in the selected first air suspension group is gradually compressed. When each first air suspension in the selected first air suspension group is deflated to a certain extent, that is, after the first air suspension reaches the target stroke, each first air suspension in the selected first air suspension group is controlled to be inflated. During the inflation process, the air pressure inside each first air suspension in the selected first air suspension group increases, and the wheel impulse increases accordingly. The reaction force of the water body on the wheel is also transmitted to the vehicle body through the wheel and the air suspension, forming an upward lifting force to help the vehicle resist sinking and maintain stability.

[0126] After the control of the selected first air suspension group is completed, the next first air suspension group is selected in a predetermined order to perform the same control process, and so on, until each first air suspension in all first air suspension groups has completed one deflation and inflation, which is equivalent to completing a first control cycle.

[0127] Through such group control and periodic deflation and inflation strategies, the air suspension can be controlled as much as possible under power constraints, the impulse of the wheels can be dynamically adjusted, and lifting force can be provided for the vehicle body, thereby effectively slowing down the sinking speed of the vehicle and improving the safety of the vehicle in wading environments.

[0128] In addition, in practical applications, the division and control strategy of the first air suspension group can be flexibly adjusted according to the actual situation of the vehicle and the severity of the wading environment to achieve a better control effect. For example, the first air suspension group that has a greater impact on vehicle stability can be controlled first according to factors such as the suspension state of the wheel and the tilt angle of the vehicle, or the number and control sequence of each first air suspension group can be dynamically adjusted according to the real-time power limit data of the power supply.

[0129] In a possible implementation, the target stroke may be a minimum stroke of the first air suspension, where the minimum stroke of the first air suspension refers to a stroke when the first air suspension is fully compressed, which represents a maximum compression amount that the first air suspension can provide.

[0130] For easier understanding of this embodiment, please refer to Figure 8 , Figure 8This is an example schematic diagram of control based on different control strategies provided in an embodiment of the present application.

[0131] like Figure 8 As shown, the vehicle's air suspension system may include an air suspension corresponding to the left front wheel, an air suspension corresponding to the right front wheel, an air suspension corresponding to the left rear wheel, and an air suspension corresponding to the right rear wheel, a total of four air suspensions, and these four air suspensions are respectively determined as the first air suspension.

[0132] Assuming that the maximum control quantity is 4, the first control strategy is adopted. In any first control cycle, the air suspension corresponding to the left front wheel, the air suspension corresponding to the right front wheel, the air suspension corresponding to the left rear wheel, and the air suspension corresponding to the right rear wheel can be controlled to be inflated at the same time to provide the vehicle with the maximum upward lifting force. In other words, the number of the first air suspensions in the inflated state at any time is not greater than 4.

[0133] Assuming that the maximum control quantity is 2, the second control strategy is adopted, the air suspension corresponding to the left front wheel and the air suspension corresponding to the left rear wheel can be divided into a first air suspension group; the air suspension corresponding to the right front wheel and the air suspension corresponding to the right rear wheel can be divided into a first air suspension group. In any first control cycle, the air suspension corresponding to the left front wheel and the air suspension corresponding to the left rear wheel can be controlled to be inflated at the same time, and then the air suspension corresponding to the right front wheel and the air suspension corresponding to the right rear wheel can be controlled to be inflated at the same time. In other words, the number of first air suspensions in the inflated state at any time is not greater than 2.

[0134] Assuming that the maximum control quantity is 2, the second control strategy is adopted, and the air suspension corresponding to the left front wheel and the air suspension corresponding to the right front wheel can be divided into a first air suspension group; the air suspension corresponding to the left rear wheel and the air suspension corresponding to the right rear wheel can be divided into a first air suspension group. In any first control cycle, the air suspension corresponding to the left front wheel and the air suspension corresponding to the right front wheel can be controlled to be inflated at the same time, and then the air suspension corresponding to the left rear wheel and the air suspension corresponding to the right rear wheel can be controlled to be inflated at the same time. In other words, the number of first air suspensions in the inflated state at any time is not greater than 2.

[0135] Assuming that the maximum control quantity is 1, the second control strategy is adopted. In any first control cycle, the air suspension corresponding to the left front wheel, the air suspension corresponding to the right front wheel, the air suspension corresponding to the left rear wheel, and the air suspension corresponding to the right rear wheel can be controlled to be inflated in sequence. In other words, the number of first air suspensions in the inflated state at any time is not greater than 1. It can be understood that the above control sequence is actually a diagonal control sequence (similar to the control sequence of the "8" shape). In addition, the first air suspensions can also be controlled in a clockwise or counterclockwise control sequence.

[0136] Figure 8 Although only the inflated state of the air suspension is shown, it should be known that the vehicle will control the air suspension to be deflated before the air suspension is inflated.

[0137] In this embodiment, by acquiring the power limit data of the power supply for the air suspension, the maximum control quantity of the vehicle for the air suspension at the current moment can be intelligently determined, and then the target control strategy is determined according to the maximum control quantity and the first air suspension quantity of the first air suspension set. Based on the preset first control cycle and the target control strategy, the vehicle can orderly control the deflation and inflation of each air suspension in the first air suspension set. Specifically, by comparing the maximum control quantity with the first air suspension quantity, the first control strategy or the second control strategy can be intelligently selected. When the power of the power supply is sufficient and the maximum control quantity is not less than the first air suspension quantity, the first control strategy is adopted to ensure that the vehicle can obtain a better lifting effect in the case of wading. When the power of the power supply is limited and the maximum control quantity is less than the first air suspension quantity, the second control strategy is adopted to effectively avoid power overload of the power supply and improve the safety of the vehicle in the wading environment. When the first control strategy is adopted, all the first air suspensions can be orderly deflated and inflated based on the preset first control cycle to provide a stable lifting force for the vehicle. Under the second control strategy, the first air suspension set is divided into multiple groups, and the number of each group matches the maximum control number. This can not only avoid power overload, but also ensure that each group of the first air suspension can be controlled in a timely and effective manner.

[0138] See also Fig. 9 , a schematic diagram of a process for performing posture correction based on a second control cycle is provided for an embodiment of the present application, such as Fig. 9 As shown, the method of the embodiment of the present application may include the following steps S501-S502, and steps S501-S502 may be Figure 2 The illustrated embodiment is executed after step S101.

[0139] S501, when the wading state information satisfies a preset condition, if the inclination angle of the vehicle in the target posture detection direction is greater than a preset inclination angle threshold, determining a second air suspension set from a plurality of air suspensions according to the target posture detection direction;

[0140] S502, based on a preset second control cycle, controlling each second air suspension in the second air suspension set to be deflated and inflated so that the tilt angle of the vehicle in the target posture detection direction is not greater than a preset tilt angle threshold.

[0141] Specifically, the posture of the vehicle after wading may be abnormal, which is manifested in that the vehicle's tilt angle in certain directions is too large. This abnormal posture will affect the safety of the vehicle in the wading environment.

[0142] To this end, the vehicle supports tilt angle detection in multiple attitude detection directions based on attitude sensors (such as body attitude sensors, gyroscopes, roll sensors, etc.). The attitude sensor can monitor the tilt angle of the vehicle in each attitude detection direction in real time, providing accurate data support for vehicle attitude correction.

[0143] Among them, the attitude detection direction refers to the different directions of the vehicle in space, such as front, rear, left, right, left front, right front, left rear, right rear, roll direction (rotation around the longitudinal axis of the vehicle) and pitch direction (rotation around the transverse axis of the vehicle), etc. These attitude detection directions together constitute a complete description of the vehicle's attitude. The tilt angle of the vehicle in a certain attitude detection direction refers to the angle of the vehicle relative to the horizontal plane in the attitude detection direction. This angle can be measured by the attitude sensor, which reflects the degree of tilt of the vehicle in the attitude detection direction.

[0144] When the wading state information meets the preset conditions, it is necessary to obtain the tilt angle of the vehicle in each attitude detection direction. This can be achieved through the communication between the vehicle control system and the attitude sensor, and the attitude sensor transmits the real-time measured tilt angle to the vehicle control system.

[0145] Then, the vehicle control system will compare the vehicle's tilt angle in each posture detection direction with a preset tilt angle threshold. The preset tilt angle threshold is a pre-set value, which is used to determine whether the vehicle's tilt angle in a certain posture detection direction is too large, that is, whether the vehicle's posture is normal.

[0146] If the vehicle's tilt angle in each posture detection direction is not greater than the preset tilt angle threshold, it indicates that the vehicle's posture is normal and there is no excessive tilt, and no posture correction is required.

[0147] If the tilt angle of the vehicle in the target posture detection direction is greater than the preset tilt angle threshold, it indicates that the posture of the vehicle is abnormal and posture correction is required. Among them, the target posture detection direction is at least one of the multiple posture detection directions. In this case, it is necessary to determine the second air suspension set from multiple air suspensions according to the target posture detection direction. Specifically, among the multiple air suspensions of the vehicle, at least one air suspension that conforms to the target posture detection direction is respectively determined as the second air suspension. For example, if the tilt angle of the vehicle on the left is too large, then the air suspension on the left side of the vehicle (the air suspension corresponding to the left front wheel and the air suspension corresponding to the left rear wheel) can be selected as the second air suspension; if the tilt angle of the vehicle in the front is too large, then the air suspension at the front of the vehicle (the air suspension corresponding to the left front wheel and the air suspension corresponding to the right front wheel) can be selected as the second air suspension. Based on these selected second air suspensions, the second air suspension set can be determined.

[0148] Further, based on the preset second control cycle, each second air suspension in the second air suspension set is controlled to deflate and inflate so that the tilt angle of the vehicle in the target posture detection direction is not greater than the preset tilt angle threshold. It can be understood that there will be at least one second control cycle, and the specific process can be expanded as follows:

[0149] In each second control cycle, each second air suspension in the second air suspension set is first controlled to be deflated. During the deflation process, the stroke inside each second air suspension will be compressed. After each second air suspension reaches the target stroke, each second air suspension is controlled to be inflated, and the vehicle body part in the target posture detection direction will be lifted, so that its inclination angle in the target posture detection direction is gradually reduced until it is no greater than the preset inclination angle threshold. Through such periodic deflation and inflation control, the inclination angle of the vehicle in each posture detection direction can be dynamically adjusted to ensure that the vehicle maintains a stable posture in a wading environment.

[0150] To understand this implementation, please see Fig.10 , Fig.10 This is an example schematic diagram of a vehicle posture correction provided by an embodiment of the present application. Before the posture correction, the vehicle has a large tilt angle in the front. After the posture correction, the tilt angle in the front of the vehicle returns to a smaller level, which is beneficial to ensuring the safety of the subsequent vehicle control process and also helps the occupants to escape.

[0151] For the attitude detection directions supported by the vehicle, see Fig.11 , Fig.11This is an example schematic diagram of the division of vehicle surrounding angles provided in an embodiment of the present application. Among them, the 360° horizontal direction of the vehicle surrounding is divided into 8 equal parts, representing 8 posture detection directions (front, rear, left, right, left front, right front, left rear, right rear), among which the front corresponds to 337.5° to 67.5°; the right front corresponds to 22.5° to 67.5°; the right corresponds to 67.5° to 112.5°; the right rear corresponds to 112.5° to 157.5°; the rear corresponds to 157.5° to 202.5°; the left rear corresponds to 202.5° to 247.5°; the left corresponds to 247.5° to 292.5°; the left front corresponds to 292.5° to 337.5°.

[0152] Assume that the angle (tilt angle) of the vehicle relative to the horizontal plane at 10° in the horizontal direction (front) is 30°, and the preset tilt angle threshold is 20°. Obviously, 30° is greater than 20°. Then the front can be determined as the target posture detection direction. In this case, the air suspension corresponding to the left front wheel and the air suspension corresponding to the right front wheel should be determined as the second air suspension, and the second air suspension should be subsequently controlled to deflate and inflate so that the front part of the vehicle body is gradually lifted to correct the posture of the vehicle.

[0153] It should be noted that the second control period involved in this embodiment does not overlap with the first control period of the above-mentioned embodiment in terms of timing.

[0154] See also Fig.12 , Fig.12 is an example schematic diagram of a timing relationship between a first control period and a second control period provided in an embodiment of the present application. Fig.12 As shown, when it is determined that the vehicle posture is abnormal, each second air suspension is controlled to be deflated and inflated based on the second control cycle 1 and the second control cycle 2 to correct the vehicle posture. When it is determined that the vehicle posture is normal, each first air suspension is controlled to be deflated and inflated based on the first control cycle 1, the first control cycle 2 and other possible subsequent first control cycles, so that the vehicle continues to obtain an upward lifting force to resist the sinking trend.

[0155] See also Fig.13 , Fig.13 is an example schematic diagram of a timing relationship between a first control period and a second control period provided in an embodiment of the present application. Fig.13As shown, first, the first air suspensions are controlled to be deflated and inflated based on the first control cycle 1. After the first control cycle 1 is completed, it is determined that the vehicle posture is abnormal, and then the second air suspensions are controlled to be deflated and inflated based on the second control cycle 1 and the second control cycle 2 to correct the vehicle posture. When it is determined that the vehicle posture is normal, the first air suspensions are controlled to be deflated and inflated based on the first control cycle 2 and other possible subsequent first control cycles, so that the vehicle continues to obtain an upward lifting force to counteract the sinking trend.

[0156] From the above Fig.12 , Fig.13 It can be seen that the vehicle can achieve posture correction based on the second control cycle outside the first control cycle.

[0157] In this embodiment, by monitoring the wading state and tilt angle of the vehicle, the second air suspension set can be quickly identified and determined when the preset conditions are met and the vehicle tilt angle exceeds the threshold. Subsequently, based on the preset second control cycle, the deflation and inflation of these second air suspensions are accurately controlled to effectively adjust the vehicle posture and ensure that the tilt angle remains within a safe range. In this way, the safety hazards caused by excessive tilting of the vehicle in a wading environment are effectively avoided, and the stability and safety of the vehicle in a wading environment are enhanced.

[0158] See also Fig.14 , a flow chart of posture correction based on inflation speed is provided for the embodiment of the present application, such as Fig.14 As shown, the method of the embodiment of the present application may include the following steps S601. Step S601 may be Figure 2 In the illustrated embodiment, the step S102 of “determining a first air suspension set from a plurality of air suspensions according to the wading state information” is performed afterwards.

[0159] S601, if the inclination angle of the vehicle in the target posture detection direction is greater than the preset inclination angle threshold, then in the first air suspension set, the inflation speed parameter of the first air suspension that is consistent with the target posture detection direction is configured as the first inflation speed parameter, and the inflation speed parameter of the first air suspension that is inconsistent with the target posture detection direction is configured as the second inflation speed parameter. The inflation speed parameter of the first air suspension is used to adjust the inflation speed, and the first inflation speed parameter is higher than the second inflation speed parameter.

[0160] Specifically, the posture detection direction, target posture detection direction, tilt angle, preset tilt angle threshold, and first air suspension set involved in this embodiment have been introduced in the previous embodiments and will not be repeated here.

[0161] If the tilt angle of the vehicle in the target posture detection direction is greater than the preset tilt angle threshold, it indicates that the posture of the vehicle is abnormal and posture correction is required. At this time, in the first air suspension set, the inflation speed parameter of the first air suspension that is consistent with the target posture detection direction is configured as the first inflation speed parameter, and the inflation speed parameter of the first air suspension that is inconsistent with the target posture detection direction is configured as the second inflation speed parameter.

[0162] The inflation speed parameter of the first air suspension is used to adjust the inflation speed, that is, to control the speed at which the air pressure inside the air suspension increases. By adjusting the inflation speed parameter, the inflation process of the air suspension can be finely controlled to meet different posture correction requirements.

[0163] The first inflation speed parameter is higher than the second inflation speed parameter, that is, the inflation speed of the first air suspension that is consistent with the target posture detection direction will be faster, which can provide greater lifting force in a shorter time, and help to correct the abnormal posture of the vehicle more quickly. The inflation speed of the first air suspension that does not conform to the target posture detection direction is relatively slow, which can ensure the posture correction effect while avoiding unnecessary interference to the vehicle posture.

[0164] According to the above-mentioned introduction to wheel impulse, the faster the inflation speed of the air suspension, the greater the lifting force provided by the air suspension. Conversely, the slower the inflation speed, the smaller the lifting force provided. Therefore, by differentially configuring the inflation speed parameters of the first air suspension, the lifting force can be provided in a targeted manner during the posture correction process, thereby more effectively adjusting the posture of the vehicle.

[0165] In the process of controlling the deflation and inflation of each first air suspension in the first air suspension set based on the preset first control cycle, the first air suspension that is consistent with the target posture detection direction will continue to provide a large lifting force, so that the vehicle body part in the target posture detection direction will be lifted, and its inclination angle in the target posture detection direction will gradually decrease. The first air suspension that does not conform to the target posture detection direction provides a relatively small lifting force, which plays a role in assisting stability. Through such periodic deflation and inflation control, the vehicle's inclination angle in each posture detection direction can be dynamically adjusted to ensure that the vehicle maintains a stable posture in a wading environment.

[0166] It should be noted that, in this embodiment, there is no need to correct the posture of the vehicle outside the first control cycle, but the posture correction is achieved through the differentiated configuration of the air suspension inflation speed during the first control cycle.

[0167] In this embodiment, the inflation speed parameter of each first air suspension in the first air suspension set can be adjusted according to the wading state information and tilt angle of the vehicle. For the first air suspension that is consistent with the target posture detection direction, its inflation speed parameter is set to a higher first inflation speed parameter to quickly increase the lifting force in this direction and effectively correct the vehicle tilt. For the first air suspension that does not conform to the target posture detection direction, a lower second inflation speed parameter is used to avoid posture imbalance caused by overinflation. This differentiated inflation speed configuration improves the response speed and accuracy of the vehicle posture adjustment and ensures the stability and safety of the vehicle in a wading environment.

[0168] Based on the above Figure 1 The following will combine Fig.15 The vehicle control device provided in the embodiment of the present application is introduced in detail. It should be noted that: Fig.15 The vehicle control device is used to execute the present application Figure 2 - Fig.14 For the convenience of explanation, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the present application. Figure 2 - Fig.14 Specifically, the vehicle includes a plurality of wheels, and a plurality of air suspensions corresponding to the plurality of wheels one by one; the vehicle control device 800 may include an acquisition unit 801, a determination unit 802, and a control unit 803, as follows:

[0169] An acquisition unit 801 is used to acquire the wading state information of the vehicle;

[0170] A determination unit 802, configured to determine a first air suspension set from a plurality of air suspensions according to the wading state information when the wading state information satisfies a preset condition;

[0171] The control unit 803 is used to control each first air suspension in the first air suspension set to deflate and inflate based on a preset first control cycle.

[0172] Optionally, in some embodiments, the vehicle control device 800 can be used to: if the wading status information includes the wading depth of the vehicle, and the wading depth is higher than a preset wading depth threshold, then determine that the wading status information meets the preset conditions, and the wading depth is determined based on the vertical distance between the bottom reference position of the vehicle and the water surface of the wading environment in which the vehicle is located; if the wading status information includes the wheel suspension status information of the vehicle, and the wheel suspension status information indicates that there is at least one suspended wheel suspended in the water among the multiple wheels, then determine that the wading status information meets the preset conditions.

[0173] Optionally, in some embodiments, the determination unit 802 may be used for: if the wading state information includes the wading depth of the vehicle, and the wading depth is higher than a preset wading depth threshold, then each of the multiple air suspensions is respectively determined as a first air suspension, and a first air suspension set is determined based on each first air suspension; if the wading state information includes the wading depth and wheel suspension state information of the vehicle, and the wading depth is not higher than a preset wading depth threshold, and the wheel suspension state information indicates that there is at least one suspended wheel suspended in the water among the multiple wheels, then the air suspension corresponding to each of the at least one suspended wheel is respectively determined as a first air suspension, and a first air suspension set is determined based on each first air suspension; if the wading state information only includes the wheel suspension state information of the vehicle, and the wheel suspension state information indicates that there is at least one suspended wheel suspended in the water among the multiple wheels, then the air suspension corresponding to each of the at least one suspended wheel is respectively determined as a first air suspension, and a first air suspension set is determined based on each first air suspension.

[0174] Optionally, in some embodiments, the vehicle also includes a power supply for supplying power to the air suspension; the control unit 803 can be used to: obtain power limit data of the power supply; determine the maximum control quantity of the air suspension of the vehicle at the current moment based on the power limit data of the power supply; determine the target control strategy based on the maximum control quantity and the number of first air suspensions in the first air suspension set; based on a preset first control cycle and target control strategy, control each first air suspension in the first air suspension set to deflate and inflate.

[0175] Optionally, in some embodiments, the target control strategy is a first control strategy or a second control strategy; the control unit 803 can be used to: if the maximum control number is not less than the first air suspension number of the first air suspension set, determine the first control strategy; if the maximum control number is less than the first air suspension number of the first air suspension set, determine the second control strategy.

[0176] Optionally, in some embodiments, the control unit 803 can be used for: if the target control strategy is the first control strategy, then based on the preset first control cycle, controlling each first air suspension to be deflated, and controlling each first air suspension to be inflated after reaching the target stroke; if the target control strategy is the second control strategy, then dividing the first air suspension set into multiple first air suspension groups, and the number of first air suspensions in the first air suspension group is equal to the maximum control number; based on the preset first control cycle, controlling the first air suspension of each first air suspension group to be deflated in turn, and controlling the first air suspension of each first air suspension group to be inflated after reaching the target stroke.

[0177] Optionally, in some embodiments, the vehicle control device 800 can be used to: when the wading state information meets preset conditions, if the inclination angle of the vehicle in the target posture detection direction is greater than a preset inclination angle threshold, then determine a second air suspension set from multiple air suspensions according to the target posture detection direction; based on a preset second control cycle, control each second air suspension in the second air suspension set to deflate and inflate so that the inclination angle of the vehicle in the target posture detection direction is not greater than the preset inclination angle threshold.

[0178] Optionally, in some embodiments, the vehicle control device 800 can be used for: if the inclination angle of the vehicle in the target posture detection direction is greater than a preset inclination angle threshold, then in the first air suspension set, the inflation speed parameter of the first air suspension that is consistent with the target posture detection direction is configured as the first inflation speed parameter, and the inflation speed parameter of the first air suspension that is inconsistent with the target posture detection direction is configured as the second inflation speed parameter, the inflation speed parameter of the first air suspension is used to adjust the inflation speed, and the first inflation speed parameter is higher than the second inflation speed parameter.

[0179] The effects that can be achieved by this embodiment can be found in the relevant embodiments of the above-mentioned vehicle control method, which will not be described in detail here.

[0180] See also Fig.16 , which is a schematic diagram of the structure of a vehicle provided in the embodiment of the present application. Fig.16 As shown, the vehicle 900 includes a processor 901 and a memory 902. The processor 901 is electrically connected to the memory 902.

[0181] The processor 901 is the control center of the vehicle 900 and may include one or more processing cores. The processor 901 uses various interfaces and lines to connect various parts of the entire vehicle 900, and executes various functions and processes data of the vehicle 900 by running or calling computer programs stored in the memory 902, and calling data stored in the memory 902, so as to control the vehicle 900 as a whole. Optionally, the processor 901 may be implemented in at least one hardware form of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 901 may integrate one or a combination of CPU, graphics processing unit (GPU), modem, etc. Among them, the CPU mainly processes the operating system, user pages, and applications; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 901, but may be implemented separately through a communication chip.

[0182] The memory 902 may be used to store software programs and modules, and the processor 901 executes various functional applications and data processing by running the computer programs and modules stored in the memory 902. The memory 902 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function, etc.; the data storage area may store data created according to the use of the vehicle 900, etc.

[0183] In addition, the memory 902 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 902 may also include a memory controller to provide the processor 901 with access to the memory 902.

[0184] In this embodiment, the vehicle 900 includes a plurality of wheels and a plurality of air suspensions corresponding to the plurality of wheels one by one; the processor 901 in the vehicle 900 loads instructions corresponding to the processes of one or more computer programs into the memory 902 according to the following steps, and the processor 901 runs the computer program stored in the memory 902, thereby realizing various functions, as follows:

[0185] Obtain the vehicle's wading status information;

[0186] When the wading state information satisfies a preset condition, determining a first air suspension set from a plurality of air suspensions according to the wading state information;

[0187] Based on a preset first control cycle, each first air suspension in the first air suspension set is controlled to be deflated and inflated.

[0188] Optionally, after executing acquisition of the vehicle's wading status information and before determining a first air suspension set from multiple air suspensions based on the wading status information, the processor 901 specifically performs the following: if the wading status information includes the vehicle's wading depth, and the wading depth is higher than a preset wading depth threshold, then it is determined that the wading status information meets a preset condition, and the wading depth is determined based on the vertical distance between the bottom reference position of the vehicle and the water surface of the wading environment in which the vehicle is located; if the wading status information includes the vehicle's wheel suspension status information, and the wheel suspension status information indicates that there is at least one suspended wheel suspended in the water among the multiple wheels, then it is determined that the wading status information meets the preset condition.

[0189] Optionally, when the processor 901 determines the first air suspension set from multiple air suspensions according to the wading status information, it specifically performs the following: if the wading status information includes the wading depth of the vehicle, and the wading depth is higher than a preset wading depth threshold, then each air suspension among the multiple air suspensions is respectively determined as a first air suspension, and the first air suspension set is determined based on each first air suspension; if the wading status information includes the wading depth and wheel suspension status information of the vehicle, and the wading depth is not higher than the preset wading depth threshold, and the wheel suspension status information indicates that there is at least one suspended wheel suspended in the water among the multiple wheels, then the air suspension corresponding to each suspended wheel among the at least one suspended wheel is respectively determined as a first air suspension, and the first air suspension set is determined based on each first air suspension; if the wading status information only includes the wheel suspension status information of the vehicle, and the wheel suspension status information indicates that there is at least one suspended wheel suspended in the water among the multiple wheels, then the air suspension corresponding to each suspended wheel among the at least one suspended wheel is respectively determined as a first air suspension, and the first air suspension set is determined based on each first air suspension.

[0190] Optionally, the vehicle also includes a power supply for supplying power to the air suspension; when the processor 901 controls each first air suspension in the first air suspension set to be deflated and inflated based on a preset first control cycle, the processor 901 specifically performs the following: obtaining power limit data of the power supply; determining the maximum control number of the air suspension of the vehicle at the current moment according to the power limit data of the power supply; determining a target control strategy according to the maximum control number and the number of first air suspensions in the first air suspension set; and controlling each first air suspension in the first air suspension set to be deflated and inflated based on the preset first control cycle and the target control strategy.

[0191] Optionally, the target control strategy is the first control strategy or the second control strategy; when the processor 901 determines the target control strategy based on the maximum control number and the first air suspension number of the first air suspension set, it specifically executes: if the maximum control number is not less than the first air suspension number of the first air suspension set, then the first control strategy is determined; if the maximum control number is less than the first air suspension number of the first air suspension set, then the second control strategy is determined.

[0192] Optionally, when the processor 901 controls each first air suspension in the first air suspension set to deflate and inflate based on the preset first control cycle and target control strategy, the specific execution is as follows: if the target control strategy is the first control strategy, then based on the preset first control cycle, each first air suspension is controlled to be deflated, and each first air suspension is controlled to be inflated after reaching the target stroke; if the target control strategy is the second control strategy, the first air suspension set is divided into multiple first air suspension groups, and the number of first air suspensions in the first air suspension group is equal to the maximum control number; based on the preset first control cycle, the first air suspensions of each first air suspension group are controlled to be deflated in turn, and the first air suspensions of each first air suspension group are controlled to be inflated after reaching the target stroke.

[0193] Optionally, after executing to obtain the wading status information of the vehicle, the processor 901 specifically performs the following: when the wading status information satisfies a preset condition, if the inclination angle of the vehicle in the target posture detection direction is greater than a preset inclination angle threshold, then according to the target posture detection direction, a second air suspension set is determined from multiple air suspensions; based on a preset second control cycle, each second air suspension in the second air suspension set is controlled to deflate and inflate, so that the inclination angle of the vehicle in the target posture detection direction is not greater than the preset inclination angle threshold.

[0194] Optionally, after determining the first air suspension set from multiple air suspensions according to the wading status information, the processor 901 specifically performs the following: if the inclination angle of the vehicle in the target posture detection direction is greater than a preset inclination angle threshold, then in the first air suspension set, the inflation speed parameter of the first air suspension that is consistent with the target posture detection direction is configured as the first inflation speed parameter, and the inflation speed parameter of the first air suspension that is inconsistent with the target posture detection direction is configured as the second inflation speed parameter, the inflation speed parameter of the first air suspension is used to adjust the inflation speed, and the first inflation speed parameter is higher than the second inflation speed parameter.

[0195] The effects that can be achieved by this embodiment can be found in the relevant embodiments of the above-mentioned vehicle control method, which will not be described in detail here.

[0196] It should be understood that the device provided in the embodiment of the present application is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0197] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes, etc.

[0198] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0199] In addition, the device provided in the embodiment of the present application may specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiment.

[0200] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0201] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0202] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0203] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0204] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0205] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The vehicle comprises a plurality of wheels, and a plurality of air suspensions corresponding one-to-one to the plurality of wheels; the method comprises: Obtaining wading status information of the vehicle; When the wading state information satisfies a preset condition, determining a first air suspension set from the plurality of air suspensions according to the wading state information; Based on a preset first control cycle, each first air suspension in the first air suspension set is controlled to be deflated and inflated.

2. The method according to claim 1, characterized in that: After acquiring the wading state information of the vehicle and before determining the first air suspension set from the plurality of air suspensions according to the wading state information, the method further includes: If the wading state information includes the wading depth of the vehicle, and the wading depth is higher than a preset wading depth threshold, it is determined that the wading state information meets a preset condition, and the wading depth is determined based on a vertical distance between a bottom reference position of the vehicle and a water surface of a wading environment in which the vehicle is located; If the wading state information includes wheel suspension state information of the vehicle, and the wheel suspension state information indicates that there is at least one suspended wheel suspended in water among the multiple wheels, it is determined that the wading state information meets a preset condition.

3. The method according to claim 2, characterized in that The determining a first air suspension set from the plurality of air suspensions according to the wading state information comprises: If the wading state information includes the wading depth of the vehicle, and the wading depth is higher than the preset wading depth threshold, each of the plurality of air suspensions is respectively determined as a first air suspension, and a first air suspension set is determined based on each of the first air suspensions; If the wading state information includes the wading depth of the vehicle and the wheel suspension state information, and the wading depth is not higher than the preset wading depth threshold, and the wheel suspension state information indicates that there is at least one suspended wheel suspended in water among the multiple wheels, then the air suspension corresponding to each of the at least one suspended wheel is respectively determined as a first air suspension, and a first air suspension set is determined based on each of the first air suspensions; If the wading status information only includes the wheel suspension status information of the vehicle, and the wheel suspension status information indicates that there is at least one suspended wheel suspended in the water among the multiple wheels, the air suspension corresponding to each of the at least one suspended wheel is respectively determined as a first air suspension, and a first air suspension set is determined based on each of the first air suspensions.

4. The method according to claim 1, characterized in that: The vehicle further includes a power source for supplying power to the air suspension; and the controlling each first air suspension in the first air suspension set to be deflated and inflated based on a preset first control cycle includes: Obtaining power limit data of the power supply; Determining a maximum control quantity of the air suspension by the vehicle at a current moment according to the power limit data of the power source; determining a target control strategy according to the maximum control quantity and the first air suspension quantity of the first air suspension set; Based on a preset first control cycle and the target control strategy, each first air suspension in the first air suspension set is controlled to be deflated and inflated.

5. The method according to claim 4, characterized in that The target control strategy is the first control strategy or the second control strategy; and determining the target control strategy according to the maximum control quantity and the first air suspension quantity of the first air suspension set includes: If the maximum control quantity is not less than the first air suspension quantity of the first air suspension set, determining the first control strategy; If the maximum control quantity is lower than the first air suspension quantity of the first air suspension set, the second control strategy is determined.

6. The method according to claim 5, characterized in that The controlling each first air suspension in the first air suspension set to deflate and inflate based on the preset first control cycle and the target control strategy includes: If the target control strategy is the first control strategy, then based on the preset first control period, each of the first air suspensions is controlled to be deflated, and each of the first air suspensions is controlled to be inflated after reaching a target travel; If the target control strategy is the second control strategy, the first air suspension set is divided into multiple first air suspension groups, and the number of first air suspensions in the first air suspension group is equal to the maximum control number; based on the preset first control cycle, the first air suspensions of each of the first air suspension groups are controlled to be deflated in turn, and the first air suspensions of each of the first air suspension groups are controlled to be inflated after reaching the target stroke.

7. The method according to claim 1, characterized in that After obtaining the wading state information of the vehicle, the method further includes: In the case where the wading state information satisfies a preset condition, if the inclination angle of the vehicle in the target posture detection direction is greater than a preset inclination angle threshold, determining a second air suspension set from the plurality of air suspensions according to the target posture detection direction; Based on a preset second control cycle, each second air suspension in the second air suspension set is controlled to be deflated and inflated so that the inclination angle of the vehicle in the target posture detection direction is not greater than the preset inclination angle threshold.

8. The method according to claim 1, characterized in that: After determining the first air suspension set from the plurality of air suspensions according to the wading state information, the method further includes: If the inclination angle of the vehicle in the target posture detection direction is greater than a preset inclination angle threshold, then in the first air suspension set, the inflation speed parameter of the first air suspension that is consistent with the target posture detection direction is configured as the first inflation speed parameter, and the inflation speed parameter of the first air suspension that is inconsistent with the target posture detection direction is configured as the second inflation speed parameter. The inflation speed parameter of the first air suspension is used to adjust the inflation speed, and the first inflation speed parameter is higher than the second inflation speed parameter.

9. A vehicle control device, characterized in that: The vehicle comprises a plurality of wheels, and a plurality of air suspensions corresponding to the plurality of wheels one by one; the device comprises: An acquisition unit, used for acquiring wading status information of the vehicle; a determining unit, configured to determine a first air suspension set from the plurality of air suspensions according to the wading state information if the wading state information satisfies a preset condition; The control unit is used to control each first air suspension in the first air suspension set to deflate and inflate based on a preset first control cycle.

10. A vehicle, characterized in that: include: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory so that the vehicle executes the method as claimed in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program code, and when the computer program code is executed, the method according to any one of claims 1 to 8 is implemented.

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