Control method of exhaust valve, medium, product, equipment and vehicle

Abstract

The invention relates to an exhaust valve control method, a medium, a product, equipment and a vehicle, the control method is applied to the vehicle, the vehicle comprises an exhaust pipe and an exhaust valve for controlling exhaust of the exhaust pipe, and the method comprises the step of controlling the exhaust valve according to wading information of the exhaust pipe and a valve mode of the exhaust valve. According to the method, the exhaust valve is automatically controlled according to the wading information of the exhaust pipe and the valve mode, and the driving safety and the user driving experience are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an exhaust valve control method, medium, product, equipment and vehicle. Background Art

[0002] The vehicle's exhaust system is an important part of the vehicle engine, used to discharge the exhaust gas generated during the engine combustion process. However, in the relevant solutions for controlling the valves of the exhaust system, the exhaust valves are usually in an open or closed state, without considering the vehicle needs of different users under different driving conditions, resulting in poor control effect and bad user experience. Summary of the invention

[0003] Embodiments of the present application provide an exhaust valve control method, medium, product, equipment and vehicle to solve the problem of poor exhaust valve control effect.

[0004] In order to achieve the above-mentioned object, according to a first aspect of the present application, a method for controlling an exhaust valve is provided, the control method being applied to a vehicle, the vehicle comprising an exhaust pipe and an exhaust valve for controlling exhaust from the exhaust pipe, the method comprising:

[0005] The exhaust valve is controlled according to the water wading information of the exhaust pipe and the valve mode of the exhaust valve.

[0006] Optionally, the water-wading information includes a water-wading state and a non-water-wading state;

[0007] The controlling the exhaust valve according to the water wading information of the exhaust pipe and the valve mode of the exhaust valve comprises:

[0008] When the wading information of the exhaust pipe indicates that the exhaust pipe has waded, the exhaust valve is controlled to be closed according to the valve mode; or,

[0009] When the wading information of the exhaust pipe is in a non-wading state, the exhaust valve is controlled according to the valve mode.

[0010] Optionally, when the wading information of the exhaust pipe indicates that the exhaust pipe has been in a wading state, controlling the exhaust valve to be closed according to the valve mode includes:

[0011] When the valve mode is the waterproof mode, controlling the exhaust valve to close;

[0012] When the valve mode is not the waterproof mode, the valve mode is adjusted to the waterproof mode, and the exhaust valve is controlled to be closed.

[0013] Optionally, the valve modes include at least two, and the valve control parameters of each valve mode are different;

[0014] The controlling the exhaust valve according to the valve mode comprises:

[0015] determining valve control parameters according to the valve mode;

[0016] The exhaust valve is controlled according to the valve control parameter.

[0017] Optionally, determining the valve control parameter according to the valve mode includes:

[0018] When the valve mode is the sound wave mode, the valve control parameter is determined according to vehicle state information of the vehicle.

[0019] Optionally, determining the valve control parameter according to the vehicle state information of the vehicle includes:

[0020] The valve control parameters corresponding to the vehicle status information are acquired according to the parameter mapping relationship, wherein the parameter mapping relationship is the correspondence between different vehicle status information and its valve control parameters.

[0021] Optionally, the vehicle status information includes at least one of engine status information, driving mode information and exhaust pipe pressure information of the vehicle.

[0022] Optionally, determining the valve control parameter according to the valve mode includes:

[0023] When the valve mode is the exhaust mode, a control parameter corresponding to fully opening the exhaust valve is set as the valve control parameter.

[0024] Optionally, after the wading information of the exhaust pipe is in a wading state, the method further includes:

[0025] Sending a prompt to shut down the engine to a terminal corresponding to the vehicle; the terminal includes a user terminal and / or a vehicle display terminal;

[0026] According to the confirmation information of the terminal, the electronic control unit is controlled to shut down the engine.

[0027] Optionally, the method further comprises:

[0028] Controlling the exhaust valve to perform self-test;

[0029] When the inspection result is passed, the step of controlling the exhaust valve according to the water wading information of the exhaust pipe and the valve mode of the exhaust valve is performed.

[0030] Optionally, controlling the exhaust valve to perform a self-check includes:

[0031] Controlling the exhaust valve to rotate in a preset direction and at a preset angle based on the current position to a fully open position or a fully closed position;

[0032] The exhaust valve is controlled to rotate from the fully open position to the fully closed position, or the exhaust valve is controlled to rotate from the fully closed position to the fully open position.

[0033] Optionally, the method further comprises:

[0034] Based on a preset sensor arranged at the outlet of the exhaust pipe, water wading information of the exhaust pipe is determined, and the preset sensor is used to detect the water level of the outlet of the exhaust pipe or whether there is water.

[0035] Optionally, determining the wading information of the exhaust pipe based on a preset sensor arranged at the exhaust pipe outlet includes:

[0036] When the water level at the outlet of the exhaust pipe is less than or equal to a first preset value, determining that the exhaust pipe is in a non-water-wading state;

[0037] When the water level at the exhaust pipe outlet is greater than or equal to a second preset value, it is determined that the exhaust pipe is in a wading state.

[0038] Optionally, the preset sensor is a water immersion sensor.

[0039] Optionally, the method further comprises:

[0040] When a power-off instruction of the vehicle is detected, the exhaust valve is controlled to be opened or closed according to water wading information of the exhaust pipe of the vehicle.

[0041] Optionally, the controlling the exhaust valve includes:

[0042] A control signal is sent to the motor of the valve actuator to rotate the motor, and the exhaust valve is driven to rotate through the transmission mechanism.

[0043] Optionally, the method further comprises:

[0044] Based on the rotation information of the motor, it is determined that the exhaust valve rotates to a preset position, and the control signal is stopped from being sent to the motor of the valve actuator to stop the motor from rotating.

[0045] According to the second aspect of the present application, an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and the computer-readable storage medium stores instructions, which, when executed by a computer, enable the computer to implement any one of the exhaust valve control methods provided in the embodiments of the present application.

[0046] According to the third aspect of the present application, an embodiment of the present application further provides a computer program product, which stores instructions, and when the instructions are executed by a computer, the computer implements any one of the exhaust valve control methods provided in the embodiments of the present application.

[0047] According to a fourth aspect of the present application, an embodiment of the present application further provides an electronic device, including:

[0048] a memory having a computer program stored thereon;

[0049] A processor is used to execute the computer program in the memory to implement any one of the exhaust valve control methods provided in the embodiments of the present application.

[0050] According to a fifth aspect of the present application, an embodiment of the present application also provides a vehicle, comprising the electronic device described above.

[0051] Some embodiments of the present specification include at least the following beneficial effects: in the related technical solutions, the exhaust pipe is usually in an open state, and the needs of different vehicle users are not taken into consideration. In the embodiments of the present application, the exhaust pipe mode is set according to the user's driving characteristics, and different valve modes are determined by recording the user's parameter settings for the exhaust valve under different driving conditions. The exhaust valve is controlled according to the valve mode, so that the vehicle exhaust pipe has more status information, thereby emitting different sounds, which provides the user with a better vehicle experience.

[0052] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0054] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0055] Figure 1is a schematic diagram of the structure of a control system for a vehicle exhaust valve according to some embodiments of this specification;

[0056] Figure 2 is an exemplary flow chart of a method for controlling an exhaust valve according to some embodiments of this specification;

[0057] Figure 3 is an exemplary flow chart of a method for controlling a sound wave mode according to some embodiments of this specification;

[0058] Figure 4 is a module structure diagram of a valve controller according to some embodiments of this specification;

[0059] Figure 5 is an exemplary schematic diagram of another exhaust valve control method according to some embodiments of this specification;

[0060] Figure 6 It is a schematic diagram of the structure of an electronic device according to some embodiments of this specification. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0062] In order to facilitate understanding of the implementation scheme provided in the embodiments of the present application, the relevant application background of the exhaust valve control method and system provided in the embodiments of the present application is first described.

[0063] The current control system of automobile exhaust valves mainly focuses on the self-check function and adjusting the opening and closing angle of the exhaust valve, or adjusting the opening time of the exhaust valve according to the pressure value in the exhaust pipe to optimize the exhaust efficiency. However, these methods do not take into account the possible impact of the vehicle's wading conditions on the exhaust system, nor do they comprehensively consider the impact of dynamic factors such as engine speed, accelerator pedal depth, braking force and vehicle driving mode on the quality of exhaust sound. Therefore, the opening and closing angle and opening and closing state of the exhaust valve do not meet the driving conditions and user needs, and the control effect is poor; in addition, in order to prevent water from entering the exhaust system, the humidity signal around the intake and exhaust pipes of the exhaust system is collected through a humidity sensor to control the exhaust valve to close, but the gas discharged from the exhaust system has a certain humidity. When the humidity around the exhaust pipe is too high, it is easy for the vehicle to be misjudged as wading based on the signal collected by the humidity sensor, which leads to the closure of the exhaust valve and the engine.

[0064] In view of this, some embodiments of the present specification provide a method for controlling an exhaust valve to detect water wading in a car or an exhaust pipe, and automatically control the exhaust valve according to the water wading information and valve mode of the exhaust pipe, thereby increasing driving safety and user driving experience.

[0065] Figure 1 It is a schematic diagram of the structure of the exhaust valve control system shown in some embodiments of this specification.

[0066] like Figure 1 As shown, the exhaust valve control system 100 may include a valve controller 110 , a valve actuator 120 , an exhaust valve 130 , a sensor module 140 and an interaction module 150 .

[0067] The exhaust valve 130 is an adjustable component located on the exhaust path of the engine and is used to control the speed and flow rate of exhaust gas discharge.

[0068] In some embodiments, the opening of the exhaust valve 130 can be dynamically adjusted according to the engine operating conditions to achieve optimal emission effects and sound.

[0069] The valve actuator 120 is used to receive a signal from the valve controller 110 and control the position of the exhaust valve 130 .

[0070] In some embodiments, the valve actuator 120 includes a motor 121 and a transmission mechanism.

[0071] The transmission mechanism is a component or assembly for transmitting power and motion. For example, the transmission mechanism is a worm gear 122.

[0072] In some embodiments, the worm gear 122 includes a worm and a worm gear meshing with the worm, and the worm is fixedly connected to the output shaft of the motor 121 .

[0073] In some embodiments, a valve body is also included, and the exhaust valve 130 is rotatably disposed in the valve body; the transmission rod of the turbine is connected to the exhaust valve 130 through a torsion spring 123.

[0074] The valve controller 110 is connected to the vehicle network for communication. When working, the valve controller 110 collects the vehicle status information in real time and sends control instructions to the motor 121 ; the motor 121 drives the exhaust valve 130 to rotate based on the control instructions and through the worm gear 122 .

[0075] In some embodiments, the valve actuator 120 may include a piston rod, a spring, a solenoid valve and associated pipelines. The piston rod is connected to the exhaust valve 130 through a spring. Gas or liquid flows through the pipeline. By controlling the opening and closing of the solenoid valve, gas or liquid passes through the solenoid valve to push the piston rod connected to the spring to move, thereby driving the exhaust valve 130 to move.

[0076] The valve controller 110 is used to process information from the sensor module 140 and control the valve actuator 120 to control the opening and closing of the exhaust valve 130 to achieve an ideal exhaust state.

[0077] The sensor module 140 is used to collect data about the vehicle's operating environment and internal status.

[0078] In some embodiments, the sensor module 140 includes but is not limited to a preset sensor, a pressure sensor, and the like.

[0079] In some embodiments, the sensing module 140 includes a feedback sensor for monitoring the actual position of the motor 121. For example, the feedback sensor may be a Hall sensor 142, an encoder, etc. Exemplarily, the Hall sensor 142 feeds back the actual rotation direction and actual displacement information of the motor 121 to the valve controller 110. The Hall sensor 142 is installed around the magnetic ring of the motor 121 in the valve actuator 120. Through the wiring connection of the PCB, the Hall sensor 142 can feed back the rotation information of the motor 121 to the valve controller 110 in real time. When the rotation information of the Hall sensor 142 indicates that the actual displacement information of the rotation of the motor 121 is consistent with the preset displacement information and the actual rotation direction is consistent with the preset rotation direction, the valve controller 110 stops outputting the drive signal.

[0080] The preset sensor is used to detect the amount of water or the water level at the exhaust pipe port, or whether water exists, etc. For example, the preset sensor may be a water immersion sensor 141. The water immersion sensor 141 has the advantages of high reliability and low cost.

[0081] In some embodiments, the preset sensor may also be an ultrasonic radar sensor, etc., which collects, identifies and processes the vehicle wading information through the ultrasonic radar sensor to obtain the vehicle's wading depth (e.g., the water level at the exhaust pipe outlet). The valve controller 110 may control the exhaust valve 130 according to the wading depth.

[0082] In some embodiments, the water sensor 141 is directly connected to the valve controller 110 through a wire. Exemplarily, the positive and negative poles of the water sensor 141 power supply are respectively connected to the positive and negative poles of the valve controller 110 power supply, the common end of the water sensor 141 is connected to the positive pole of the valve controller 110 power supply, and the normally open signal line of the water sensor 141 is connected to the sensor signal interface reserved by the valve controller 110. When the two contacts of the sensor are immersed in water, the normally open signal line is high level, otherwise it is low level.

[0083] In some embodiments, the water sensor 141 is installed at a position slightly lower than the exhaust pipe outlet of the automobile exhaust system to ensure that sufficient action time is reserved from the time when the sensor detects the water signal to the time when the valve is completely closed.

[0084] The interaction module 150 is used to interact with a user, who may be a driver or a passenger of a vehicle.

[0085] In some embodiments, the interaction module 150 may be used to display the state and opening degree of the exhaust valve 130 , the operating state, and obtain user input information, etc. to the user.

[0086] In some embodiments, the interaction module 150 may include input components and output components such as buttons, touch sensors, joysticks, keypads, microphones, and display screens.

[0087] In some embodiments, the interaction module 150 may be an independent device, such as a user terminal, or may be a part of other devices, for example, the interaction module 150 includes a touch screen on a vehicle, etc. The interaction module 150 may also include a valve mode selection switch 151 arranged in the cockpit.

[0088] In some embodiments, the interaction module 150 may be connected to the valve controller 110 in communication to send user input information to the valve controller 110 periodically or in real time, or obtain the status of the exhaust valve 130 sent by the valve controller 110.

[0089] In some embodiments, the valve mode selection switch 151 may include a selection switch in the form of a mechanical button and a touch screen.

[0090] In some embodiments, the sensing module 140 (such as the water immersion sensor 141 and the Hall sensor 142) and the interaction module 150 (such as the valve mode selection switch 151) are connected to the valve controller 110, and the valve controller 110 can obtain the exhaust pipe pressure signal, throttle depth signal, brake depth signal, engine speed signal, engine torque signal, vehicle mode signal, vehicle ignition signal, etc. through the vehicle bus (such as CAN bus, LIN bus, etc.).

[0091] It should be noted that the above description of the exhaust valve control system 100 and its components is only for the convenience of description and does not limit the present specification to the scope of the embodiments. It is understandable that, after understanding the principle of the system, those skilled in the art may arbitrarily combine the components or form a subsystem to connect with other components without deviating from the principle. In some embodiments, Figure 1 The components disclosed in the specification may be different components in a system, or a module component may realize the functions of two or more components. For example, the components may share a storage module, or the modules may have their own storage modules. Such variations are within the scope of protection of this specification.

[0092] Figure 2 200 is an exemplary flow chart of an exhaust valve control method according to some embodiments of the present specification. In some embodiments, the control method is applied to a vehicle, the vehicle includes an exhaust pipe, and an exhaust valve for controlling exhaust from the exhaust pipe. Process 200 can be executed based on a valve controller. Figure 2 As shown, process 200 includes the following steps.

[0093] Step 210, controlling the exhaust valve according to the water wading information of the exhaust pipe and the valve mode of the exhaust valve.

[0094] Water wading information refers to the situation where part or all of the vehicle body (especially key parts such as the chassis, exhaust system, air intake, etc.) touches the water surface or passes through a flooded area during driving.

[0095] In some embodiments, the water wading information may include information about whether the vehicle body or specific components (such as the exhaust pipe port) are submerged in water during driving.

[0096] In some embodiments, the water wading information of the exhaust pipe of the vehicle may be determined based on manual input or the like.

[0097] In some embodiments of this specification, under different wading information, the exhaust valve is adjusted according to the vehicle's valve mode (such as standard, sport, silent, etc.) to ensure that the engine can maintain optimal performance and response speed under various driving conditions; it not only improves the safety and performance of the vehicle, but also brings users a more convenient and personalized driving experience.

[0098] In some embodiments, the method further includes: determining water wading information of the exhaust pipe based on a preset sensor disposed at the exhaust pipe outlet, the preset sensor being used to detect the water level at the exhaust pipe outlet or whether water exists.

[0099] In some embodiments, the wading information can be represented by high and low levels, where a high level indicates that the exhaust pipe outlet of the vehicle has waded, and a low level indicates that the exhaust pipe outlet of the vehicle has not waded. In some embodiments, the wading information can be represented by 0 or 1. For example, 1 indicates that the exhaust pipe outlet of the vehicle has waded, and 0 indicates that the exhaust pipe outlet of the vehicle has not waded.

[0100] In some embodiments, the wading information may include a non-wading state (eg, a low level) and a wading state (eg, a high level).

[0101] The exhaust pipe port is used to discharge the exhaust gas generated by the engine out of the vehicle.

[0102] The preset sensor may be a contact type (such as a conductivity sensor) or a non-contact type (such as an ultrasonic sensor, an optical sensor), and is used to detect the amount of water, the water level, or whether there is water immersion at the exhaust pipe outlet. For example, the preset sensor may be a water immersion sensor.

[0103] In some embodiments, the preset sensor can continuously monitor the environment around the exhaust pipe opening. When the preset sensor detects the presence of water at the exhaust pipe opening, a corresponding electrical signal is generated. For example, for a conductivity sensor, once the contact is covered by water, the resistance will drop significantly, generating a high level signal.

[0104] In some embodiments, the valve controller is in communication with a preset sensor to obtain or determine water wading information of the exhaust pipe in real time.

[0105] In some embodiments of the present specification, a preset sensor is provided at the exhaust pipe outlet, which helps to accurately identify the wading condition of the exhaust pipe outlet and improve the accuracy of exhaust valve control.

[0106] In some embodiments, based on a preset sensor set at the exhaust pipe outlet, the water wading information of the exhaust pipe is determined, including: when the water level at the exhaust pipe outlet is less than or equal to a first preset value, determining that the exhaust pipe is in a non-wading state; when the water level at the exhaust pipe outlet is greater than or equal to a second preset value, determining that the exhaust pipe is in a wading state.

[0107] The first preset value refers to a preset threshold or signal state, which is used to identify the "no wading" condition. For example, when it is detected that the water level at the exhaust pipe outlet is less than or equal to the first preset value, it is determined that the exhaust pipe is in a no wading state.

[0108] The second preset value refers to a preset threshold or signal state, which is used to identify the condition of "wading". For example, when it is detected that the water level at the exhaust pipe outlet is greater than or equal to the second preset value, it is determined that the exhaust pipe is in the wading state.

[0109] In some embodiments of the present specification, by accurately determining wading information, the vehicle can effectively protect the exhaust system and avoid engine damage when it has waded through water, thereby ensuring driving safety.

[0110] In some embodiments, the water wading information includes a wading state and a non-wading state, and the exhaust valve is controlled according to the water wading information of the exhaust pipe and the valve mode of the exhaust valve, including: when the water wading information of the exhaust pipe is in the wading state, the exhaust valve is controlled to be closed according to the valve mode; or, when the water wading information of the exhaust pipe is in the non-wading state, the exhaust valve is controlled according to the valve mode.

[0111] In some embodiments, when the exhaust pipe is in a non-water-borne state, the valve controller outputs a control signal (e.g., a current signal) to the valve actuator. Based on the control signal, the motor in the valve actuator drives the worm gear to rotate, so that the exhaust valve gradually opens to a preset position.

[0112] In some embodiments, the valve controller can ensure that the exhaust valve rotates correctly to a preset position based on the actual rotation information of the motor fed back by the Hall sensor, and stop outputting the control signal.

[0113] The preset position refers to the optimal opening or angle of the exhaust valve determined according to the currently selected valve mode. The preset position may include a fully open position, a fully closed position, and a target position. The target position is a position between the fully open position and the fully closed position.

[0114] The valve mode of the vehicle is the working mode of the exhaust valve set according to different driving conditions or user preferences. For example, the valve mode may include but is not limited to sound wave mode, exhaust mode, waterproof mode, etc.

[0115] Different valve modes correspond to different opening and closing angles of the exhaust valve.

[0116] The sound wave mode can change the sound of the vehicle by controlling the opening and closing of the exhaust valve to enhance the driving experience. In the sound wave mode, the exhaust valve can be adjusted according to the driving mode or the driver's operation to produce different sound effects.

[0117] Exhaust mode can optimize vehicle performance by adjusting the exhaust valves.

[0118] In some embodiments, the valve controller may capture the user's operation on the valve mode selection switch based on the interaction module to obtain the valve mode selected by the user.

[0119] In some embodiments of the present specification, by closing the exhaust valve when the exhaust pipe is in a wading state, water can be effectively prevented from entering the exhaust system, thereby preventing water from flowing back into the engine and causing flameout or serious damage; by timely adjusting the valve position, the exhaust system and other related components can be protected from water damage and their service life can be extended; users can select different valve modes to suit personal preferences and specific driving scenarios, thereby improving the user's driving experience.

[0120] In some embodiments, the type and number of valve modes are determined based on vehicle wading conditions and vehicle historical control information.

[0121] Vehicle historical control information refers to all operating data and system response records accumulated by the vehicle during its service life.

[0122] Vehicle wading conditions refer to the specific situation when a vehicle encounters a flooded road or water area during driving.

[0123] In some embodiments, the type and quantity of valve modes can be determined based on the vehicle's wading conditions and historical vehicle control information through manual analysis, machine learning models, etc.

[0124] In some embodiments of the present specification, based on the vehicle's wading conditions and historical control information, the types and quantities of valve modes of the exhaust valve and the specific opening and closing angles in each valve mode are determined, thereby achieving smarter and safer control of the vehicle's exhaust valves.

[0125] In some embodiments, when the water wading information of the exhaust pipe indicates that the exhaust pipe is in a wading state, the exhaust valve is controlled to be closed according to the valve mode, including: when the valve mode is a waterproof mode, the exhaust valve is controlled to be closed; when the valve mode is not a waterproof mode, the valve mode is adjusted to a waterproof mode and the exhaust valve is controlled to be closed.

[0126] In some embodiments, when the exhaust pipe is in a wading state, the valve mode is determined to be a waterproof mode, and the valve controller outputs a control signal to the valve actuator. The motor in the valve actuator drives the worm gear to rotate based on the control signal, so that the exhaust valve is gradually closed until it is fully closed.

[0127] In some embodiments, the valve controller can ensure that the exhaust valve rotates correctly to a fully closed position based on the actual rotation information of the motor fed back by the Hall sensor, and stop outputting the control signal.

[0128] In some embodiments of this specification, by controlling the exhaust valve to close in waterproof mode and sending a request to shut down the engine to the vehicle's electronic control unit, not only the safety and reliability of the vehicle are improved, but also a more intelligent and safe driving experience is provided to users.

[0129] In some embodiments, the valve mode includes at least one of a sound wave mode, an exhaust mode and a waterproof mode; the sound wave mode is used to adjust the sound of the vehicle, the exhaust mode is used to increase the exhaust volume of the vehicle, and the waterproof mode is used to prevent water from entering the engine of the vehicle.

[0130] In some embodiments of the present specification, multiple valve modes can be flexibly switched according to different driving needs and environmental conditions to provide a more intelligent user experience.

[0131] In some embodiments, controlling the exhaust valve includes: sending a control signal to a motor of a valve actuator to rotate the motor, and driving the exhaust valve to rotate through a transmission mechanism.

[0132] In some embodiments, the valve controller can determine the rotation angle of the exhaust valve based on the current position and preset position of the exhaust valve, and determine the preset rotation information of the motor corresponding to the rotation angle by looking up a table based on the correspondence between the reference rotation information of the motor and the reference transmission ratio of the worm gear and the reference rotation angle of the exhaust valve.

[0133] The preset rotation information may include relevant parameters of the motor operation. For example, the preset rotation information may include a preset rotation direction and preset displacement information. The displacement information is represented by the number of revolutions of the motor.

[0134] In some embodiments, the valve controller can generate a control signal based on the preset rotation information of the motor, such as generating a pulse width modulation (PWM) signal, and determine the duty cycle and frequency of the PWM signal according to the control signal; the generated PWM signal is transmitted to the driving module of the motor, and the current of the motor is adjusted through the driving module (such as an H-bridge driver, MOSFET or other current driving module), so that the motor rotates.

[0135] In some embodiments, the method further includes: determining that the exhaust valve rotates to a preset position based on actual rotation information of the motor, and stopping sending a control signal to the motor of the valve actuator to stop the motor from rotating.

[0136] In some embodiments, the valve controller can obtain the actual rotation information of the motor through the feedback sensor in real time. If the actual rotation information is consistent with the preset rotation information, the valve controller stops outputting the PWM signal to make the driving module stop outputting current.

[0137] Feedback sensors are sensors used to monitor the rotation of the motor.

[0138] The actual rotation information may include the actual rotation direction and actual displacement information of the motor.

[0139] In some embodiments of the present specification, by real-time monitoring of the actual rotation information of the motor (such as speed, angle, etc.), it can be ensured that the exhaust valve is accurately rotated to the preset position, which helps to achieve more refined exhaust management; once the valve reaches the preset position, the motor rotation is stopped immediately to prevent the motor and transmission mechanism from being worn or damaged due to unnecessary operation; the workload of mechanical parts is reduced, and the service life of the entire system is effectively extended.

[0140] In some embodiments, after the exhaust pipe's wading information indicates that the vehicle has waded through water, the method further includes: sending a prompt to shut down the engine to a terminal corresponding to the vehicle; the terminal includes a user terminal and / or a vehicle display terminal; and controlling the electronic control unit to shut down the engine based on confirmation information from the terminal.

[0141] In some embodiments, after detecting a power-on command of the vehicle, if the wading information of the exhaust pipe indicates that the vehicle has waded, the electronic control unit is controlled to shut down the engine.

[0142] The power-on command is a command indicating that the vehicle is in a power-on state.

[0143] The power-on state means that the vehicle's power system is turned on.

[0144] In some embodiments, the valve controller can determine whether the vehicle power-on command is detected in a variety of ways. For example, the valve controller can obtain the position signal of the ignition switch through the vehicle network (such as a CAN bus or a bus of other communication protocols). When the position signal of the ignition switch indicates that the ignition switch is in the ON position, the controller determines that the vehicle power-on command is detected. In some embodiments, the ignition switch has multiple positions (such as OFF, ACC, ON, START, etc.).

[0145] In some embodiments, the valve controller can read the power-on state of the vehicle through an ignition switch sensor. For example, the ignition switch sensor can be connected to the circuit of the ignition switch to detect the state of the ignition switch.

[0146] In some embodiments, the valve controller may control the exhaust valve to open to a preset position based on the valve mode of the vehicle when detecting that the ignition switch state is a power-on state.

[0147] The engine shutdown request is a command message to immediately stop the engine operation.

[0148] In some embodiments, the valve controller determines that the exhaust pipe port has waded through water, generates and sends a request to shut down the engine to an ECU (Electronic Control Unit) to ensure that the engine does not continue to run.

[0149] In some embodiments, after receiving a request to shut down the engine, the ECU shuts down the engine, such as cutting off the fuel supply, stopping the ignition, etc. In some embodiments, the ECU can trigger a warning light on the dashboard to alert the driver.

[0150] In some embodiments of the present specification, if the engine is started when the exhaust pipe is flooded with water, moisture may be sucked into the exhaust system or even enter the engine, causing serious mechanical failure or engine damage. This situation can be effectively avoided by automatically shutting down the engine request.

[0151] In some embodiments, the method further includes: when a power-off instruction of the vehicle is detected, controlling the exhaust valve to open or close according to the wading information of the exhaust pipe of the vehicle.

[0152] The power-off command is a command indicating that the vehicle is in a power-off state.

[0153] In some embodiments, when a power-off command of the vehicle is detected, the valve controller controls the exhaust valve to close when the exhaust pipe is in a wading state; and controls the exhaust valve to open when the exhaust pipe is in a non-wading state.

[0154] In some embodiments, when a power-off command of the vehicle is detected, the valve controller enters a low-power state; a preset sensor continuously monitors the water level at the exhaust pipe outlet, and when the water wading information changes, the valve controller's wake-up mechanism is immediately triggered to restore the valve controller from the low-power state to a normal working state; after the valve controller is awakened, it performs logical judgment to determine the water wading information of the exhaust pipe: if the exhaust pipe outlet has been waded through water, the exhaust valve is closed and the user is notified; if the exhaust pipe outlet has not been waded through water, the exhaust valve position is controlled according to other status information, and the low-power state is returned.

[0155] In some embodiments of the present specification, when a power-off command of the vehicle is detected, the exhaust valve is controlled according to the water wading information of the exhaust pipe, which not only improves the safety and reliability of the vehicle, but also provides users with a smarter and safer driving experience; effectively protects the key components of the vehicle and reduces potential risks and losses.

[0156] Figure 3 is an exemplary flow chart of a method for controlling a sound wave mode according to some embodiments of the present specification. In some embodiments, the valve mode includes at least two valve modes, and the valve control parameters of each valve mode are different. The process 300 can be executed based on a valve controller. Figure 3 As shown, process 300 includes the following steps.

[0157] Step 310, determining valve control parameters according to the valve mode.

[0158] The valve control parameter is a control parameter used to control the operation of the exhaust valve.

[0159] Different valve modes correspond to different valve control parameters, and the corresponding relationship can be determined based on prior knowledge or historical data.

[0160] For example, valve control parameters may include valve opening, valve opening time, exhaust back pressure, etc.

[0161] Step 320, controlling the exhaust valve according to the valve control parameter.

[0162] In some embodiments, the valve controller may output a corresponding control signal to the valve actuator based on the valve control parameter, control the driving module to output a corresponding current, and control the exhaust valve.

[0163] In some embodiments, determining valve control parameters according to the valve mode includes: when the valve mode is the sound wave mode, determining the valve control parameters according to vehicle status information of the vehicle.

[0164] In some embodiments, the valve control parameters of the sound wave mode include a target position. The target position refers to the opening or angle of the exhaust valve in the sound wave mode.

[0165] In some embodiments of the present specification, by precisely adjusting the position of the exhaust valve, different styles of exhaust sounds can be provided according to user preferences, such as exciting sporty or quiet and comfortable, to meet diverse needs.

[0166] In some embodiments, determining valve control parameters according to vehicle status information of the vehicle includes: obtaining valve control parameters corresponding to the vehicle status information according to a parameter mapping relationship, wherein the parameter mapping relationship is a correspondence between different vehicle status information and its valve control parameters.

[0167] Vehicle status information refers to various data and parameters related to the current operating status of the vehicle. For example, status information includes but is not limited to exhaust pipe pressure sensor signal, throttle depth signal, brake depth signal, engine speed signal, engine torque signal, driving mode information, etc.

[0168] In some embodiments, the valve controller can communicate with the ECU (electronic control unit) through the vehicle network to obtain the vehicle status information. The electronic control unit can obtain and store the vehicle status information through various sensors on the vehicle (such as speed sensor, rotation speed sensor, acceleration sensor, etc.).

[0169] In some embodiments, the valve controller may determine the target position of the exhaust valve based on the vehicle status information through preset logic rules or machine learning models.

[0170] In some embodiments of the present specification, a pre-set target position is searched through the current vehicle status information without the need for complex calculations or reasoning; compared with real-time calculations, the table lookup method greatly reduces processing time and delays, ensuring that the exhaust valve can be quickly adjusted to the correct position, thereby improving the real-time performance of the system.

[0171] In some embodiments, the vehicle status information includes at least one of the vehicle's engine status information, driving mode information, and exhaust pipe pressure information.

[0172] The engine status information refers to various parameters related to the operation of the engine, including but not limited to engine speed signal, engine torque signal, etc.

[0173] The driving mode information refers to the operating mode or setting that the vehicle is currently in. For example, the driving mode information includes but is not limited to an economy mode, a sports mode, and the like.

[0174] Tailpipe pressure information is a measure of the pressure level within the vehicle's exhaust system.

[0175] In some embodiments, the state information of the vehicle at different times corresponds to different valve opening and closing angles of the exhaust valve. For example, when the driving mode information is in sports mode, the throttle depth ≥ 10%, the brake depth = 0, the engine speed > 1600rpm, the engine torque > 90Nm, and the exhaust pipe pressure value > 0.1MPa, the corresponding valve opening and closing angle is 45°. The corresponding relationship can be determined based on experiments or experience.

[0176] In some embodiments of the present specification, by comprehensively considering various status information, more fine-grained adjustments can be made based on the current operating conditions of the vehicle in a more comprehensive manner to ensure that the exhaust valve is in the optimal position under various operating conditions.

[0177] In some embodiments, determining the valve control parameter according to the valve mode includes: when the valve mode is the exhaust mode, setting the control parameter corresponding to fully opening the exhaust valve as the valve control parameter.

[0178] In some embodiments of the present specification, exhaust back pressure can be reduced by fully opening the exhaust valve, allowing exhaust gas to be discharged more smoothly, thereby improving the power output and response speed of the engine; by reducing exhaust resistance, the engine runs more efficiently, helping to improve fuel economy and reduce unnecessary energy loss.

[0179] In some embodiments, the method further includes: controlling the exhaust valve to perform a self-check; and when the check result is passed, executing a step of controlling the exhaust valve according to the wading information of the exhaust pipe and the valve mode of the exhaust valve.

[0180] Self-checking means instructing the exhaust valve and its related systems to perform a series of preset self-checking actions.

[0181] In some embodiments, the valve controller may determine the exhaust valve inspection result based on the feedback sensor.

[0182] For example, the self-test may instruct the exhaust valve to perform a complete opening and closing cycle throughout the entire movable range to verify the integrity and smoothness of its movement. For another example, the self-test instruction may instruct the exhaust valve to reach a specified position and maintain it for a preset time.

[0183] In some embodiments of the present specification, the self-inspection process can be used to verify whether the exhaust valve and its related components (such as motors, sensors, etc.) are in good working condition, ensuring that they can perform subsequent operations as expected; through self-inspection, potential mechanical or electrical failures in the exhaust valve can be discovered and resolved before problems occur, thereby reducing the occurrence of unexpected situations.

[0184] In some embodiments, controlling the exhaust valve to perform a self-test includes: controlling the exhaust valve to rotate a preset angle in a preset direction based on the current position to a fully open position or a fully closed position; controlling the exhaust valve to rotate from the fully open position to the fully closed position, or controlling the exhaust valve to rotate from the fully closed position to the fully open position.

[0185] The current position refers to the specific opening or angle position of the exhaust valve when the self-test begins.

[0186] The preset direction refers to a preset rotation direction, such as clockwise or counterclockwise.

[0187] The preset angle refers to the angle that the exhaust valve needs to rotate to reach the target position.

[0188] The fully open position refers to the maximum opening position of the exhaust valve. For example, the fully open position is the extreme position of the exhaust valve in the opening direction.

[0189] The fully closed position refers to the minimum opening position of the exhaust valve.

[0190] Exemplarily, the exhaust valve rotates from the current position before the self-check to the limit position of the exhaust valve opening direction. The logic of the first self-check instruction is: define the forward direction of the motor to be consistent with the valve opening direction, control the forward rotation of the motor and the displacement corresponding to the valve rotation of 95°, the motor displacement is based on the turbine transmission ratio and the rotation angle of the exhaust valve. The exhaust valve has an actual movement range of 0°-90° due to structural limitations. The valve corresponding to the motor rotation angle is controlled to be 95°. This is to consider that the exhaust valve and the turbine worm are connected by a torsion spring, and there is a certain margin, that is, after the exhaust valve reaches the limit position, the motor can still continue to rotate a certain displacement to cause the torsion spring to deform, ensuring that the exhaust valve reaches the limit position completely. The drive module can output the corresponding current based on the first self-check instruction. In the actual operation process, if the position of the exhaust valve before the self-check is the fully open position of the valve, in this case, the actual state of the motor executing this process is that the motor is always blocked.

[0191] Exemplarily, when the exhaust valve is rotated from a fully open position to a fully closed position, the logic of the second self-test instruction is: control the motor to reverse and rotate the valve 95 degrees to a displacement corresponding to the rotation of the valve, and the drive module can output a corresponding current based on the second self-test instruction.

[0192] Exemplarily, when the exhaust valve is rotated from a fully closed position to a fully open position, the logic of the third self-test instruction is: control the motor to rotate forward and the displacement corresponding to the valve rotation of 95°, and the drive module can output a corresponding current based on the third self-test instruction.

[0193] In some embodiments, the valve controller may monitor the self-test of the exhaust valve based on the feedback sensor, and obtain a message indicating that the self-test result is passed when the exhaust valve is monitored to have completed the self-test.

[0194] Figure 4 It is a module structure diagram of a valve controller according to some embodiments of this specification.

[0195] In some embodiments, the valve controller includes a signal processing module A, a signal processing module B and a control strategy module. The control strategy module is in communication connection with the signal processing module A and the signal processing module B.

[0196] In some embodiments, the signal processing module A can perform filtering and denoising preprocessing on the exhaust pipe pressure signal (i.e., exhaust pipe pressure information), throttle depth signal, brake depth signal, engine speed signal, engine torque signal, vehicle mode signal (i.e., driving mode information), vehicle ignition signal, etc., and send them to the control strategy module; the wading information of the vehicle exhaust system can be identified in real time through the signal of the water immersion sensor arranged near the exhaust pipe, and the actual rotation direction and actual displacement information of the motor can be collected through the Hall sensor near the motor magnetic ring in the valve actuator. The signal processing module B can process the above signals and send them to the control strategy module through the signal transmitted by the valve mode selection switch arranged in the cockpit. The control strategy module can calculate the current target position of the exhaust valve based on the above signals, and the drive module drives the output current to control the motor to work. When the actual rotation direction and actual displacement information of the motor collected by the Hall sensor are respectively consistent with the preset rotation direction and preset displacement information of the motor when the exhaust valve rotates from the current position to the target position, the drive module stops outputting the drive signal.

[0197] The water sensor arranged near the exhaust pipe identifies the water wading information of the vehicle exhaust system in real time. The water wading information includes two states: water wading and no water wading, which correspond to the high level and low level of the normally open signal of the water wading sensor connected to the valve controller respectively. The water wading sensor is connected to the valve controller through a wire; the Hall sensor arranged below the motor magnetic ring in the valve actuator is used to collect the actual rotation information of the motor, including the actual rotation direction and actual displacement information of the motor. According to the collected actual rotation information and the transmission ratio of the turbine selected in the valve actuator, the corresponding rotation angle of the exhaust valve is calculated. The Hall sensor is connected to the valve controller through PCB wiring; the valve mode selection switch arranged in the cockpit has three gears: waterproof mode, exhaust mode, and sound wave mode. The valve mode selection switch is connected to the control strategy module through a wire. The signal of the water wading sensor (such as water wading information), the signal of the Hall sensor (such as actual rotation information), and the signal of the valve mode selection switch are pre-processed by the signal processing module B and then transmitted to the control strategy module.

[0198] The car ignition signal is a signal to determine whether the car is in the OK gear. Only when the car is in the OK gear, the vehicle provides the valve mode selection function. Otherwise, the valve controller only controls the opening and closing of the exhaust valve according to the wading information of the water sensor. The car ignition signal is also pre-processed and transmitted to the valve control module through the CAN bus.

[0199] The control strategy module consists of a micro control unit MCU (Micro Control Unit). The MCU is programmed with the algorithm logic of the exhaust valve control method. The control strategy module executes the judgment conditions and execution actions in the control method according to the acquired signal. If the control strategy module fails to receive the above signal normally, for example, the signal transmitted by the CAN bus is lost, the control strategy module executes the steps of keeping the valve open and feeds back the information of communication loss to the ECU.

[0200] Figure 5 is an exemplary schematic diagram of another exhaust valve control method according to some embodiments of the present specification.

[0201] In some embodiments, the exhaust valve control method includes:

[0202] Step S1, determining whether a vehicle power-on command is detected.

[0203] In some embodiments, if a power-on command of the vehicle is detected, step S2 is executed; if no power-on command of the vehicle is detected, step S9 is executed.

[0204] Step S2, determining whether the water wading information of the water immersion sensor is at a low level.

[0205] In some embodiments, based on the wading information, it is determined whether the exhaust pipe outlet of the vehicle is wading. If the wading information is at a low level, it indicates that the exhaust pipe outlet of the vehicle is not wading; if the wading information is at a high level, it indicates that the exhaust pipe outlet of the vehicle is wading. If the wading information is at a low level, step S3 is executed; if the wading information is at a high level, step S8 is executed.

[0206] Step S3, controlling the driving module to output a driving current to the motor in the valve actuator, so that the motor operates according to the control signal sent by the control strategy module, so that the exhaust valve completes the self-checking operation.

[0207] Step S4, determining whether the valve mode of the vehicle is a sound wave mode.

[0208] If the valve mode of the vehicle is the sound wave mode, execute step S5, otherwise execute step S6.

[0209] Step S5, controlling the driving module to output driving current to the motor in the motor valve actuator to move the exhaust valve to the target position. The value of the target position is determined by actual vehicle calibration and subjective and objective test evaluation.

[0210] Step S6, determining whether the valve mode of the vehicle is the exhaust mode.

[0211] If the valve mode of the vehicle is the exhaust mode, execute step S7; otherwise, execute step S8.

[0212] Step S7, controlling the driving module to output a driving current to the motor in the motor valve actuator to open the exhaust valve.

[0213] Step S8, controlling the driving module to output a driving current to the motor in the motor valve actuator to close the exhaust valve, and sending an engine shutdown request to the ECU.

[0214] Step S9, determining whether the water wading information of the water immersion sensor is at a low level.

[0215] If the water-related information is at a low level, step S10 is executed; if the water-related information is at a high level, step S11 is executed.

[0216] Step S10: If the water level of the water sensor is low, the motor driving module outputs a driving current to the motor to move the valve to a fully open position.

[0217] Step S11, if the water level sensor is high, the motor drive module outputs a drive current to the motor to move the valve to a fully closed position.

[0218] In some embodiments, when the vehicle is parked and the engine is turned off, the exhaust valve is controlled to remain open to prevent condensation from freezing and preventing the valve from opening due to low temperature. At the same time, in order to address possible wading conditions that may occur when the vehicle is parked and the engine is turned off, such as passive wading conditions in which the vehicle accumulates too much water due to excessive rainfall in a parking lot, a water immersion sensor wake-up function is added. When the vehicle is parked and the engine is turned off, the control strategy module is in a low power consumption state. When the water immersion sensor detects water immersion, that is, the wading information changes to a high level, the control strategy module can be woken up to control the exhaust valve to close.

[0219] It should be noted that the above description of the relevant process is only for example and explanation, and does not limit the scope of application of this specification. For those skilled in the art, various modifications and changes can be made to the process under the guidance of this specification. However, these modifications and changes are still within the scope of this specification.

[0220] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0221] Figure 6 is a schematic diagram of the structure of an electronic device according to some embodiments of this specification. Figure 6 As shown, the electronic device 600 may include: a processor 601, a memory 602. The electronic device 600 may also include one or more of a multimedia component 603, an input / output (I / O) component 604, and a communication component 605. In this embodiment, the electronic device 600 may be a device for implementing the exhaust valve control method provided in this embodiment.

[0222] The processor 601 is used to control the overall operation of the electronic device 600 to complete all or part of the steps in the above-mentioned exhaust valve control method. The memory 602 is used to store various types of data to support the operation of the auxiliary electronic device 600. These data may include instructions for any application or method operated on the auxiliary electronic device 600, as well as application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 602 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 603 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 602 or sent through the communication component 605. The audio component also includes at least one speaker for outputting audio signals. The I / O component 604 provides an interface between the processor 601 and other interface modules, and the above-mentioned other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 605 is used for wired or wireless communication between the electronic device 600 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, Narrow Band Internet of Things (NB-IOT), Enhanced Narrow Band Internet of Things technology (Enhanced Machine Type Communication, eMTC), or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 605 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0223] In an exemplary embodiment, the electronic device 600 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned exhaust valve control method.

[0224] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned exhaust valve control method are implemented. For example, the computer-readable storage medium may be the above-mentioned memory 602 including program instructions, and the above-mentioned program instructions may be executed by the processor 601 of the electronic device 600 to implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application;

[0225] Or, when the instructions are executed by a computer, they implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0226] The present application also provides a vehicle, on which is provided an electronic device provided in any of the above embodiments, and the electronic device is used to execute the exhaust valve control method provided in any of the above embodiments. The vehicle may be a fuel vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., and this specification does not specifically limit this.

[0227] In one embodiment, the vehicle may be configured to be in a fully or partially automated driving mode. For example, the vehicle may control itself while in automated driving mode, and may determine the current state of the vehicle and its surroundings through human operation, determine the possible behavior of at least one other vehicle in the surroundings, and determine the confidence level corresponding to the possibility of the other vehicle performing the possible behavior, and control the vehicle based on the determined information. When the vehicle is in automated driving mode, the vehicle may be set to operate without human interaction.

[0228] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0229] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0230] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of various embodiments in the embodiments of the present application have different focuses, for parts not described in detail in a certain embodiment, reference can be made to the relevant embodiments of other embodiments. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A method for controlling an exhaust valve, characterized in that: The control method is applied to a vehicle, wherein the vehicle includes an exhaust pipe and an exhaust valve for controlling exhaust from the exhaust pipe, and the method includes: The exhaust valve is controlled according to the water wading information of the exhaust pipe and the valve mode of the exhaust valve.

2. The method according to claim 1, characterized in that The water-wading information includes a water-wading state and a non-water-wading state; The controlling the exhaust valve according to the water wading information of the exhaust pipe and the valve mode of the exhaust valve comprises: When the wading information of the exhaust pipe indicates that the exhaust pipe has waded, the exhaust valve is controlled to be closed according to the valve mode; or, When the wading information of the exhaust pipe is in a non-wading state, the exhaust valve is controlled according to the valve mode.

3. The method according to claim 2, characterized in that When the wading information of the exhaust pipe indicates that the exhaust pipe has waded, controlling the exhaust valve to close according to the valve mode includes: When the valve mode is the waterproof mode, controlling the exhaust valve to close; When the valve mode is not the waterproof mode, the valve mode is adjusted to the waterproof mode, and the exhaust valve is controlled to be closed.

4. The method according to claim 2, characterized in that: The valve modes include at least two types, and the valve control parameters of each valve mode are different; The controlling the exhaust valve according to the valve mode comprises: determining valve control parameters according to the valve mode; The exhaust valve is controlled according to the valve control parameter.

5. The method according to claim 4, characterized in that Determining the valve control parameters according to the valve mode includes: When the valve mode is the sound wave mode, the valve control parameter is determined according to vehicle state information of the vehicle.

6. The method according to claim 5, characterized in that The determining the valve control parameter according to the vehicle state information of the vehicle comprises: The valve control parameters corresponding to the vehicle status information are acquired according to the parameter mapping relationship, wherein the parameter mapping relationship is the correspondence between different vehicle status information and its valve control parameters.

7. The method according to claim 5, characterized in that The vehicle state information includes at least one of engine state information, driving mode information of the vehicle, and pressure information of the exhaust pipe.

8. The method according to claim 4, characterized in that Determining the valve control parameters according to the valve mode includes: When the valve mode is the exhaust mode, a control parameter corresponding to fully opening the exhaust valve is set as the valve control parameter.

9. The method according to claim 2, characterized in that: After the wading information of the exhaust pipe is in the wading state, the method further includes: Sending a prompt to shut down the engine to a terminal corresponding to the vehicle; the terminal includes a user terminal and / or a vehicle display terminal; According to the confirmation information of the terminal, the electronic control unit is controlled to shut down the engine.

10. The method according to any one of claims 1 to 9, characterized in that: The method further comprises: Controlling the exhaust valve to perform self-test; When the inspection result is passed, the step of controlling the exhaust valve according to the water wading information of the exhaust pipe and the valve mode of the exhaust valve is performed.

11. The method according to claim 10, characterized in that The controlling the exhaust valve to perform a self-test comprises: Controlling the exhaust valve to rotate in a preset direction and at a preset angle based on the current position to a fully open position or a fully closed position; The exhaust valve is controlled to rotate from the fully open position to the fully closed position, or the exhaust valve is controlled to rotate from the fully closed position to the fully open position.

12. The method according to claim 1, characterized in that The method further comprises: Based on a preset sensor arranged at the outlet of the exhaust pipe, water wading information of the exhaust pipe is determined, and the preset sensor is used to detect the water level of the outlet of the exhaust pipe or whether there is water.

13. The method according to claim 12, characterized in that The method of determining the water wading information of the exhaust pipe based on a preset sensor arranged at the exhaust pipe outlet includes: When the water level at the outlet of the exhaust pipe is less than or equal to a first preset value, determining that the exhaust pipe is in a non-water-wading state; When the water level at the exhaust pipe outlet is greater than or equal to a second preset value, it is determined that the exhaust pipe is in a wading state.

14. The method according to claim 12, characterized in that The preset sensor is a water immersion sensor.

15. The method according to claim 1, characterized in that The method further comprises: When a power-off instruction of the vehicle is detected, the exhaust valve is controlled to be opened or closed according to water wading information of the exhaust pipe of the vehicle.

16. The method according to claim 1, characterized in that The controlling of the exhaust valve comprises: A control signal is sent to the motor of the valve actuator to rotate the motor, and the exhaust valve is driven to rotate through the transmission mechanism.

17. The method according to claim 16, characterized in that The method further comprises: Based on the rotation information of the motor, it is determined that the exhaust valve rotates to a preset position, and the control signal is stopped from being sent to the motor of the valve actuator to stop the motor from rotating.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer-readable storage medium stores instructions, which, when executed by a computer, enable the computer to implement the exhaust valve control method according to any one of claims 1 to 17.

19. A computer program product, characterized in that The computer program product stores instructions, which, when executed by a computer, cause the computer to implement the exhaust valve control method according to any one of claims 1 to 17.

20. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the exhaust valve control method according to any one of claims 1 to 17.

21. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 20.

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