Wading mode control system and control method of vehicle, controller and vehicle

Abstract

The invention discloses a wading mode control system and method of a vehicle, a controller and the vehicle. The wading mode control system comprises a detection part and the controller. Wherein the detection piece is arranged at the preset height of the vehicle, and the detection piece is used for sending a wading trigger signal when the position where the detection piece is located is in water; the controller is in communication connection with the detection part, and the controller is used for receiving the wading trigger signal and controlling the vehicle to enter the wading mode when receiving the wading trigger signal.

Description

Technical Field

[0001] The present application relates to the field of transportation vehicles, and more specifically to a vehicle wading mode control system and control method, a controller, and a vehicle. Background Art

[0002] At present, most vehicles are equipped with a driving control strategy of a wading mode. When the vehicle enters a body of water, the driving mode of the vehicle is switched to the wading mode to control the vehicle to travel in the water. In the related art, the reliability of the control method for whether the vehicle enters the wading mode is relatively poor. Summary of the invention

[0003] The present application is proposed to solve at least one of the above problems. According to the first aspect of the present application, a wading mode control system for a vehicle is provided, the wading mode control system comprising: a detection member and a controller; wherein the detection member is arranged at a preset height of the vehicle, and the detection member is used to send a wading trigger signal when the position of the detection member is in water; the controller is communicatively connected with the detection member, and the controller is used to: receive the wading trigger signal, and when receiving the wading trigger signal, control the vehicle to enter the wading mode.

[0004] In one embodiment of the present application, there are multiple detection elements, and the multiple detection elements are arranged at different positions of the preset height, and each of the detection elements is communicatively connected to the controller.

[0005] In one embodiment of the present application, the controller is used to control the vehicle to enter the wading mode when the number of the detection components that send the wading trigger signal is not less than a first preset number.

[0006] In one embodiment of the present application, the detection element is also used to send a wading exit signal when the position of the detection element is not in water; the controller is also used to: when the number of the detection elements that send the wading exit signal is not less than a second preset number, control the vehicle to exit the wading mode.

[0007] In one embodiment of the present application, the detection component is disposed at the center of a wheel hub of the vehicle; or / and, the detection component is disposed on a chassis of the vehicle.

[0008] In one embodiment of the present application, the detection element is an ultrasonic detection element; the ultrasonic detection element is used to transmit an ultrasonic signal to the ground where the vehicle is located, receive an echo signal reflected by the ground where the vehicle is located, and determine whether the location of the ultrasonic detection element is in water based on the amplitude of the echo signal.

[0009] In one embodiment of the present application, the ultrasonic detection component determines that the position of the ultrasonic detection component is in water when the amplitude of the echo signal is less than a preset threshold value; the ultrasonic detection component determines that the position of the ultrasonic detection component is not in water when the amplitude of the echo signal is not less than the preset threshold value.

[0010] In one embodiment of the present application, the direction of the ultrasonic emission port of the ultrasonic detection component is perpendicular to the ground where the vehicle is located.

[0011] In one embodiment of the present application, the detection component is a water pressure gauge.

[0012] According to the second aspect of the present application, a vehicle wading mode control method is also provided, the wading mode control method comprising: if the vehicle has not entered the wading mode, upon receiving a wading trigger signal sent by a detection component of the vehicle, controlling the vehicle to enter the wading mode; wherein the detection component is arranged at a preset height of the vehicle, and the detection component is used to send the wading trigger signal when the position of the detection component is in water.

[0013] In one embodiment of the present application, there are multiple detection elements, and the multiple detection elements are arranged at different positions of the preset height; when receiving the wading trigger signal sent by the detection element of the vehicle, controlling the vehicle to enter the wading mode includes: when the number of the detection elements that send the wading trigger signal is not less than a first preset number, controlling the vehicle to enter the wading mode.

[0014] In one embodiment of the present application, the wading mode control method also includes: a plurality of the detection elements periodically detecting whether the position of each detection element is in the water; when the number of the detection elements that send the wading trigger signal is not less than a first preset number, controlling the vehicle to enter the wading mode, including: when the number of the detection elements that send the wading trigger signal is not less than the first preset number in at least two consecutive cycles, controlling the vehicle to enter the wading mode.

[0015] In one embodiment of the present application, there are multiple detection elements, and the multiple detection elements are arranged at different positions of the preset height; the detection element is also used to send a wading exit signal when the position where the detection element is located is not in water; the wading mode control method also includes: if the vehicle enters the wading mode, when the number of the detection elements that send the wading exit signal is not less than a second preset number, controlling the vehicle to exit the wading mode.

[0016] In one embodiment of the present application, the wading mode control method also includes: a plurality of the detection elements periodically detecting whether the location of the detection elements is in water; when the number of the detection elements that send the wading exit signal is not less than a second preset number, controlling the vehicle to exit the wading mode, including: when the number of the detection elements that send the wading exit signal is not less than the second preset number in at least two consecutive cycles, controlling the vehicle to exit the wading mode.

[0017] According to the third aspect of the present application, a controller is also provided, which includes: a storage medium and a processor, wherein the storage medium stores a computer program run by the processor, and when the computer program is run by the processor, the processor executes any one of the above-mentioned vehicle wading mode control methods.

[0018] According to a fourth aspect of the present application, a vehicle is also provided, comprising: a wading mode control system of the vehicle described in any one of the above, or a controller described in any one of the above.

[0019] According to the vehicle wading mode control system and control method, controller, and vehicle provided by the embodiments of the present application, a detection member is specially set at a preset height of the vehicle to detect whether the position of the detection member is in the water, and a wading trigger signal is sent to the controller when the position of the detection member is in the water, so that the controller controls the vehicle to enter the wading mode. Since the detection member does not need to be affected by the intensity of light when detecting whether the position of the detection member is in the water, the reliability of judging whether the vehicle enters the wading mode is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0021] Figure 1 A schematic side structural diagram of a vehicle wading mode control system according to an embodiment of the present invention;

[0022] Figure 2 A schematic side structural diagram of a vehicle wading mode control system according to another embodiment of the present invention;

[0023] Figure 3 for Figure 2 A schematic diagram of the top view of the wading mode control system of a vehicle is shown;

[0024] Figure 4 for Figure 2 A schematic diagram of the side structure of a vehicle when the detection element is located in water;

[0025] Figure 5 for Figure 2 The assembly position diagram of the ultrasonic radar in the wading mode control system is shown;

[0026] Figure 6 A schematic diagram of the amplitude of an echo signal of an ultrasonic detection element according to an embodiment of the present invention;

[0027] Figure 7 This is a flow chart of a wading mode control method according to an embodiment of the present invention;

[0028] Figure 8 A detection flow chart of an ultrasonic detection element according to an embodiment of the present invention;

[0029] Fig. 9 This is a structural block diagram of a controller according to an embodiment of the present invention.

[0030] Reference numerals:

[0031] 10-Vehicle 20-Detection Component 30-Controller 40-Ultrasonic Radar DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present invention more obvious, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present invention.

[0033] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0034] It should be understood that the present invention can be implemented in different forms and should not be interpreted as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to make the disclosure thorough and complete and to fully convey the scope of the present invention to those skilled in the art.

[0035] The purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present invention. When used herein, the singular forms "one", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "consisting of" and / or "comprising", when used in this specification, confirm the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0036] With the extreme and severe changes in the global climate and environment, the melting of global glaciers is accelerating under the trend of global warming, the sea level is rising, and the variability and frequency of severe weather such as floods and droughts may cause stationary vehicles to be stranded and unable to move due to floods. For example, floods in some cities in recent years have led to huge compensation payments from vehicle insurance companies, and more seriously, the lives of vehicle drivers and passengers are in danger. In previous years, urban flooding occurred every year in southern cities: 184 cities were flooded in 2012, 234 cities in 2013, and 125 cities in 2014; the flood situation was such as the 3,610 flooded vehicles in Huangshan City on July 7, 2020 due to urban flooding, with an estimated loss of 47.71 million; in July 2021, the insurance industry in Henan received 180,000 vehicle claims due to flooding, with an estimated loss of 5.2 billion, etc.; in 657 cities across the country, as many as 300 cities have drainage systems or flood control infrastructure that do not meet national standards.

[0037] Even if we ignore the threats to property or life brought about by climate change, off-road vehicles usually encounter rivers of varying depths, wading grass, wading potholes and uneven roads in the wild environment. Therefore, whether from a practical perspective or from a future trend, the research on safe and reliable wading and floating systems is becoming increasingly important.

[0038] At present, the sensors based on the vehicle body perception system include millimeter wave radar, ultrasonic radar, camera, laser radar, etc., which are mainly used for land ranging, image acquisition and other functions. The relevant vehicle sensor systems are basically based on the consideration of road autonomous driving or intelligent driving, and their sensor networks are composed of millimeter wave radar, ultrasonic radar, laser radar and camera. The operating frequency of millimeter wave radar, ultrasonic radar, etc. is in the frequency range of tens of kHz and GHz. Such high-frequency signals are extremely easy to attenuate in water, resulting in a short propagation distance and weak effective signals received, which greatly increases the difficulty of signal processing. The use of underwater cameras is limited by visibility in the water, and a simple underwater camera cannot provide distance information. The existing ultrasonic waves in the vehicle body are generally used to measure the distance of surrounding close-range obstacles in situations such as parking. It needs to be explained that ultrasonic waves (Ultra-Sonic radar) are a sound wave signal with a frequency range of 20kHz to hundreds of MHz, which belongs to the category of sound waves that cannot be heard by human ears.

[0039] There are already vehicle products equipped with wading systems, but the known products are basically in a state that requires manual opening or closing of the wading system mode. At the same time, such products are based on a sensor called ultrasonic radar to measure the distance from the rearview mirror to the water surface. However, the technology of ultrasonic radar for wading distance measurement often results in great target misjudgment and false alarms; that is, when encountering road obstacles, it is likely to be misjudged as wading; or in complex outdoor environments, the ultrasonic radar on the rearview mirror may misreport as a wading section when passing through bushes and other plant areas, or even give an erroneous warning message that the water depth exceeds the threshold.

[0040] At present, some vehicles are also equipped with systems based on wading and floating functions, but their technical development only uses the ultrasonic radar mounted on the rearview mirror to perform a simple measurement of the height of the rearview mirror to the water surface when wading or floating. Since the acoustic impedance of air is relatively small compared to that of other media, the ultrasonic radar mounted on the rearview mirror cannot identify the target in an air environment. Therefore, the relevant ultrasonic radar technology for wading ranging often results in great target misjudgment and false alarms. That is, when encountering road obstacles, it is likely to be misjudged as wading; or in a complex outdoor environment, the ultrasonic radar on the rearview mirror may be misreported as a wading section when passing through bushes and other plant areas, or even give an erroneous warning message that the water depth exceeds the threshold.

[0041] It can be seen that the related technologies mainly determine whether the vehicle enters the wading mode by using a camera or a laser radar to detect the depth of the water. However, the laser radar method of detecting the depth of the water has a large error and poor reliability. The camera method has a large amount of calculation and is prone to recognition errors in low-light environments such as at night. In order to solve at least some of the problems in the related technologies, the following embodiments of the present application are proposed.

[0042] In order to fully understand the present invention, a detailed structure will be presented in the following description to illustrate the technical solution proposed by the present invention. The optional embodiments of the present invention are described in detail as follows, but in addition to these detailed descriptions, the present invention may also have other implementations.

[0043] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0044] First, an application scenario of the vehicle's wading mode control system illustrated in the example of the present application is introduced. The vehicle's wading mode control system is applied to the control process of entering or exiting the wading mode of a vehicle with a wading mode.

[0045] refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 An embodiment of the present application provides a wading mode control system for a vehicle, the wading mode control system comprising: a detection member 20 and a controller 30; wherein the detection member 20 is arranged at a preset height of the vehicle 10, and the detection member 20 is used to send a wading trigger signal when the position of the detection member 20 is in water; the controller 30 is communicatively connected with the detection member 20, and the controller 30 is used to: receive the wading trigger signal, and when receiving the wading trigger signal, control the vehicle 10 to enter the wading mode.

[0046] In the above scheme, by setting the detection member 20 at a preset height of the vehicle 10, it is detected whether the position of the detection member 20 is in the water, and when the position of the detection member 20 is in the water, a wading trigger signal is sent to the controller 30, so that the controller 30 controls the vehicle 10 to enter the wading mode. Since the detection member 20 does not need to be affected by the intensity of light when detecting whether the position of the detection member 20 is in the water, the reliability of judging whether the vehicle 10 enters the wading mode is improved. The above structures are described in detail below in conjunction with the accompanying drawings.

[0047] When setting the detection member 20, refer to Figure 1, the detection member 20 is arranged at a preset height of the vehicle 10. The value of the preset height can be determined in combination with factors such as the type of vehicle 10 and the implementation method of the wading mode of the vehicle 10. Exemplarily, the preset height can be a height position of 25 cm to 50 cm from the ground where the vehicle 10 is located. The detection member 20 is used to detect whether the position where the detection member 20 is located is located in the water. The detection member 20 is used to send a wading trigger signal to the controller 30 when the position where the detection member 20 is located is in the water. Therefore, the preset height of the vehicle 10 where the detection member 20 is located is near the critical water depth for the vehicle 10 to switch to the wading mode.

[0048] Of course, in some embodiments, the detection member 20 is also used to send a wading exit signal to the controller 30 when the position of the detection member 20 is not in water. Of course, each detection by the detection member 20 can be regarded as a cycle. In each cycle, the detection member 20 sends a wading trigger signal or a wading exit signal to the controller 30. Exemplarily, one of the wading trigger signal and the wading exit signal can be a high-level signal, and the other can be a low-level signal.

[0049] Exemplary, reference Figure 1 , Figure 2 , Figure 3 and Figure 4 , the number of the detection members 20 may be one or more. When the number of the detection members 20 is more than one, the multiple detection members 20 are all arranged at a preset height of the vehicle 10, that is, the distances between the multiple detection members 20 and the ground where the vehicle 10 is located are the same distance, so that the detection reference lines of the multiple detection members 20 are basically located at the same reference line, so that the controller 30 can treat the wading trigger signals sent by different detection members 20 according to the same weight. And the multiple detection members 20 are arranged at different positions of the preset height of the vehicle 10, so that it is possible to detect whether the vehicle 10 is located in the water at different positions of the same preset height, which is convenient for detecting sections such as but not limited to puddles. Exemplarily, the multiple detection members 20 can be distributed at the same preset height position of the vehicle 10 in a manner such as but not limited to array arrangement, random arrangement, and straight-line arrangement.

[0050] For example, when there are multiple detection elements 20, refer to Figure 1 , Figure 2 , Figure 3 and Figure 4, each detection member 20 can be connected to the controller 30 for communication, so as to send the information of whether the position of each detection member 20 detected by each detection member 20 is located in the water to the controller 30. During the driving process of the vehicle 10, if the entire vehicle 10 is located in the water, then within one cycle, all the detection members 20 will send a wading trigger signal to the controller 30. If the entire vehicle 10 is not located in the water, then within one cycle, all the detection members 20 will send a wading exit signal to the controller 30. Exemplarily, when part of the vehicle body 10 is located in the water and part of the vehicle body is not located in the water, some detection members 20 may send a wading trigger signal to the controller 30, and some detection members 20 may send a wading exit signal to the controller 30. It can be seen that the type of signal sent by the detection member 20 to the controller 30 is related to the state of each detection member 20 itself.

[0051] refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , the detection member 20 can be arranged at any position of a preset height of the vehicle 10. Exemplarily, the detection member 20 can be arranged at the center of the wheel hub of the vehicle 10. For example, the detection member 20 can be arranged at the outer side, inner side, etc. of the center of the wheel hub of the vehicle 10. For example, the number of the detection members 20 can be four, and the four detection members 20 are respectively arranged at the centers of the wheel hubs of the four wheels of the vehicle 10. In some embodiments, the detection member 20 can also be arranged on the chassis of the vehicle 10. Exemplarily, the chassis may include structures such as an axle, a steering knuckle, a frame, a subframe, and a stabilizer bar. The detection member 20 can be arranged on any structure of the chassis. In other embodiments, when the number of the detection members 20 is multiple, some of the detection members 20 can be arranged at the center of the wheel hub of the vehicle 10, and some of the detection members 20 can be arranged on the chassis of the vehicle 10.

[0052] Regarding the type of the detection member 20, any detector that can detect whether the location of the detection member 20 is located in water can be used. Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 8 The detection element 20 can be implemented by using ultrasound. Specifically, the detection element 20 is an ultrasonic detection element; the ultrasonic detection element is used to transmit an ultrasonic signal to the ground where the vehicle 10 is located, receive an echo signal reflected by the ground where the vehicle 10 is located, and determine whether the location of the ultrasonic detection element is in water according to the amplitude of the echo signal.

[0053] refer to Figure 6 and Figure 8The ultrasonic detection element can determine whether the ultrasonic detection element is located in water based on the amplitude of the echo signal in a variety of ways. For example, the ultrasonic detection element can determine whether the ultrasonic detection element is located in water based on the relationship between the amplitude of the echo signal and a preset threshold. For example, referring to Figure 2 , Figure 4 , Figure 6 and Figure 8 When the amplitude of the echo signal of the ultrasonic detection component is less than a preset threshold, it is determined that the ultrasonic detection component is in water, and the ultrasonic detection component sends a wading trigger signal; when the amplitude of the echo signal of the ultrasonic detection component is not less than the preset threshold, it is determined that the ultrasonic detection component is not in water, and the ultrasonic detection component sends a wading exit signal.

[0054] When setting up ultrasonic testing parts, refer to Figure 2 , Figure 4 and Figure 6 , the direction of the ultrasonic emission port of the ultrasonic detection component can be made perpendicular to the ground where the vehicle 10 is located, so that the ultrasonic emission direction of the ultrasonic detection component is always perpendicular to the ground where the vehicle 10 is located, thereby facilitating accurate detection of whether the location of the detection component 20 is in water.

[0055] Of course, the detection member 20 may also be of other types. For example, a water pressure gauge may be used as the detection member 20. The water pressure gauge determines whether the location of the water pressure gauge is in water by detecting the water pressure at the location of the water pressure gauge. For example, the water pressure gauge may detect the water pressure at the location of the water pressure gauge. If the water pressure at the location of the water pressure gauge detected by the water pressure member is less than a preset pressure value, it is determined that the location of the water pressure gauge is not in water; if the water pressure at the location of the water pressure gauge is not less than a preset pressure value, it is determined that the location of the water pressure gauge is in water. The preset pressure value may be an atmospheric pressure value, etc.

[0056] When setting the controller 30, any controller 30 that can receive the signal sent by the detection element 20 and control the vehicle 10 to enter or exit the wading mode can be used. For example, the controller 30 can be a vehicle controller 30, a vehicle terminal, a local controller 30, etc. of the vehicle 10. For example, refer to Figure 1 to Figure 4 , the controller 30 is composed of four intelligent domains, front, back, left, and right. Exemplarily, the controller 30 is connected to the detection element 20 for communication to receive the wading trigger signal and the wading exit signal sent by each detection element 20. The controller 30 is also used to control the vehicle 10 to enter the wading mode when receiving the wading trigger signal.

[0057] Compared with the related art, the present application specifically sets a detection member 20 at a preset height of the vehicle 10 to detect whether the position of the detection member 20 is in the water, and sends a wading trigger signal to the controller 30 when the position of the detection member 20 is in the water, so that the controller 30 controls the vehicle 10 to enter the wading mode. Since the detection member 20 does not need to be affected by the intensity of light when detecting whether the position of the detection member 20 is in the water, and does not need to use a laser radar to detect the depth of the water, the reliability of judging whether the vehicle 10 enters the wading mode is improved.

[0058] Exemplary, reference Figure 7 and Figure 8 , when there are multiple detection members 20, the controller 30 is used to: when the number of detection members 20 that send wading trigger signals is not less than the first preset number, control the vehicle 10 to enter the wading mode. That is, the controller 30 is used to control the vehicle 10 to enter the wading mode when receiving wading trigger signals from at least the first preset number of detection members 20. That is, when the vehicle 10 has not entered the wading mode, within a cycle, if at least the first preset number of detection members 20 all send wading trigger signals to the controller 30, it means that at least some of the detection members 20 of the vehicle 10 are already located in the water, and at this time, the vehicle 10 can be controlled to enter the wading mode.

[0059] The size of the first preset number is between 1 and the total number of detection elements 20. It is specifically related to factors such as the scene application coverage of the wading mode and the driving habits of the driver. Exemplarily, the first preset number can be 1, that is, as long as there is a detection element 20 among the multiple detection elements 20 that sends a wading trigger signal to the controller 30, the controller 30 controls the vehicle 10 to enter the wading mode, and the vehicle 10 is more likely to enter the wading mode. Exemplarily, the first preset number can be the total number of detection elements 20, that is, only after all the detection elements 20 have sent a wading trigger signal to the controller 30, the controller 30 will control the vehicle 10 to enter the wading mode. In this way, the conditions for the vehicle 10 to enter the wading mode are more stringent.

[0060] Exemplary, reference Figure 7 and Figure 8, when the number of the detection members 20 is multiple, the detection members 20 are also used to send a wading exit signal when the position of the detection members 20 is not in the water. At this time, the controller 30 is also used to control the vehicle 10 to exit the wading mode when the number of the detection members 20 that send the wading exit signal is not less than the second preset number. That is, the controller 30 is also used to control the vehicle 10 to exit the wading mode when the wading exit signal is received from at least the second preset number of detection members 20. That is, if the vehicle 10 has entered the wading mode, the detection members 20 still need to periodically detect whether the position of each detection member 20 is located in the water, and send a wading exit signal to the controller 30 when it is not located in the water. Within one cycle, when at least the second preset number of detection members 20 all send wading exit signals to the controller 30, it means that the position of at least part of the detection members 20 of the vehicle 10 is no longer in the water, and the vehicle 10 can be controlled to exit the wading mode at this time.

[0061] The size of the second preset number is between 1 and the total number of detection members 20. It is specifically related to factors such as the scene application coverage of the wading mode and the driving habits of the driver. Exemplarily, the second preset number can be 1, that is, as long as there is a detection member 20 among the multiple detection members 20 that sends a wading exit signal to the controller 30, the controller 30 controls the vehicle 10 to exit the wading mode, and the vehicle 10 is more likely to exit the wading mode. Exemplarily, the second preset number can be the total number of detection members 20, that is, only after all the detection members 20 have sent a wading trigger signal to the controller 30, the controller 30 will control the vehicle 10 to exit the wading mode. In this way, the conditions for the vehicle 10 to exit the wading mode are more stringent.

[0062] Exemplary, reference Figure 1 to Figure 5 , both rearview mirrors on the left and right sides of the vehicle body are equipped with ultrasonic radars 40, which are used to measure the distance from the rearview mirror to the water surface in the wading area. The specific parameters of the ultrasonic radar 40 are as follows: measurement range, 20cm-150cm, which can further reduce the blind spot. Exemplarily, when an ultrasonic detection component is used as the detection component 20, the ultrasonic detection component is used to detect whether the position of the ultrasonic detection component is in the water, and the ultrasonic detection component can use an ultrasonic detection component with a smaller blind spot range. Ultrasonic radar 40 measurement accuracy: + / -2cm; static water depth measurement accuracy: + / -4cm; the protection level of its sensor is IP6K9K, the water depth display update time is <300ms, the controller 30 response time is <100ms, and the sensor response time is <50ms.

[0063] Exemplarily, the ultrasonic radars 40 on the left and right sides of the vehicle body can generate pulsed ultrasonic waves by pulse coding. The sound waves generated by coding have a relatively stronger anti-interference ability during propagation. The ultrasonic beams it transmits have transverse and longitudinal beam angles of approximately 60° and 45°. The ultrasonic signal will encounter scattering or refraction during propagation, and eventually reach the air-water interface layer, or the air-ground interface layer, and the air-other medium interface layer, where total reflection occurs. The reflected echo is received by the receiving end. The ultrasonic radar 40 system with a main frequency of 50kHz, through the MCU embedded in the left intelligent domain of the main ultrasonic radar 40, emits ultrasonic waves with a bandwidth of approximately 4kHz in the form of coded pulses. This signal will experience propagation attenuation, scattering, and total reflection in air propagation during the interface layer formed by air and other media. Due to the fact that the air acoustic impedance is very small compared to any other medium, the ultrasonic signal will experience total reflection during vertical incidence. The left and right ultrasonic radars 40 are in a master-slave relationship. Assume that the ultrasonic radar 40 on the left is the master and the ultrasonic radar 40 on the right is the slave. The data of the ultrasonic radar 40 in the slave role is transmitted to the ultrasonic radar 40 in the left master. The master ultrasonic radar 40 transmits the echo data collected by the two ultrasonic radars 40 to the domain control MCU through the CAN bus for digital signal processing. The echo signal of the time domain signal arrives in the form of a pulse. The waveform of the pulse wave can be extracted by the envelope detection method, so that the initial reflection and secondary reflection of the target object can be judged by the peaks and troughs of the waveform. In digital signal processing, there are digital filtering, digital-to-analog conversion, etc.

[0064] The height of the ultrasonic radar 40 from the water surface can be calculated by obtaining the time of the first echo, and the calculation formula is as follows:

[0065] d=0.5*C free *t*cos(θ)

[0066] Where, d is the depth distance measured by a single transducer and a single beam, C free is the propagation speed of sound waves in water medium, t is the time for the sound waves transmitted by the receiving transducer to propagate. θ is the inclination angle formed between the horizontal plane and the transducer transmitting head during the driving process of the vehicle 10. This inclination angle can be measured by other sensors such as IMU of the vehicle body.

[0067] Exemplarily, after receiving the wading trigger signal sent by the detection element 20, the controller 30 is also used to control the ultrasonic radars 40 on the left and right sides of the vehicle body to measure the height information between the lower end of the rearview mirror and the water surface, and transmit the height information between the lower end of the rearview mirror and the water surface to the display screen for display.

[0068] In some embodiments of the present application, the technical method of ultrasonic function fusion in different areas in this invention refers to: the ultrasonic radar 40 installed at the base of the left and right side rearview mirrors can detect the wading height of the vehicle 10 within a certain accuracy range in a non-floating state, and output the depth value through a PAD (display screen) or the like. However, whether the left and right ultrasonic radars 40 output the height will be determined by the detection member 20 installed at the center of the wheel hub. Specifically, the detection member 20 installed at the left and right wheel hubs has a completely different corresponding frequency signal amplitude of the echo signal obtained in the continuous water area (with a certain distance length) and in the non-water area (such as bushes, etc.). Among them, the amplitude of the echo signal reflected at the interface layer between the air and the ground is higher, and the amplitude of the echo signal reflected at the interface layer between the water and the ground is lower (the same set of ultrasonic detection parts, under the condition of a certain signal-to-noise ratio; and the signal-to-noise ratio accuracy is general; in the production of ultrasonic detection parts, consider the coupling matching with the air). The distinction of the amplitude of this echo signal can be used as a feature point to distinguish whether the area where the ultrasonic detection component is located is a water area or a non-water area. Therefore, when the vehicle 10 reaches a continuous water area and the height of the water area exceeds the center of the wheel hub (the height from the center of the wheel hub to the ground is a preset height, which is outside the detection blind spot of this detection component 20), the ultrasonic radar 40 can effectively enter the activation stage and output the height information between the lower end of the rearview mirror and the water surface.

[0069] Exemplary, reference Figure 2 to Figure 8 , the ultrasonic detector can be set at the center of the wheel hub of the vehicle 10, and the ultrasonic detector is in a vertical relationship with the ground where the vehicle 10 is located. When the ground where the vehicle 10 is located is horizontal, the ultrasonic detector at the center of the wheel hub transmits ultrasonic signals to the ground where the vehicle 10 is located in a vertical beam. When the vehicle 10 travels into a continuous water area, the ultrasonic signal emitted by the ultrasonic detector at the center of the wheel hub will be reflected and scattered from the interface layer between the water area and the ground to form an echo signal, which is then transmitted back to the receiving end of the ultrasonic detector. If the location of the ultrasonic detector is a non-water area (not in water), the interface layer that reflects the echo signal is the interface layer formed by the air-ground, that is, the echo signal is reflected and scattered from the interface layer between the air-ground (or other obstacles).

[0070] refer to Figure 6 , because the coupling matching in the production of ultrasonic detection parts takes the coupling of the air layer into consideration, the amplitude of the echo signal reflected at the air-ground interface layer is different from the amplitude of the echo signal reflected at the water-ground interface layer. The amplitude of the echo signal reflected at the air-ground interface layer is significantly higher than the amplitude of the echo signal reflected at the water-ground interface layer. Therefore, this feature point can be used to compare the amplitude of the echo signal with the preset threshold after receiving the echo signal.

[0071] Exemplarily, before comparison, the original echo signal may be subjected to signal processing such as filtering, and then the comparison may be performed.

[0072] In the comparison process, reference Figure 6 and Figure 8 If the amplitude of the echo signal is higher than the preset threshold, it is determined that the location of the ultrasonic detection element is not in water, that is, the location of the ultrasonic detection element is not in water. If the amplitude of the echo signal is lower than the preset threshold, it is determined that the location of the ultrasonic detection element is in water, that is, the location of the ultrasonic detection element is in water. This result will be output to the controller 30 (such as Figures 1 to 4 The different types of intelligent domains in the controller 30 are used as signals for the controller 30 to determine whether to activate the ultrasonic radars 40 on the left and right sides to output height information.

[0073] If the ultrasonic detection element is located in a water area, the controller 30 controls the ultrasonic radars 40 on the left and right sides of the vehicle 10 to output height information, and controls the vehicle 10 to enter a wading mode.

[0074] If the ultrasonic detection element is located in a non-water area, the controller 30 controls the vehicle 10 not to start the wading mode, and also controls the ultrasonic radars 40 on the left and right sides of the vehicle 10 not to input height information.

[0075] Compared with the camera system, this method has one biggest advantage: it ignores the impact of light intensity on the system. Even when driving on a road at night, the vehicle 10 system can start the wading mode more accurately. At the same time, since the GPU does not need to be involved in image recognition, the requirements for system computing power will also be reduced, helping the system to reduce costs. In general, this invention method can further reduce the misjudgment rate of the wading system, reduce the system's dependence on light intensity, expand the range of available scenarios, and can also reduce costs and computing power to a certain extent.

[0076] In the various embodiments shown above, the detection member 20 is specially arranged at a preset height of the vehicle 10 to detect whether the position of the detection member 20 is in water, and when the position of the detection member 20 is in water, a wading trigger signal is sent to the controller 30, so that the controller 30 controls the vehicle 10 to enter the wading mode. Since the detection member 20 does not need to be affected by the intensity of light when detecting whether the position of the detection member 20 is in water, the reliability of judging whether the vehicle 10 enters the wading mode is improved.

[0077] Furthermore, the present application embodiment also provides a vehicle wading mode control method, referring to Figures 1 to 8, the wading mode control method includes: if the vehicle 10 has not entered the wading mode, upon receiving the wading trigger signal sent by the detection member 20 of the vehicle 10, controlling the vehicle 10 to enter the wading mode; wherein the detection member 20 is arranged at a preset height of the vehicle 10, and the detection member 20 is used to send the wading trigger signal when the position of the detection member 20 is in the water. That is, if the vehicle 10 has not entered the wading mode currently, it is necessary to monitor when the wading mode is entered. Specifically, the vehicle 10 is controlled to enter the wading mode only after receiving the wading trigger signal sent by the detection member 20 of the vehicle 10.

[0078] In the above scheme, the detection member 20 is specially arranged at a preset height of the vehicle 10 to detect whether the position of the detection member 20 is in water, and when the position of the detection member 20 is in water, a wading trigger signal is sent to the controller 30, so that the controller 30 controls the vehicle 10 to enter the wading mode. Since the detection member 20 is not affected by the intensity of light when detecting whether the position of the detection member 20 is in water, the reliability of judging whether the vehicle 10 enters the wading mode is improved.

[0079] Exemplarily, the wading mode control method further includes: the detection member 20 detects whether the location of the detection member 20 is in water. If the detection member 20 detects that the location of the detection member 20 is in water, a wading trigger signal is sent to the controller 30, so that the controller 30 can receive the wading trigger signal sent by the detection member 20.

[0080] Exemplary, reference Figure 1 to Figure 4 , there are multiple detection members 20, and the multiple detection members 20 are arranged at different positions at preset heights. At this time, when a wading trigger signal sent by the detection member 20 of the vehicle 10 is received, controlling the vehicle 10 to enter the wading mode may include: when the number of the detection members 20 that send the wading trigger signal is not less than a first preset number, controlling the vehicle 10 to enter the wading mode. Specifically, when the wading trigger signal sent by the detection member 20 of the vehicle 10 is received, in the process of controlling the vehicle 10 to enter the wading mode, the vehicle 10 is controlled to enter the wading mode only when the wading trigger signal is received from at least the first preset number of detection members 20. If within a cycle, the wading trigger signal is not received from at least the first preset number of detection members 20, the vehicle 10 is controlled to keep the current driving mode unchanged, that is, not enter the wading mode.

[0081] Exemplary, reference Figure 7 and Figure 8, the wading mode control method also includes: multiple detection members 20 periodically detect whether the position of each detection member 20 is in the water. At this time, when the number of detection members 20 that send wading trigger signals is not less than the first preset number, controlling the vehicle 10 to enter the wading mode may include: when the number of detection members 20 that send wading trigger signals is not less than the first preset number in at least two consecutive cycles, controlling the vehicle 10 to enter the wading mode. Specifically, in the process of controlling the vehicle 10 to enter the wading mode when the wading trigger signal is received from at least the first preset number of detection members 20 in at least two consecutive cycles, the vehicle 10 is controlled to enter the wading mode when the wading trigger signal is received from at least the first preset number of detection members 20. That is, only when the wading trigger signal is received from at least the first preset number of detection members 20 in at least two consecutive cycles, the vehicle 10 is controlled to enter the wading mode. It should be noted that the water wading signals sent by the detection components 20 in different cycles may be the same or different. It only needs to be noted whether the total number of detection components 20 sending water wading trigger signals in each cycle is not less than the first preset number.

[0082] Exemplary, reference Figure 1 to Figure 4 , Figure 7 and Figure 8 , when a wading trigger signal is received from at least a first preset number of detection members 20 within two consecutive cycles, the vehicle 10 can be controlled to enter the wading mode. Or, illustratively, when a wading trigger signal is received from at least a first preset number of detection members 20 within three consecutive cycles, the vehicle 10 can be controlled to enter the wading mode. Or, illustratively, when a wading trigger signal is received from at least a first preset number of detection members 20 within four consecutive cycles, the vehicle 10 can be controlled to enter the wading mode. If a wading trigger signal is received from at least a first preset number of detection members 20 only within one cycle, and the previous cycle and the next cycle of the cycle do not meet the condition of receiving a wading trigger signal from at least a first preset number of detection members 20, then the vehicle 10 can be kept in the current driving mode without entering the wading mode. Thereby avoiding accidental interference factors that occur within a single cycle.

[0083] Exemplary, reference Figure 1 to Figure 4 , Figure 7 and Figure 8, the number of the detection members 20 is multiple, and the multiple detection members 20 are arranged at different positions of the preset height. The detection member 20 is also used to send a wading exit signal when the position of the detection member 20 is not in the water. At this time, the wading mode control method may also include: if the vehicle 10 enters the wading mode, when the number of the detection members 20 that send the wading exit signal is not less than the second preset number, the vehicle 10 is controlled to exit the wading mode. Specifically, the wading mode control method may also include: if the vehicle 10 enters the wading mode, when the wading exit signal is received from at least the second preset number of detection members 20, the vehicle 10 is controlled to exit the wading mode. That is, after the vehicle 10 enters the wading mode, the detection member 20 still continues to detect whether the position of the detection member 20 is in the water, and sends a wading trigger signal or a wading exit signal to the controller 30 in each cycle. If the controller 30 receives a wading exit signal from at least the second preset number of detection members 20, it means that the position of at least part of the detection members 20 of the vehicle 10 is no longer in the water, and the vehicle 10 can be controlled to exit the wading mode. If the controller 30 does not receive wading exit signals from at least a second preset number of detection members 20 , it means that the vehicle 10 is not yet suitable for exiting the wading mode, and the current wading mode of the vehicle 10 is maintained unchanged.

[0084] Exemplary, reference Figure 1 to Figure 4 , Figure 7 and Figure 8 , the wading mode control method may further include: multiple detection members 20 periodically detect whether the position of the detection members 20 is in the water. At this time, when the number of detection members 20 that send wading exit signals is not less than the second preset number, controlling the vehicle 10 to exit the wading mode may include: when the number of detection members 20 that send wading exit signals is not less than the second preset number in at least two consecutive cycles, controlling the vehicle 10 to exit the wading mode. Specifically, when a wading exit signal is received from at least a second preset number of detection members 20, controlling the vehicle 10 to exit the wading mode may include: when a wading exit signal is received from at least a second preset number of detection members 20 in at least two consecutive cycles, controlling the vehicle 10 to exit the wading mode. That is, only when a wading exit signal is received from at least a second preset number of detection members 20 in at least two consecutive cycles, the vehicle 10 is controlled to exit the wading mode. It should be noted that the water wading signals sent by the detection components 20 in different cycles may be the same or different. It only needs to be noted whether the total number of detection components 20 sending water wading trigger signals in each cycle is not less than the second preset number.

[0085] Exemplary, reference Figure 1 to Figure 4 , Figure 7 and Figure 8, when a wading exit signal is received from at least a second preset number of detection members 20 within two consecutive cycles, the vehicle 10 is controlled to exit the wading mode. Or, illustratively, when a wading exit signal is received from at least a second preset number of detection members 20 within three consecutive cycles, the vehicle 10 is controlled to exit the wading mode. Or, illustratively, when a wading exit signal is received from at least a second preset number of detection members 20 within four consecutive cycles, the vehicle 10 is controlled to exit the wading mode. If a wading exit signal is received from at least a second preset number of detection members 20 only within one cycle, and the previous cycle and the next cycle of the cycle do not meet the condition of receiving a wading exit signal from at least a second preset number of detection members 20, then the vehicle 10 can be kept in the current wading mode without exiting the wading mode. Thereby avoiding accidental interference factors that occur within a single cycle.

[0086] In the various embodiments shown above, the detection member 20 is specially arranged at a preset height of the vehicle 10 to detect whether the position of the detection member 20 is in water, and when the position of the detection member 20 is in water, a wading trigger signal is sent to the controller 30, so that the controller 30 controls the vehicle 10 to enter the wading mode. Since the detection member 20 does not need to be affected by the intensity of light when detecting whether the position of the detection member 20 is in water, the reliability of judging whether the vehicle 10 enters the wading mode is improved.

[0087] In addition, the present application embodiment also provides a controller 30, referring to Figures 1 to 9 The controller 30 includes: a storage medium and a processor, the storage medium stores a computer program executed by the processor, and when the computer program is executed by the processor, the processor executes any one of the above-mentioned wading mode control methods of the vehicle 10.

[0088] Fig. 9 FIG. 3 shows a schematic block diagram of a controller 30100 according to an embodiment of the present application. Fig. 9 As shown, the controller 30100 according to the embodiment of the present application may include a storage medium 110 and a processor 120, the storage medium 110 stores a computer program executed by the processor 120, and when the computer program is executed by the processor 120, the processor 120 executes the aforementioned method for controlling the wading mode of the vehicle 10 according to the embodiment of the present application. Those skilled in the art can understand the specific operation of the charging control device 100 deployment device according to the embodiment of the present application in combination with the aforementioned content, and for the sake of brevity, it will not be repeated here.

[0089] The storage medium 110 may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0090] In addition, the present application embodiment also provides a vehicle, referring to Figures 1 to 9 The vehicle 10 includes: any one of the above-mentioned wading mode control systems of the vehicle 10, or any one of the above-mentioned controllers 30. Exemplarily, the vehicle 10 may be, for example, but not limited to, an electric vehicle 10, a fuel vehicle 10, a hybrid vehicle 10, a gas-electric hybrid vehicle 10, etc. That is, as long as the vehicle 10 is provided with a wading mode, it is within the scope of the vehicle 10 shown in this patent.

[0091] The present invention has been described by the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and description, and are not intended to limit the present invention to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of the protection claimed by the present invention. The protection scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A vehicle wading mode control system, characterized in that: include: A detection member, disposed at a preset height of the vehicle, for sending a wading trigger signal when the location of the detection member is in water; The controller is in communication with the detection element and is used to: receive the wading trigger signal and control the vehicle to enter the wading mode when receiving the wading trigger signal.

2. The wading mode control system according to claim 1, characterized in that: There are multiple detection elements, and the multiple detection elements are arranged at different positions of the preset height, and each of the detection elements is communicatively connected with the controller.

3. The wading mode control system according to claim 2, characterized in that: The controller is used to control the vehicle to enter the wading mode when the number of the detection components that send the wading trigger signal is not less than a first preset number.

4. The wading mode control system according to claim 2, characterized in that: The detection element is also used to send a wading exit signal when the position where the detection element is located is not in water; The controller is also used to control the vehicle to exit the wading mode when the number of the detection components that send the wading exit signal is not less than a second preset number.

5. The wading mode control system according to any one of claims 1 to 4, characterized in that: The detection member is arranged at the center of the wheel hub of the vehicle; or / and, The detection component is arranged on the chassis of the vehicle.

6. The wading mode control system according to any one of claims 1 to 4, characterized in that: The detection element is an ultrasonic detection element; The ultrasonic detection element is used to transmit ultrasonic signals to the ground where the vehicle is located, receive echo signals reflected by the ground where the vehicle is located, and determine whether the location of the ultrasonic detection element is in water according to the amplitude of the echo signal.

7. The wading mode control system according to claim 6, characterized in that: When the amplitude of the echo signal is less than a preset threshold, the ultrasonic detection component determines that the location of the ultrasonic detection component is in water; When the amplitude of the echo signal is not less than the preset threshold, the ultrasonic detection component determines that the location of the ultrasonic detection component is not in water.

8. The wading mode control system according to claim 6 or 7, characterized in that: The ultrasonic emission port of the ultrasonic detection component is oriented perpendicular to the ground on which the vehicle is located.

9. The wading mode control system according to claim 6, characterized in that: The detection component is a water pressure gauge.

10. A method for controlling a wading mode of a vehicle, characterized in that: include: If the vehicle has not entered the wading mode, upon receiving a wading trigger signal sent by a detection component of the vehicle, the vehicle is controlled to enter the wading mode; wherein the detection component is arranged at a preset height of the vehicle, and the detection component is used to send the wading trigger signal when the position of the detection component is in water.

11. The wading mode control method according to claim 10, characterized in that: There are multiple detection elements, and the multiple detection elements are arranged at different positions of the preset height; When receiving the wading trigger signal sent by the detection component of the vehicle, controlling the vehicle to enter the wading mode includes: when the number of the detection components sending the wading trigger signal is not less than a first preset number, controlling the vehicle to enter the wading mode.

12. The wading mode control method according to claim 11, characterized in that: Also includes: The plurality of detection elements periodically detect whether the location of each detection element is in water; When the number of the detection components that send the wading trigger signal is not less than a first preset number, controlling the vehicle to enter the wading mode includes: when the number of the detection components that send the wading trigger signal is not less than the first preset number in at least two consecutive cycles, controlling the vehicle to enter the wading mode.

13. The wading mode control method according to claim 10, characterized in that: There are multiple detection elements, and the multiple detection elements are arranged at different positions of the preset height; the detection element is also used to send a wading exit signal when the position where the detection element is located is not in water; The wading mode control method further includes: if the vehicle enters the wading mode, when the number of the detection components that send the wading exit signal is not less than a second preset number, controlling the vehicle to exit the wading mode.

14. The wading mode control method according to claim 13, characterized in that: Also includes: The plurality of detection elements periodically detect whether the location of the detection element is in water; When the number of the detection components that send the wading exit signal is not less than a second preset number, controlling the vehicle to exit the wading mode includes: when the number of the detection components that send the wading exit signal is not less than the second preset number in at least two consecutive cycles, controlling the vehicle to exit the wading mode.

15. A controller, characterized in that: include: A storage medium and a processor, wherein the storage medium stores a computer program executed by the processor, and when the computer program is executed by the processor, the processor executes the vehicle wading mode control method according to any one of claims 10 to 14.

16. A vehicle, characterized in that: include: A wading mode control system for a vehicle as claimed in any one of claims 1 to 14, or a controller as claimed in claim 15.

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