Vehicle control method and device, vehicle and storage medium

Abstract

The application provides a vehicle control method and device, a vehicle and a storage medium. The method is applied to the technical field of vehicles. The method comprises the following steps: obtaining water wading state information of a vehicle; in the case that the water wading state information meets a preset condition, determining a first air suspension set from multiple air suspensions according to the water 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. According to the application, the vehicle body can be provided with lifting force, the sinking speed of the vehicle is slowed down, and the safety of the vehicle in a water wading environment is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, and more particularly, to a vehicle control method, device, vehicle and storage medium in the technical field of vehicles. BACKGROUND

[0002] During the driving of a vehicle, encountering a water environment is one of the common risk situations, and especially when the vehicle falls into deep water by accident, the safety of the people in the vehicle will face a serious threat. As the vehicle sinks, the difficulty of the people in the vehicle to escape also increases. Therefore, delaying the sinking speed of the vehicle is of great significance to improve the safety of the people in the vehicle in the water environment. SUMMARY

[0003] The present application provides a vehicle control method, device, vehicle and storage medium, which can provide lifting force for the vehicle body, delay the sinking speed of the vehicle, and effectively improve the safety of the vehicle in the water 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] obtaining water state information of the vehicle;

[0006] in a case where the water state information meets a preset condition, determining a first air suspension set from the plurality of air suspensions according to the water state information;

[0007] controlling each first air suspension in the first air suspension set to deflate and inflate based on a preset first control period.

[0008] Through the above scheme, the water state information of the vehicle is first obtained to provide an accurate basis for subsequent decision-making. When the water state information meets the preset condition, the first air suspension set can be quickly identified and determined from the plurality of air suspensions of the vehicle. Subsequently, based on the first control period, each first air suspension in the first air suspension set is controlled to deflate and inflate in an orderly manner. In this way, the rapid response characteristics of the first air suspension can be effectively utilized, the impulse of the wheel is dynamically adjusted, the reaction force on the water body is generated, and the lifting force is provided for the vehicle body, the sinking speed of the vehicle is delayed, and the safety of the vehicle in the water environment is effectively improved.

[0009] In some possible implementation manners, after obtaining the water wading state information of the vehicle, before determining the first air suspension set from the plurality of air suspensions according to the water wading state information, the method further includes: if the water wading state information includes a water wading depth of the vehicle, and the water wading depth is higher than a preset water wading depth threshold, it is determined that the water wading state information meets the preset condition, and the water wading depth is determined based on a vertical distance between a bottom reference position of the vehicle and a water surface of a water wading environment in which the vehicle is located; or if the water wading state information includes wheel suspension state information of the vehicle, and the wheel suspension state information indicates that at least one suspended wheel in the plurality of wheels is suspended in water, it is determined that the water wading state information meets the preset condition.

[0010] Through the foregoing scheme, the water wading depth and the wheel suspension state are comprehensively considered, and when the water wading depth is too high or there is a wheel suspended in water, it can be determined that the preset condition is met to trigger the air suspension inflation and deflation control, so as to provide lifting force for the vehicle body, thereby improving the water wading driving safety.

[0011] In combination with the first aspect and the foregoing implementation manners, in some possible implementation manners, the determining the first air suspension set from the plurality of air suspensions according to the water wading state information includes: if the water wading state information includes a water wading depth of the vehicle, and the water wading depth is higher than a preset water wading depth threshold, each air suspension in the plurality of air suspensions is determined as a first air suspension, and the first air suspension set is determined based on the first air suspensions; or if the water wading state information includes the water wading depth and wheel suspension state information of the vehicle, and the water wading depth is not higher than the preset water wading depth threshold, and the wheel suspension state information indicates that at least one suspended wheel in the plurality of wheels is suspended in water, each air suspension corresponding to each suspended wheel in the at least one suspended wheel is determined as a first air suspension, and the first air suspension set is determined based on the first air suspensions; or if the water wading state information only includes the wheel suspension state information of the vehicle, and the wheel suspension state information indicates that at least one suspended wheel in the plurality of wheels is suspended in water, each air suspension corresponding to each suspended wheel in the at least one suspended wheel is determined as a first air suspension, and the first air suspension set is determined based on the first air suspensions.

[0012] Through the foregoing scheme, according to different situations of the water wading state information, the first air suspension set that needs to be adjusted is accurately identified and selected. When the water 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 water wading depth is not high but there is a suspended wheel, only the air suspensions corresponding to the suspended wheel are controlled, thereby enhancing the adaptability of the vehicle to a complex water wading environment, and providing a more reliable guarantee for the safety of the vehicle in the water wading environment.

[0013] In a possible implementation of the first aspect and the foregoing implementation, in some possible implementation, the vehicle further comprises a power supply for supplying power to the air suspensions; and the control of the first air suspensions in the first air suspension set to deflate and inflate based on the preset first control period comprises: obtaining power limit data of the power supply; determining a maximum control quantity of the air suspensions by the vehicle at the current time according to the power limit data of the power supply; determining a target control strategy according to the maximum control quantity and a first air suspension quantity of the first air suspension set; and controlling the first air suspensions in the first air suspension set to deflate and inflate based on the preset first control period and the target control strategy.

[0014] By the foregoing scheme, the maximum control quantity of the air suspensions by the vehicle at the current time can be intelligently determined by obtaining the power limit data of the power supply for supplying power to the air suspensions, and then the target control strategy can be determined according to the maximum control quantity and the first air suspension quantity of the first air suspension set, and the vehicle can orderly control the air suspensions in the first air suspension set to deflate and inflate based on the preset first control period and the target control strategy. In this way, it is ensured that the operation of the air suspensions does not exceed the power supply capability of the power supply, and damage or system failure of the power supply due to power overload is effectively avoided.

[0015] In a possible implementation of the first aspect and the foregoing implementation, in some possible implementation, the target control strategy is the first control strategy or the second control strategy; and the determination of the target control strategy according to the maximum control quantity and the first air suspension quantity of the first air suspension set comprises: if the maximum control quantity is not lower than the first air suspension quantity of the first air suspension set, the first control strategy is determined; and 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.

[0016] By the foregoing scheme, the first control strategy or the second control strategy can be intelligently selected by comparing the maximum control quantity with the first air suspension quantity. 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 good lifting effect in the water situation. 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 water environment.

[0017] In a possible implementation manner of the first aspect, the first air suspensions in the first air suspension set are controlled to deflate and inflate based on the preset first control period and the target control strategy, including: if the target control strategy is the first control strategy, the first air suspensions are controlled to deflate based on the preset first control period, and the first air suspensions are controlled to inflate after reaching the target stroke; if the target control strategy is the second control strategy, the first air suspension set is divided to obtain a plurality of first air suspension groups, and the number of the first air suspensions in the first air suspension group is equal to the maximum control number; the first air suspensions in each first air suspension group are controlled to deflate and inflate in sequence based on the preset first control period.

[0018] Through the above scheme, when the first control strategy is adopted, the orderly deflation and inflation control of all the first air suspensions can be performed based on the preset first control period, so as to provide stable lifting force for the vehicle. Under the second control strategy, the first air suspension set is divided into a plurality of groups, and the number of each group matches the maximum control number, so that the power overload can be avoided, and each first air suspension group can be controlled in time and effectively.

[0019] In a possible implementation manner of the first aspect, after obtaining the water-related state information of the vehicle, if the water-related state information meets the preset condition, and the inclination angle of the vehicle in the target attitude detection direction is greater than the preset inclination angle threshold, the second air suspension set is determined from the plurality of air suspensions according to the target attitude detection direction; and the first air suspensions in the second air suspension set are controlled to deflate and inflate based on the preset second control period, so that the inclination angle of the vehicle in the target attitude detection direction is not greater than the preset inclination angle threshold.

[0020] Through the above scheme, by monitoring the water-related state and the inclination angle of the vehicle, the second air suspension set can be determined when the preset condition is met and the inclination angle of the vehicle exceeds the threshold. Subsequently, the deflation and inflation of the second air suspensions are controlled based on the preset second control period, so as to effectively adjust the attitude of the vehicle and ensure that the inclination angle is kept within a safe range. In this way, the safety hazards caused by excessive inclination of the vehicle in the water-related environment are effectively avoided, and the stability and safety of the vehicle in the water-related environment are enhanced.

[0021] In a possible implementation manner of the first aspect and the above implementation manners, in some possible implementation manners, after the first air suspension set is determined 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 attitude detection direction is greater than a preset inclination angle threshold, configuring, in the first air suspension set, a gas inflation speed parameter of a first air suspension that is consistent with the target attitude detection direction as a first gas inflation speed parameter, and configuring a gas inflation speed parameter of a first air suspension that is not consistent with the target attitude detection direction as a second gas inflation speed parameter, the gas inflation speed parameter of the first air suspension being used to adjust the gas inflation speed, the first gas inflation speed parameter being higher than the second gas inflation speed parameter.

[0022] According to the above scheme, the gas inflation speed parameters of the first air suspensions in the first air suspension set can be adjusted according to the wading state information and the inclination angle of the vehicle. For the first air suspension that is consistent with the target attitude detection direction, the gas inflation speed parameter thereof is set as the higher first gas inflation speed parameter, so as to quickly increase the lifting force in the direction, and effectively correct the inclination of the vehicle. For the first air suspension that is not consistent with the target attitude detection direction, the lower second gas inflation speed parameter is used, so as to avoid excessive inflation and cause attitude imbalance. The differentiated gas inflation speed configuration improves the response speed and accuracy of the vehicle attitude adjustment, and ensures the stability and safety of the vehicle in the wading environment.

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

[0024] an acquisition unit configured to acquire wading state information of the vehicle;

[0025] a determination unit configured to, in a case where the wading state information meets a preset condition, determine a first air suspension set from the plurality of air suspensions according to the wading state information;

[0026] a control unit configured to control each first air suspension in the first air suspension set to deflate and inflate based on a preset first control period.

[0027] In a third aspect, a vehicle is provided, and the vehicle includes:

[0028] a memory configured to store executable program code;

[0029] a processor configured to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any one of the possible implementation manners 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 of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0033] Figure 2 This 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 This is an example schematic diagram of a wading state set provided in an embodiment of the present application;

[0036] Figure 5 This 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 for determining a first air suspension set provided by an embodiment of the present application;

[0038] Figure 7 1 is a schematic diagram of a flow chart for 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 control based on different control strategies provided in an embodiment of the present application;

[0040] Figure 9 This is a flow chart of posture correction based on the second control cycle provided by an embodiment of the present application;

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

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

[0043] Figure 12 is an example schematic diagram of a timing relationship of a first control period and a second control period provided by an embodiment of the present application;

[0044] Figure 13 is an example schematic diagram of a timing relationship of a first control period and a second control period provided by an embodiment of the present application;

[0045] Figure 14 is a flowchart of a posture correction process based on inflation speed provided by an embodiment of the present application;

[0046] Figure 15 is a schematic diagram of a structure of a vehicle control device provided by an embodiment of the present application;

[0047] Figure 16 is a schematic diagram of a structure of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the present application will be described in detail below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0049] Hereinafter, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more features.

[0050] Please refer to Figure 1 , Figure 1 is a schematic diagram of a vehicle wading scenario 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 deep water, this risk will rise sharply. Specifically, when the vehicle starts to sink, the gravity it receives is greater than the buoyancy it receives, its body gradually changes from above the water surface to below the water surface, and constantly approaches the ground below the water surface. In this process, the people in the vehicle not only have to face the oppression brought by the rising water level, but also have to deal with the space limitation and the reduction of escape channels brought by the sinking of the vehicle. With the continuous rise of the water level, the space in the vehicle is rapidly compressed, and the escape window and time also become increasingly limited. Therefore, delaying the sinking speed of the vehicle is of great significance to improve the safety of the people in the vehicle in the wading environment.

[0051] To solve the above problems, the main scheme provided by the embodiment of the present application includes: first, obtaining the water wading state information of the vehicle to provide an accurate basis for subsequent decision-making. When the water wading state information meets the preset condition, 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 period, each first air suspension in the first air suspension set is controlled to deflate and inflate in order. In this way, the rapid response characteristics of the first air suspension can be effectively utilized, the reaction force on the water body is generated by dynamically adjusting the impulse of the wheels, thereby providing a lifting force for the vehicle body, delaying the sinking speed of the vehicle, and effectively improving the safety of the vehicle in the water wading environment.

[0052] Based on Figure 1 the scene shown in the figure, the vehicle control method provided by the embodiment of the present application will be described in detail. Figure 2 - Figure 14 The vehicle control method provided by the embodiment of the present application will be described in detail.

[0053] Please refer to Figure 2 , Figure 2 is a flowchart of a vehicle control method provided by the embodiment of the present application. The vehicle includes multiple wheels and multiple air suspensions corresponding to the multiple wheels. As Figure 2 shown, the method of the embodiment of the present application can include the following steps S101-S103.

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

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

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

[0057] Please refer to Figure 3 , Figure 3 is an example schematic diagram of a wheel and an air suspension corresponding to the embodiment of the present application. As Figure 3As shown, the four wheels of the vehicle are respectively a left front wheel, a right front wheel, a left rear wheel and a right rear wheel. Then, the vehicle further comprises air suspensions corresponding to the four wheels one by one, namely:

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

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

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

[0061] the air suspension corresponding to the right rear wheel.

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

[0063] The wading state information of the vehicle refers to various state parameters of the vehicle in contact and interaction with the water body during wading driving. The process of obtaining the wading state information of the vehicle can be to use related sensors of the vehicle, such as water level sensors, wheel speed sensors, vehicle body posture sensors, visual sensors, etc., to monitor the state of the vehicle in water in real time. These sensors can capture key information such as wading depth, whether the wheels are floating, and the body inclination angle when the vehicle is 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 (such as the lowest point of the chassis) of the vehicle 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 further includes the wheel floating state information of the vehicle, when the wheels lose contact with the ground due to excessive water depth, the wheels are in a floating state. In addition, the wading state information of the vehicle can also include other information related to wading driving, such as the forward speed of the vehicle, the steering wheel angle, the flow of the water body, etc.

[0065] If the wading state information includes the wading depth of the vehicle, then obtaining the wading depth of the vehicle can specifically be performed by: through the water level sensor of the vehicle, monitoring the vertical distance between the bottom reference position (such as the lowest point of the chassis) of the vehicle and the water surface of the wading environment in which the vehicle is located in real time. 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 control system of the vehicle in real time. The control system of the vehicle can analyze the wading depth of the vehicle according to the water depth data collected by the water level sensor, and then provide a basis for subsequent decision-making.

[0066] If the wading state information includes the wheel floating state information of the vehicle, obtaining the wheel floating state information of the vehicle can specifically be performed by monitoring the rotation of the wheels and / or the attitude change of the vehicle body through at least one sensor such as a wheel speed sensor and a body attitude sensor of the vehicle. When the wheels lose contact with the ground due to excessive water depth, that is, in the floating state, the wheel speed will change, and the attitude of the vehicle body will also fluctuate obviously. The above-mentioned sensors can capture these changes and transmit relevant information to the control system of the vehicle. The control system can determine whether the wheels of the vehicle are in the floating state (in combination with the fact that the vehicle is in a wading environment, that is, whether the wheels are floating in the water) and the degree of floating by analyzing these data, thereby providing a basis for subsequent decision-making.

[0067] S102, in a case where the wading state information meets a preset condition, determining a first air suspension set from a plurality of air suspensions according to the wading state information.

[0068] Specifically, after the vehicle wades, in some cases the vehicle can sink as a whole, in some cases the vehicle can partially sink, and in some cases the vehicle can not sink. Please refer to Figure 4 , Figure 4 is an example of a wading state set provided by an embodiment of the present application, wherein the wading state set includes at least six possible wading states.

[0069] As shown in Figure 4 , 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 window of the driver's seat 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 a distance away from the ground under the water, at this time the wheels are all floating and the vehicle can 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 a distance away from the ground under the water, at this time the wheels are all floating and the vehicle can 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 has stopped sinking, at this time the wheels all contact the ground under the water; in the fourth wading state, the wading depth of the vehicle is obviously not higher than the preset wading depth threshold, and the wheels all contact the ground under the water, and the vehicle does 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 contact the ground under the water, and the other part of the wheels are floating, and the vehicle can sink towards the direction of the floating 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 contact the ground under the water, and the other part of the wheels are floating, and the vehicle can sink towards the direction of the floating wheels.

[0070] Therefore, whether the vehicle is safe after wading in water needs to consider the wading depth of the vehicle on one hand, and needs to consider whether the wheels of the vehicle are suspended in water on the other hand. The wheels suspended in water represent the possibility of sinking. For this purpose, the preset condition refers to the standard used to determine whether the vehicle is safe after wading in water, which comprehensively considers the wading depth of the vehicle 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 condition. Specifically, the wading depth of the vehicle can be determined from the wading state information of the vehicle, and it is determined whether the preset condition is 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 it is determined whether the preset condition is met based on the wheel suspension state information; or the wading depth and the wheel suspension state information of the vehicle can be determined from the wading state information of the vehicle, and it is determined whether the preset condition is met based on the wading depth and the wheel suspension state information.

[0072] Therefore, regarding the above determination process, on one hand, the wading depth and the preset wading depth threshold can be compared, and on the other hand, it can be determined from the wheel suspension state information whether there is at least one suspended wheel suspended in water in the plurality of wheels of the vehicle. The wading depth is higher than the preset wading depth threshold, or there is at least one suspended wheel suspended in water in the plurality of wheels of the vehicle, which can be considered as the wading state information meeting the preset condition. Conversely, the wading depth is not higher than the preset wading depth threshold, and there is no at least one suspended wheel suspended in water in the plurality of wheels of the vehicle, which can be considered as the wading state information not meeting the preset condition.

[0073] If the wading state information does not meet the preset condition, it indicates that the vehicle is relatively safe in the wading environment at present, and there is no risk of sinking, so it is not necessary to control the air suspension to periodically deflate and inflate.

[0074] If the wading state information meets the preset condition, it indicates that the vehicle is unsafe in the wading environment at present, and there is a risk of sinking. At this time, it is necessary to further determine the first air suspension set from the plurality of air suspensions according to 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 to be periodically deflated and inflated. It can be understood that in some cases, all 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 the preset first control period, control each first air suspension in the first air suspension set to deflate and inflate.

[0076] Specifically, the first control cycle refers to a cycle in which each first air spring in the first air spring set is controlled to deflate and inflate once. Specifically, the first control cycle starts when the first first air spring starts to deflate, and ends when the last first air spring finishes inflating and returns to the initial state.

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

[0078] Since the vehicle may continue to sink in the water 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, i.e. the first air spring needs to deflate and inflate once or more times. This periodic control strategy can continuously provide lifting force for the vehicle body to resist the sinking trend of the vehicle.

[0079] Therefore, based on the preset first control cycle, the first air spring set is controlled to deflate and inflate. Specifically, in each first control cycle, the first air spring set is controlled to deflate according to a certain timing sequence. This timing sequence can be sequential, alternating, or simultaneous, depending on the sinking situation of the vehicle, the response speed of the air spring, and the optimization of the control strategy. During deflation, the wheels will sink and contact the water surface or the ground under the water, using the buoyancy of the water or the support force of the ground to slow down the sinking speed of the vehicle. At the same time, the weight of the vehicle will generate a downward pressure on the air spring, causing the stroke of the air spring to be compressed.

[0080] It can be understood that for any target first air spring, after the target first air spring is controlled to deflate, on the one hand, the water exerts an upward buoyant force on the corresponding wheel of the target first air spring, which is transmitted to the target first air spring, thereby slowing down the sinking speed of the vehicle; on the other hand, the weight of the vehicle exerts a downward pressure on the target first air spring. Under the action of the upward and downward forces, the stroke of the target first air spring is compressed, i.e. the wheel sinks relative to the vehicle body by a distance.

[0081] Then, the target first air spring is controlled to inflate, and the target first air spring exerts an upward thrust on the corresponding wheel, and the wheel impulse increases, which can be expressed as:

[0082] Ft = mV

[0083] Ft represents the wheel impulse, a physical quantity that describes the change in wheel momentum. The magnitude of the wheel impulse reflects the speed and degree of change in wheel momentum, and its direction is consistent with the direction of change in wheel velocity. m represents the wheel mass, which is the amount of mass in the wheel and is used to describe the magnitude of an object's inertia. The greater the wheel mass, the greater its inertia, and the greater the force required to change its state of motion. V represents the wheel velocity change, which is the change in wheel velocity within a certain time interval. The velocity change is a vector quantity whose magnitude is equal to the velocity change and whose direction is the same as the velocity 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 vehicle 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 amount of 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 up or at least slow down its sinking speed, thereby buying more escape time and rescue opportunities for the people in the vehicle.

[0086] In this embodiment, the vehicle's wading status information is first acquired to provide an accurate basis for subsequent decision-making. When the wading status information meets preset conditions, a first air suspension set is quickly identified from the vehicle's multiple air suspensions. Subsequently, based on a first control cycle, each of the first air suspensions in the first air suspension set is controlled to deflate and inflate in an orderly manner. This effectively utilizes the rapid response of the first air suspensions, dynamically adjusting the wheel momentum to generate a reaction force against the water, thereby providing support for the vehicle body, slowing the vehicle's sinking speed and effectively improving vehicle safety in wading environments.

[0087] See Figure 5 , provides a flow chart of determining whether a preset condition is met for the 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 performed in Figure 2 In the illustrated embodiment, step S101 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 a wading depth of the vehicle, and the wading depth is greater than a preset wading depth threshold, determining that the wading state information satisfies a preset condition, where the wading depth is determined based on a vertical distance between a bottom reference position of the vehicle and a water surface in the wading environment in which the vehicle is located;

[0089] S202, if the wading state information includes the wheel floating state information of the vehicle, and the wheel floating state information indicates that there is at least one floating wheel floating in the water in the plurality of wheels, it is determined that the wading state information meets the preset condition.

[0090] Specifically, if the wading state information includes the wading depth of the vehicle, the wading depth and the preset wading depth threshold can be compared.

[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, the comparison result of the wading depth and the preset wading depth threshold cannot determine whether the air suspension control is needed.

[0092] In one possible case, the wading depth is higher than the preset wading depth threshold, indicating that the vehicle has been in a deeper wading environment. At this time, the vehicle may start to sink due to insufficient buoyancy, or sink to the ground to make it difficult for the people in the vehicle to escape. Therefore, the air suspension control is needed, by adjusting the inflation and deflation state of the air suspension, to change the impulse of the wheel, 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, to ensure the safety of the people in the vehicle. Therefore, in this case, it can be determined that the wading state information meets the preset condition to trigger the subsequent air suspension control.

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

[0094] In one possible case, the wheel floating state information indicates that there is no at least one floating wheel floating in the water in the plurality of wheels of the vehicle, which may be due to 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. At this time, the content indicated by the wheel floating state information alone cannot determine whether the air suspension control is needed.

[0095] In a possible case, the wheel suspension state information indicates that at least one suspended wheel of the plurality of wheels of the vehicle is suspended in water, indicating that part of the wheels of the vehicle has lost contact with the ground, and the vehicle can start to tilt or sink. Therefore, air suspension control needs to be performed to change the impulse of the wheels by adjusting the inflation and deflation state of the air suspension, to generate a reaction force on the water body to provide lifting force for the vehicle body, thereby slowing down the sinking speed of the vehicle or even making the vehicle float, and ensuring the safety of the people in the vehicle. Therefore, in this case, it can be determined that the wading state information meets the preset condition to trigger 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 a wheel is suspended in water, it can be determined that the preset condition is met to trigger air suspension inflation and deflation control to provide lifting force for the vehicle body, thereby improving the safety of the vehicle in the wading environment.

[0097] Please refer to Figure 6 , a flowchart for determining a first air suspension set is provided for the embodiments of the present application, as shown in Figure 6 , based on Figure 5 , the introduction of the wading state information in the embodiment shown, the method of the embodiments of the present application can include the following steps S301-S303, which can be used as a detailed step of Figure 2 , the step S102 in the embodiment shown.

[0098] S301, 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 air suspension in the plurality of air suspensions is determined as a first air suspension, and a first air suspension set is determined based on each first air suspension;

[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 at least one suspended wheel of the plurality of wheels is suspended in water, each air suspension corresponding to each suspended wheel of the at least one suspended wheel is 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 at least one suspended wheel of the plurality of wheels is suspended in water, each air suspension corresponding to each suspended wheel of the at least one suspended wheel is 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 the wheel floating 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 air suspension of the plurality of air suspensions can be determined as a first air suspension. For example, assuming that the vehicle includes an air suspension corresponding to a left front wheel, an air suspension corresponding to a right front wheel, an air suspension corresponding to a left rear wheel, and an air suspension corresponding to a 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, respectively.

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

[0105] For the first air suspensions determined in any of the above manners, a first air suspension set can be determined based on the first air suspensions.

[0106] In this embodiment, according to different situations of the 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, ensuring that the vehicle as a whole obtains sufficient lifting force; when the wading depth is not high but there is a floating wheel, only the air suspensions corresponding to the floating wheel are controlled, which enhances the adaptability of the vehicle to complex wading environments and provides a more reliable guarantee for the safety of the vehicle in the wading environment.

[0107] Please refer to Figure 7 , the embodiment of the present application provides a process schematic diagram for controlling the first air suspension to deflate and inflate, as Figure 7 shown, the method of the embodiment of the present application can include the following steps S201-S208.

[0108] S401, acquiring power limit data of the power supply;

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

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

[0111] The power limit data of the power supply refers to the maximum power value that the power supply can stably provide under current conditions or the power range that the power supply can continuously output within a certain time. The power limit data of the power supply is determined by the inherent characteristics of the power supply, the current state (such as power, temperature, etc.), and external conditions (such as ambient temperature, grid voltage, etc.). As for the process of acquiring the power limit data of the power supply, the vehicle control system can interact with the power management system through a communication interface, request and acquire 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 time according to the real-time state of the power supply and external conditions, i.e. the power limit data of the power supply, and feed back the power limit data of the power supply to the vehicle control system.

[0112] Since the vehicle controls the air suspension, especially the air suspension to inflate, requires a certain amount of power, it is necessary to determine the maximum control quantity of the air suspension of the vehicle at the current time according to the power limit data of the power supply. This process can be specifically manifested as follows: according to the acquired power limit data of the power supply, the maximum number of air suspensions that can be controlled to inflate at the same time under the current conditions is calculated, and this number is the maximum control quantity of the air suspension of the vehicle at the current time. Through this step, it can be ensured that the vehicle meets the control requirements of the air suspension while not exceeding the power limit of the power supply, thereby ensuring the stable operation and safety of the electrical system of the vehicle.

[0113] After the execution of step S402 is completed, "determining a target control strategy according to the maximum control quantity and the first air spring quantity of the first air spring set; and controlling each first air spring in the first air spring set to deflate and inflate based on a preset first control period and the target control strategy" can be executed, which can be further detailed as steps S403-S404, steps S405-S406.

[0114] S403, if the maximum control quantity is not lower than the first air spring quantity of the first air spring set, determining the first control strategy.

[0115] S404, if the target control strategy is the first control strategy, controlling each first air spring to deflate based on the preset first control period, and controlling each first air spring to inflate after reaching the target stroke.

[0116] Specifically, if the maximum control quantity is not lower than the first air spring quantity of the first air spring set, it indicates that the power supply can provide sufficient power, and even if all the first air springs in the first air spring set are controlled to inflate at the same time, it will not exceed the power limit of the power supply. In this case, the target control strategy is determined to be the first control strategy.

[0117] Further, when the target control strategy is the first control strategy, each first air spring is controlled to deflate based on the preset first control period, and each first air spring is controlled to inflate after reaching the target stroke. In detail, in each first control period, all the first air springs in the first air spring set are controlled to deflate in a predetermined order or synchronously. During the deflation process, the stroke of the first air spring is gradually compressed.

[0118] When the first air spring deflates to a certain extent, i.e., after the first air spring reaches the target stroke, each first air spring is controlled to inflate. During the inflation process, the air pressure inside the air spring increases, and the wheel impulse also increases. During this process, the reaction force of the water body on the wheel is also transmitted to the vehicle body through the wheel and the air spring, forming an upward lifting force, which further helps the vehicle to resist sinking and maintain stability.

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

[0120] In one possible implementation, each first air spring can be controlled to inflate at the same time to form a larger and upward lifting force.

[0121] S405, if the maximum control quantity is lower than the first air spring quantity of the first air spring set, determining a second control strategy.

[0122] S406, if the target control strategy is the second control strategy, dividing the first air spring set to obtain a plurality of first air spring groups, the first air spring quantity of the first air spring group being equal to the maximum control quantity; based on a preset first control period, sequentially controlling the first air spring of each first air spring group to deflate, and controlling the first air spring of each first air spring group to inflate after reaching a target stroke.

[0123] Specifically, if the maximum control quantity is lower than the first air spring quantity of the first air spring set, it indicates that the power supply cannot provide sufficient power, and if the vehicle simultaneously controls all the first air springs in the first air spring set to inflate, it will exceed the power limit of the power supply. In this case, the target control strategy is determined to be the second control strategy.

[0124] Further, when the target control strategy is the first control strategy, the first air spring set is first divided to obtain a plurality of first air spring groups, and the first air spring quantity of the first air spring group is equal to the maximum control quantity. For example, assuming that the vehicle includes air springs corresponding to the left front wheel, air springs corresponding to the right front wheel, air springs corresponding to the left rear wheel, and air springs corresponding to the right rear wheel, and the maximum control quantity is 2, the air springs corresponding to the left front wheel and the air springs corresponding to the right front wheel can be divided into a first air spring group 1, and the air springs corresponding to the left rear wheel and the air springs corresponding to the right rear wheel can be divided into a first air spring group 2, that is, a total of two first air spring groups are obtained, and the first air spring quantity of any first air spring group is 2 (equal to the maximum control quantity).

[0125] Further, based on the preset first control period, the first air suspensions of each first air suspension group are sequentially controlled to deflate, and the first air suspensions of each first air suspension group are controlled to inflate after reaching the target stroke. In detail, in each first control period, a first air suspension group is selected according to a predetermined order to start control. For the selected first air suspension group, each first air suspension in the selected first air suspension group is controlled to deflate. 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 deflates 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 inflate. During the inflation process, the air pressure in each first air suspension in the selected first air suspension group increases, the wheel impulse increases, and 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 according to the predetermined order to perform the same control process. In this way, each first air suspension in all first air suspension groups completes a deflation and inflation, which is equivalent to completing a first control period.

[0127] Through such grouping control and periodic deflation and inflation strategy, the limited power can be used to control the air suspension as much as possible under the power limit of the power supply, the wheel impulse is dynamically adjusted, and the lifting force is provided for the vehicle body, so that the sinking speed of the vehicle is effectively slowed down, and the safety of the vehicle in the water environment is improved.

[0128] In addition, in actual application, 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 water environment to achieve a more optimal control effect. For example, according to the suspension state of the wheel, the inclination angle of the vehicle and other factors, the first air suspension group that has a greater impact on the stability of the vehicle can be preferentially controlled, or the number and control timing 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 can be the minimum stroke of the first air suspension, which refers to the stroke when the first air suspension is completely compressed, and represents the maximum compression amount that the first air suspension can provide.

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

[0131] As shown in Figure 8 The air suspension system of the vehicle can include air suspensions corresponding to the left front wheel, air suspensions corresponding to the right front wheel, air suspensions corresponding to the left rear wheel, and air suspensions corresponding to the right rear wheel, a total of four air suspensions, and the four air suspensions are all determined as first air suspensions.

[0132] Suppose the maximum control number is 4, and the first control strategy is adopted. In any first control period, the air suspensions corresponding to the left front wheel, the air suspensions corresponding to the right front wheel, the air suspensions corresponding to the left rear wheel, and the air suspensions corresponding to the right rear wheel can be controlled to inflate at the same time to provide the maximum upward lifting force to the vehicle. That is, the number of first air suspensions in an inflated state at any time is not greater than 4.

[0133] Suppose the maximum control number is 2, and the second control strategy is adopted. The air suspensions corresponding to the left front wheel and the air suspensions corresponding to the left rear wheel can be divided into a first air suspension group; the air suspensions corresponding to the right front wheel and the air suspensions corresponding to the right rear wheel can be divided into a first air suspension group. In any first control period, the air suspensions corresponding to the left front wheel and the air suspensions corresponding to the left rear wheel can be controlled to inflate at the same time, and then the air suspensions corresponding to the right front wheel and the air suspensions corresponding to the right rear wheel can be controlled to inflate at the same time. That is, the number of first air suspensions in an inflated state at any time is not greater than 2.

[0134] Suppose the maximum control number is 2, and the second control strategy is adopted. The air suspensions corresponding to the left front wheel and the air suspensions corresponding to the right front wheel can be divided into a first air suspension group; the air suspensions corresponding to the left rear wheel and the air suspensions corresponding to the right rear wheel can be divided into a first air suspension group. In any first control period, the air suspensions corresponding to the left front wheel and the air suspensions corresponding to the right front wheel can be controlled to inflate at the same time, and then the air suspensions corresponding to the left rear wheel and the air suspensions corresponding to the right rear wheel can be controlled to inflate at the same time. That is, the number of first air suspensions in an inflated state at any time is not greater than 2.

[0135] Suppose the maximum control number is 1, and the second control strategy is adopted. In any first control period, the air suspensions corresponding to the left front wheel, the air suspensions corresponding to the right front wheel, the air suspensions corresponding to the left rear wheel, and the air suspensions corresponding to the right rear wheel can be controlled to inflate in sequence. That is, the number of first air suspensions in an 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 an "8" shaped control sequence), and in addition to this, clockwise or counterclockwise control sequences can also be used to control the first air suspensions.

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

[0137] In this embodiment, by obtaining the power limit data of the power supply that supplies power to the air suspension, the maximum control quantity of the vehicle on the air suspension at the current time 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 period and the target control strategy, the vehicle can orderly control each air suspension in the first air suspension set to deflate and inflate. Specifically, by comparing the maximum control quantity and 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 good lifting effect in the water situation. 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 and improve the safety of the vehicle in the water environment. When the first control strategy is adopted, the first air suspension can be orderly deflated and inflated based on the preset first control period, thereby providing 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 quantity, so that power overload can be avoided and each group of first air suspensions can be timely and effectively controlled.

[0138] Please refer to Figure 9 A flowchart for posture correction based on a second control period is provided for the embodiments of the present application, as shown in Figure 9 The method of the embodiments of the present application can include the following steps S501-S502, which can be executed after the embodiment step S101. Figure 2

[0139] S501, if the inclination angle of the vehicle in the target posture detection direction is greater than the preset inclination angle threshold value, the second air suspension set is determined from the plurality of air suspensions according to the target posture detection direction, in the case that the water situation information meets the preset condition;

[0140] S502, based on the preset second control period, 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 value.

[0141] ​Specifically, the attitude of the vehicle after wading may be abnormal, specifically manifested as the inclination angle of the vehicle in certain directions being too large, and such attitude abnormality may affect the safety of the vehicle in the wading environment.

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

[0143] Among them, the attitude detection direction refers to 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 lateral axis of the vehicle), etc., which together constitute a complete description of the attitude of the vehicle. The inclination angle of the vehicle in a certain attitude detection direction refers to the included angle of the vehicle in the attitude detection direction relative to the horizontal plane, which can be measured by the attitude sensor and reflects the inclination degree of the vehicle in the attitude detection direction.

[0144] In the case where the wading state information meets the preset condition, the inclination angle of the vehicle in each attitude detection direction needs to be obtained. This can be achieved through communication between the vehicle control system and the attitude sensor, and the attitude sensor will transmit the real-time measured inclination angle to the vehicle control system.

[0145] Then, the vehicle control system compares the inclination angle of the vehicle in each attitude detection direction with a preset inclination angle threshold. The preset inclination angle threshold is a preset value, which is used to judge whether the inclination angle of the vehicle in a certain attitude detection direction is too large, i.e., whether the attitude of the vehicle is normal.

[0146] If the inclination angle of the vehicle in each attitude detection direction is not greater than the preset inclination angle threshold, it indicates that the attitude of the vehicle is normal, and there is no excessive inclination. In this case, attitude correction is not needed.

[0147] If the inclination angle of the vehicle in the target attitude detection direction is greater than the preset inclination angle threshold, it indicates that the attitude of the vehicle is abnormal, and attitude correction is required. The target attitude detection direction is at least one of the plurality of attitude detection directions. In this case, the second air suspension set needs to be determined from the plurality of air suspensions according to the target attitude detection direction. Specifically, at least one air suspension corresponding to the target attitude detection direction is determined as the second air suspension from the plurality of air suspensions of the vehicle. For example, if the inclination angle of the vehicle in the left direction is too large, the air suspensions on the left side of the vehicle (the air suspensions corresponding to the front left wheel and the rear left wheel) can be selected as the second air suspension; if the inclination angle of the vehicle in the front direction is too large, the air suspensions on the front of the vehicle (the air suspensions corresponding to the front left wheel and the front right 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 period, 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 attitude detection direction is not greater than the preset inclination angle threshold. It can be understood that the second control period will be at least one, and the specific process can be expanded as follows:

[0149] In each second control period, each second air suspension in the second air suspension set is first controlled to deflate. During the deflation process, the stroke inside each second air suspension is compressed. After each second air suspension reaches the target stroke, each second air suspension is controlled to inflate, and the body part of the vehicle in the target attitude detection direction is lifted, so that the inclination angle of the vehicle in the target attitude detection direction gradually decreases until it is not greater than the preset inclination angle threshold. Through such periodic deflation and inflation control, the inclination angle of the vehicle in each attitude detection direction can be dynamically adjusted to ensure that the vehicle maintains a stable attitude in the water environment.

[0150] For the convenience of understanding the present embodiment, please refer to Figure 10 , Figure 10 is an example of a vehicle attitude correction provided by an embodiment of the present application. Before attitude correction, the inclination angle of the vehicle in the front direction is large. After attitude correction, the inclination angle of the vehicle in the front direction returns to a smaller level, which is beneficial to ensure the safety of the subsequent vehicle control process and is also beneficial to the safety of the people in the vehicle.

[0151] For the convenience of understanding the present embodiment, please refer to Figure 11 , Figure 11is an example schematic diagram of vehicle surrounding angle division provided by an embodiment of the present application. In the diagram, 360 degrees in the horizontal direction of the vehicle surrounding is divided into 8 equal parts, representing 8 attitude detection directions (front, back, left, right, left front, right front, left back, right back) respectively. Among them, 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 back corresponds to 112.5° to 157.5°; the back corresponds to 157.5° to 202.5°; the left back corresponds to 202.5° to 247.5°; the left corresponds to 247.5° to 292.5°; and the left front corresponds to 292.5° to 337.5°.

[0152] Suppose the vehicle has a 30° angle (inclination angle) with the horizontal plane in the horizontal direction 10° (front direction), and the preset inclination angle threshold is 20°. Obviously, 30° is greater than 20°. Then the front direction can be determined as the target attitude 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 is controlled to deflate and inflate subsequently, so as to gradually lift the front part of the vehicle body and correct the attitude of the vehicle.

[0153] It should be noted that the second control period involved in the embodiment is not coincident in time sequence with the first control period of the foregoing embodiment.

[0154] Please refer to Figure 12 , Figure 12 is an example schematic diagram of the time sequence relationship between the first control period and the second control period provided by an embodiment of the present application. As shown in Figure 12 , when the vehicle attitude is determined to be abnormal, the second air suspension is controlled to deflate and inflate based on the second control period 1 and the second control period 2, so as to correct the attitude of the vehicle. When the vehicle attitude is determined to be normal, the first air suspension is controlled to deflate and inflate based on the first control period 1, the first control period 2 and possibly other first control periods subsequently, so that the vehicle continuously obtains upward lifting force to resist the sinking trend.

[0155] Please refer to Figure 13 , Figure 13 is an example schematic diagram of the time sequence relationship between the first control period and the second control period provided by an embodiment of the present application. As shown in Figure 13As shown, first, the first air suspensions are controlled to deflate and inflate based on the first control cycle 1. After the first control cycle 1 ends, it is determined that the vehicle posture is abnormal, and then the second air suspensions are controlled to deflate and inflate based on the second control cycle 1 and the second control cycle 2, so as to correct the posture of the vehicle. When it is determined that the vehicle posture is normal, the first air suspensions continue to be controlled to deflate and inflate based on the first control cycle 2 and possibly other first control cycles, so that the vehicle continuously obtains upward lifting force to resist the sinking trend.

[0156] As can be seen from the above Figure 12 , Figure 13 , the vehicle can correct the posture based on the second control cycle in addition to the first control cycle.

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

[0158] Please refer to Figure 14 , a flowchart for correcting the posture based on the inflation speed is provided for the embodiments of the present application, as shown in Figure 14 , the method of the embodiments of the present application can include the following step S601, which can be performed after Figure 2 the embodiment step S102 "determining the first air suspension set from the plurality of air suspensions according to the wading state information".

[0159] S601, if the inclination angle of the vehicle in the target posture detection direction is greater than the preset inclination angle threshold, the inflation speed parameter of the first air suspension corresponding to the target posture detection direction is configured as the first inflation speed parameter in the first air suspension set, and the inflation speed parameter of the first air suspension not corresponding to 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, the target posture detection direction, the inclination angle, the preset inclination angle threshold, and the first air suspension set in the embodiments have been described in the foregoing embodiments, and will not be described here.

[0161] If the inclination angle of the vehicle in the target posture detection direction is greater than the preset inclination angle threshold, it indicates that the posture of the vehicle is abnormal and needs to be corrected. At this time, the inflation speed parameter of the first air suspension corresponding to the target posture detection direction needs to be configured as the first inflation speed parameter in the first air suspension set, and the inflation speed parameter of the first air suspension not corresponding to the target posture detection direction needs to be 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 of increasing the air pressure inside the air suspension. By adjusting the inflation speed parameter, fine control of the air inflation process of the air suspension can be realized, so as to meet different posture correction needs.

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

[0164] According to the foregoing introduction of the 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 differentiating the inflation speed parameter of the first air suspension, the lifting force can be provided in a targeted manner during posture correction, so as to more effectively adjust 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 period, the first air suspension corresponding to the target posture detection direction will continuously provide a greater lifting force, so that the vehicle body part in the target posture detection direction will be lifted, and the inclination angle of the vehicle in the target posture detection direction will gradually decrease. The first air suspension not corresponding to the target posture detection direction provides a relatively small lifting force, which plays an auxiliary stabilizing role. 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 the water environment.

[0166] It should be noted that the embodiment does not need to correct the posture of the vehicle outside the first control period, but realizes the posture correction through the differentiated configuration of the inflation speed of the air suspension in the first control period.

[0167] In this embodiment, the inflation speed parameters of the first air suspensions in the first air suspension set can be adjusted according to the wading state information and the inclination angle of the vehicle. For the first air suspensions that are consistent with the target posture detection direction, the inflation speed parameters thereof are set to a higher first inflation speed parameter, so as to quickly increase the lifting force in the direction, effectively correcting the vehicle inclination. For the first air suspensions that are not consistent with the target posture detection direction, a lower second inflation speed parameter is adopted, so as to avoid excessive inflation leading to posture imbalance. Such differentiated inflation speed configuration improves the response speed and accuracy of vehicle posture adjustment, and ensures the stability and safety of the vehicle in the wading environment.

[0168] Based on the above Figure 1 , the following will be a detailed introduction to the vehicle control device provided by the embodiments of the present application in combination with Figure 15 . It should be noted that the vehicle control device in Figure 15 is used to execute the method of the embodiments shown in Figure 2 . Figure 14 For the purpose of illustration, only parts related to the embodiments of the present application are shown, and specific technical details not disclosed are referred to the embodiments shown in Figure 2 . Figure 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 can include an acquisition unit 801, a determination unit 802, and a control unit 803, which are specifically as follows:

[0169] The acquisition unit 801 is configured to acquire wading state information of the vehicle.

[0170] The determination unit 802 is configured to determine a first air suspension set from the plurality of air suspensions according to the wading state information in a case where the wading state information satisfies a preset condition.

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

[0172] Optionally, in some embodiments, the vehicle control device 800 can be configured to: if the wading state information includes a 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 satisfies the 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 vehicle wheel suspension state information, and the vehicle wheel suspension state information indicates that at least one suspended wheel in the plurality of wheels is suspended in water, it is determined that the wading state information satisfies the preset condition.

[0173] Optionally, in some embodiments, the determining unit 802 can be configured to: if the water wading state information comprises a water wading depth of the vehicle, and the water wading depth is higher than a preset water wading depth threshold, determine each air suspension of the plurality of air suspensions as a first air suspension respectively, and determine the first air suspension set based on each first air suspension; if the water wading state information comprises the water wading depth of the vehicle and wheel floating state information, and the water wading depth is not higher than the preset water wading depth threshold, and the wheel floating state information indicates that there is at least one floating wheel of the plurality of wheels floating in the water, determine each air suspension corresponding to each floating wheel of the at least one floating wheel as a first air suspension respectively, and determine the first air suspension set based on each first air suspension; if the water wading state information only comprises the wheel floating state information of the vehicle, and the wheel floating state information indicates that there is at least one floating wheel of the plurality of wheels floating in the water, determine each air suspension corresponding to each floating wheel of the at least one floating wheel as a first air suspension respectively, and determine the first air suspension set based on each first air suspension.

[0174] Optionally, in some embodiments, the vehicle further comprises a power supply for supplying power to the air suspensions; and the control unit 803 can be configured to: acquire power limit data of the power supply; determine a maximum control quantity of the vehicle for the air suspensions at the current moment according to the power limit data of the power supply; determine a target control strategy according to the maximum control quantity and a first air suspension quantity of the first air suspension set; and control each first air suspension in the first air suspension set to deflate and inflate based on the preset first control period and the target control strategy.

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

[0176] Optionally, in some embodiments, the control unit 803 can be configured to: if the target control strategy is the first control strategy, control each first air suspension to deflate based on the preset first control period, and control each first air suspension to inflate after reaching a target stroke; and if the target control strategy is the second control strategy, divide the first air suspension set to obtain a plurality of first air suspension groups, and the first air suspension quantity of each first air suspension group is equal to the maximum control quantity; and control the first air suspensions of each first air suspension group to deflate based on the preset first control period in sequence, and control the first air suspensions of each first air suspension group to inflate after reaching the target stroke.

[0177] Optionally, in some embodiments, the vehicle control apparatus 800 can be configured to: if the inclination angle of the vehicle in the target posture detection direction is greater than the preset inclination angle threshold, determine a second air suspension set from the plurality of air suspensions according to the target posture detection direction, when the wading state information meets the preset condition; and control each second air suspension in the second air suspension set to deflate and inflate based on a preset second control period, 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 apparatus 800 can be configured to: if the inclination angle of the vehicle in the target posture detection direction is greater than the preset inclination angle threshold, configure the inflation speed parameter of the first air suspension corresponding to the target posture detection direction in the first air suspension set as a first inflation speed parameter, and configure the inflation speed parameter of the first air suspension not corresponding to the target posture detection direction as a second inflation speed parameter, the inflation speed parameter of the first air suspension being used to adjust the inflation speed, the first inflation speed parameter being higher than the second inflation speed parameter.

[0179] The effects that can be achieved by the present embodiment are described above in relation to the vehicle control method, and will not be described here again.

[0180] Please refer to Figure 16 A structural schematic diagram of a vehicle is provided for the embodiments of the present application. As shown in Figure 16 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 can include one or more processing cores. The processor 901 connects various parts of the entire vehicle 900 through various interfaces and lines, executes various functions of the vehicle 900 and processes data by running or calling computer programs stored in the memory 902 and calling data stored in the memory 902, thereby overall controlling the vehicle 900. Optionally, the processor 901 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field programmable gate array (FPGA), and a programmable logic array (PLA). The processor 901 can integrate a combination of one or more of a CPU, a graphics processor (GPU), and a modem. Among them, the CPU is mainly used to process operating systems, user pages, and application programs; the GPU is used to render and draw display content; and the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 901, but can be realized by a separate communication chip.

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

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

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

[0185] Obtaining water wading state information of the vehicle;

[0186] In a case where the wading state information meets the preset condition, the first air suspension set is determined from the plurality of air suspensions according to the wading state information.

[0187] The first air suspensions in the first air suspension set are controlled to deflate and inflate based on the preset first control period.

[0188] Optionally, after obtaining the wading state information of the vehicle, before determining the first air suspension set from the plurality of air suspensions according to the wading state information, the processor 901 specifically performs: if the wading state information includes a 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 the 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 at least one floating wheel in the plurality of wheels is floating in water, it is determined that the wading state information meets the preset condition.

[0189] Optionally, when determining the first air suspension set from the plurality of air suspensions according to the wading state information, the processor 901 specifically performs: if the wading state information includes a wading depth of the vehicle and the wading depth is higher than a preset wading depth threshold, each air suspension in the plurality of air suspensions is determined as a first air suspension, and the first air suspension set is determined based on 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 at least one floating wheel in the plurality of wheels is floating in water, each air suspension corresponding to each floating wheel in the at least one floating wheel is determined as a first air suspension, and the first air suspension set is determined based on the first air suspensions; if the wading state information only includes the wheel suspension state information of the vehicle, and the wheel suspension state information indicates that at least one floating wheel in the plurality of wheels is floating in water, each air suspension corresponding to each floating wheel in the at least one floating wheel is determined as a first air suspension, and the first air suspension set is determined based on the first air suspensions.

[0190] Optionally, the vehicle further includes a power supply for supplying power to the air suspensions; when controlling the first air suspensions in the first air suspension set to deflate and inflate based on the preset first control period, the processor 901 specifically performs: obtaining power limit data of the power supply; determining a maximum control quantity of the air suspensions by the vehicle at the current time according to the power limit data of the power supply; determining a target control strategy according to the maximum control quantity and a first air suspension quantity of the first air suspension set; and controlling the first air suspensions in the first air suspension set to deflate and inflate based on the preset first control period 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 according to the maximum control quantity and the first air spring quantity of the first air spring set, the processor 901 specifically: if the maximum control quantity is not lower than the first air spring quantity of the first air spring set, the first control strategy is determined; if the maximum control quantity is lower than the first air spring quantity of the first air spring set, the second control strategy is determined.

[0192] Optionally, when the processor 901 controls each first air spring in the first air spring set to deflate and inflate based on the preset first control period and the target control strategy, the processor 901 specifically: if the target control strategy is the first control strategy, each first air spring is controlled to deflate based on the preset first control period, and each first air spring is controlled to inflate after reaching the target stroke; if the target control strategy is the second control strategy, the first air spring set is divided to obtain a plurality of first air spring groups, and the first air spring quantity of each first air spring group is equal to the maximum control quantity; each first air spring group is controlled to deflate and inflate based on the preset first control period.

[0193] Optionally, after the processor 901 obtains the water wading state information of the vehicle, the processor 901 specifically: if the water wading state information meets the preset condition, and if the inclination angle of the vehicle in the target attitude detection direction is greater than the preset inclination angle threshold, the second air spring set is determined from the plurality of air springs according to the target attitude detection direction; each second air spring in the second air spring set is controlled to deflate and inflate based on the preset second control period, so that the inclination angle of the vehicle in the target attitude detection direction is not greater than the preset inclination angle threshold.

[0194] Optionally, after the processor 901 determines the first air spring set from the plurality of air springs according to the water wading state information, the processor 901 specifically: if the inclination angle of the vehicle in the target attitude detection direction is greater than the preset inclination angle threshold, the inflation speed parameter of the first air spring in the first air spring set that is consistent with the target attitude detection direction is configured as the first inflation speed parameter, and the inflation speed parameter of the first air spring in the first air spring set that is not consistent with the target attitude detection direction is configured as the second inflation speed parameter; the inflation speed parameter of the first air spring 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 the embodiment are described above in the related embodiments of the vehicle control method, and will not be described here.

[0196] It should be understood that the apparatus provided by the embodiments of the present application is used to execute the vehicle control method described above, and thus can achieve the same effects as the implementation method described above.

[0197] In the case of using the integrated unit, the apparatus can include a processing module, a storage module. When the apparatus is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute relevant program codes and the like.

[0198] The processing module can be a processor or a controller, which can realize or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure of the present application. The processor can also be a combination of computing functions, such as including one or more microprocessor combinations, a combination of digital signal processing (DSP) and microprocessor, and the like. The storage module can be a memory.

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

[0200] The embodiments of the present application also provide a computer readable storage medium, the computer readable storage medium stores computer program codes, when the computer program codes run on the computer, the computer program codes make the computer execute the related method steps to realize the vehicle control method provided by the above embodiments.

[0201] The embodiments of the present application also provide a computer program product, when the computer program product runs on the computer, the computer program product makes the computer execute the related steps to realize the vehicle control method provided by the above embodiments.

[0202] The apparatus, the computer readable storage medium, the computer program product or the chip provided by the embodiments of the present application are used to execute the corresponding method provided above, and thus the beneficial effects that can be achieved can refer to the beneficial effects of the corresponding method provided above, which will not be described here.

[0203] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules to complete all or part of the functions described above.

[0204] In the embodiments of the present disclosure, it should be understood that the disclosed apparatus and method can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. The division of the modules or units is merely logical function division. In actual implementation, another division manner can be used. For example, a plurality of units or components can be combined or integrated into another apparatus, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, apparatuses or units, and can be electrical, mechanical or in other forms.

[0205] The above merely illustrates the specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present disclosure, which should be covered by the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A vehicle control method characterized by, The vehicle comprises a plurality of wheels and a plurality of air suspensions corresponding to the plurality of wheels respectively; the method comprises: obtaining water wading state information of the vehicle; if the water wading state information meets a preset condition, determining a first air suspension set from the plurality of air suspensions according to the water wading state information; controlling each first air suspension in the first air suspension set to deflate and inflate based on a preset first control period; the determining of the first air suspension set from the plurality of air suspensions according to the water wading state information comprises: if the water wading state information comprises a water wading depth of the vehicle, and the water wading depth is higher than a preset water wading depth threshold, each air suspension in the plurality of air suspensions is determined as a first air suspension respectively, and a first air suspension set is determined based on each first air suspension; if the water wading state information comprises the water wading depth of the vehicle and wheel floating state information, and the water wading depth is not higher than the preset water wading depth threshold, and the wheel floating state information indicates that at least one floating wheel in the plurality of wheels is floating in water, each air suspension corresponding to each floating wheel in the at least one floating wheel is determined as a first air suspension respectively, and a first air suspension set is determined based on each first air suspension; if the water wading state information only comprises the wheel floating state information of the vehicle, and the wheel floating state information indicates that at least one floating wheel in the plurality of wheels is floating in water, each air suspension corresponding to each floating wheel in the at least one floating wheel is determined as a first air suspension respectively, and a first air suspension set is determined based on each first air suspension.

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

3. The method of claim 1, wherein, The vehicle further comprises a power supply for supplying power to the air suspensions; the controlling of each first air suspension in the first air suspension set to deflate and inflate based on the preset first control period comprises: obtaining power limit data of the power supply; determining a maximum control quantity of the air suspensions of the vehicle at a current time according to the power limit data of the power supply; determining a target control strategy according to the maximum control quantity and a first air suspension quantity of the first air suspension set; controlling each first air suspension in the first air suspension set to deflate and inflate based on the preset first control period and the target control strategy.

4. The method of claim 3, wherein, The target control strategy is a first control strategy or a second control strategy; the target control strategy is determined according to the maximum control quantity and a first air spring quantity of the first air spring set, and the target control strategy comprises: If the maximum control quantity is not lower than the first air spring quantity of the first air spring set, the first control strategy is determined; If the maximum control quantity is lower than the first air spring quantity of the first air spring set, the second control strategy is determined.

5. The method of claim 4, wherein, The first air springs in the first air spring set are controlled to deflate and inflate based on the target control strategy and a preset first control period, and the target control strategy comprises: If the target control strategy is the first control strategy, each first air spring is controlled to deflate based on the preset first control period, and each first air spring is controlled to inflate after reaching a target stroke; If the target control strategy is the second control strategy, a plurality of first air spring groups are obtained by dividing the first air spring set, the first air spring quantity of the first air spring group is equal to the maximum control quantity, each first air spring in each first air spring group is controlled to deflate based on the preset first control period, and each first air spring in each first air spring group is controlled to inflate after reaching the target stroke.

6. The method of claim 1, wherein, After the water-related state information of the vehicle is obtained, the method further comprises: If the inclination angle of the vehicle in a target attitude detection direction is greater than a preset inclination angle threshold, a second air spring set is determined from the plurality of air springs according to the target attitude detection direction, when the water-related state information meets a preset condition; Each second air spring in the second air spring set is controlled to deflate and inflate based on a preset second control period, so that the inclination angle of the vehicle in the target attitude detection direction is not greater than the preset inclination angle threshold.

7. The method of claim 1, wherein, After the first air spring set is determined from the plurality of air springs according to the water-related state information, the method further comprises: If the inclination angle of the vehicle in a target attitude detection direction is greater than a preset inclination angle threshold, the inflation speed parameter of the first air spring corresponding to the target attitude detection direction is configured as a first inflation speed parameter, and the inflation speed parameter of the first air spring not corresponding to the target attitude detection direction is configured as a second inflation speed parameter in the first air spring set, the inflation speed parameter of the first air spring is used to adjust the inflation speed, and the first inflation speed parameter is higher than the second inflation speed parameter.

8. A vehicle control device characterized by comprising: The vehicle comprises a plurality of wheels and a plurality of air springs corresponding to the plurality of wheels; the device comprises: An acquisition unit is configured to acquire water-related state information of the vehicle; A determination unit is configured to determine a first air spring set from the plurality of air springs according to the water-related state information, when the water-related state information meets a preset condition; A control unit is configured to control each first air spring in the first air spring set to deflate and inflate based on a preset first control period. The determining unit is further configured to, if the wading state information includes a wading depth of the vehicle and the wading depth is greater than a preset wading depth threshold, determine each of the plurality of air suspensions as a first air suspension, and determine a first air suspension set based on each of the first air suspensions; The determining unit is further configured to, if the wading state information includes the wading depth of the vehicle and wheel suspension state information, and the wading depth is not greater than the preset wading depth threshold, and the wheel suspension state information indicates that at least one suspended wheel among the plurality of wheels is suspended in water, determine the air suspension corresponding to each of the at least one suspended wheel as a first air suspension, and determine a first air suspension set based on each of the first air suspensions; The determination unit is further configured to, if the wading state information only includes wheel suspension state information of the vehicle, and the wheel suspension state information indicates that there is at least one suspended wheel among the multiple wheels suspended in water, determine the air suspension corresponding to each of the at least one suspended wheel as a first air suspension, and determine a first air suspension set based on each of the first air suspensions.

9. A vehicle characterized by comprising: include: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. 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 7 is implemented.

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