Vehicle running control method based on waterlogged road surface and related device

Abstract

The invention discloses a vehicle running control method based on a waterlogged road surface and a related device. The method comprises the steps that a control mode and a control strategy of a vehicle are preset; acquiring a real-time sensing signal of a road surface in front of the vehicle, and judging water accumulation information of the road surface in front by using a terrain recognition AI algorithm; and starting a vehicle control mode and a control strategy corresponding to the judgment result based on the judgment result of the front road surface ponding information. The sensing signal of the road surface in front of the vehicle is obtained in real time, the front road surface ponding information is accurately judged through the terrain recognition AI algorithm, the ponding condition of the road surface in front of the vehicle can be effectively judged in time, the road surface ponding recognition accuracy is improved, and a driver can be reminded in time; according to the method, the corresponding vehicle control mode and control strategy are automatically started, and the vehicle floats on the water surface while a distress signal is sent in time, so that an escape space is provided for a driver and passengers.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle safety, and in particular relates to a vehicle driving control method based on a flooded road surface and a related device. Background Art

[0002] During driving, vehicles may encounter various wading roads, such as urban roads with water accumulation, low-lying areas, and off-road unpaved roads. However, it is often difficult for drivers to accurately judge whether the road ahead is a wading road and the depth of the water accumulation, which is particularly obvious in severe weather conditions. The vehicles currently in mass production on the market with automatic recognition functions for wading roads mainly rely on laser radar or cameras for recognition, and remind the driver to manually start the wading mode on the vehicle's large screen. However, although the recognition accuracy of this method can reach about 95% under normal circumstances, the recognition accuracy under extreme weather conditions drops sharply to 80% or even cannot be recognized, and there is a risk of the vehicle being submerged and the driver and passengers drowning. In addition, there is no vehicle with automatic wading function in the prior art, and the proposed automatic wading start method has low accuracy or cannot be automatically started in extreme weather. At the same time, the wading automatic control solutions on the market often lack remote rescue and floating functions, and cannot provide drivers and passengers with sufficient escape time and remote rescue channels. Summary of the invention

[0003] The purpose of the present invention is to provide a vehicle driving control method and related devices based on flooded roads. On the one hand, it is used to solve the technical defects of the prior art that vehicles on flooded roads cannot effectively judge the depth of water, resulting in the failure to timely start the automatic control of the vehicle; on the other hand, it is used to solve the technical defects that the prior art vehicles cannot realize remote rescue and the vehicle's floating function after wading, and provide sufficient escape time for the driver and passengers.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, a vehicle driving control method based on a flooded road surface is provided, comprising: Preset vehicle control mode and control strategy; Obtaining real-time perception signals of the road ahead of the vehicle, and using terrain recognition AI algorithms to determine water accumulation information on the road ahead; Based on the judgment result of the road surface water information ahead, the vehicle control mode and control strategy corresponding to the judgment result are activated.

[0005] Furthermore, the control mode and control strategy of the preset vehicle specifically include: Different vehicle control modes and control strategies are preset according to the depth of water on the road; wherein the water depth on the road includes wading depth and floating depth, the vehicle control mode includes vehicle wading automatic control mode, floating automatic control mode and rescue automatic control mode, and the control strategy includes wading control strategy, floating control strategy and rescue control strategy; When the depth of water on the road is the wading depth, the control mode of the vehicle is preset to the wading automatic control mode, and the wading control strategy is executed; When the road surface water depth is the floating water depth, the control mode of the vehicle is preset to be a floating water automatic control mode or a rescue automatic control model, and the floating water control strategy or the rescue control strategy is executed.

[0006] Furthermore, the water wading control strategy specifically includes: Request the vehicle controller to reduce the power torque output and limit the torque and speed of the vehicle; Request to raise the vehicle suspension spring to the highest position to increase the vehicle ground clearance and improve vehicle passability; Request the vehicle suspension shock absorber to reduce the damping force to improve the vehicle's driving comfort; Request the vehicle chassis domain control to turn on the vehicle chassis wading mode to improve the vehicle's off-road capability; Request the human-machine interface to display the wading depth and issue a danger warning to the driver.

[0007] Furthermore, the floating water control strategy specifically includes: In the car computer, the driver is prompted by voice and text whether to activate the floating airbag device; Requesting the vehicle to open the sunroof so that the driver can escape through the sunroof; Request the vehicle windows to close automatically to prevent water from entering the interior of the vehicle; Request the vehicle to automatically turn on the hazard lights and chime alarm.

[0008] Furthermore, the rescue control strategy specifically includes: Request the vehicle host to send a vehicle distress location signal to the remote monitoring system for alarm and rescue, and automatically save the number of vehicle passengers, life characteristics, and movement status of the vehicle during floating.

[0009] Furthermore, a real-time perception signal of the road surface in front of the vehicle is obtained, and the terrain recognition AI algorithm is used to determine the water accumulation information on the road surface in front, specifically including: A binocular camera and a water level sensor are installed at the front end of the vehicle, and a terrain recognition AI algorithm is integrated in the vehicle chassis domain control ECU. During vehicle driving, the binocular camera is used to obtain real-time perception signals of the road surface in front of the vehicle, and the terrain recognition AI algorithm is used to determine the water accumulation information on the road ahead.

[0010] Furthermore, the road surface water accumulation information is road surface water accumulation depth information.

[0011] In a second aspect, a vehicle is provided, including a vehicle body, on which a chassis domain controller, a water level sensor and a floating airbag device are installed, the chassis domain controller is electrically connected to the floating airbag device and the water level sensor, and the vehicle body is driven using the vehicle driving control method based on a flooded road surface as described above.

[0012] Furthermore, the floating airbag device includes an upper shell, a lower shell, an airbag and an ECU gas generator, the airbag is laid flat between the upper shell and the lower shell, and the ECU gas generator is fixed on the upper shell and rigidly connected to the airbag.

[0013] In a third aspect, a vehicle driving control system based on a flooded road surface is provided, comprising: A preset module, used to preset the control mode and control strategy of the vehicle; An acquisition module is used to acquire real-time perception signals of the road surface in front of the vehicle; A judgment module, used to judge the water accumulation information on the road ahead; The activation module is used to activate the vehicle control mode and control strategy corresponding to the judgment result.

[0014] In a fourth aspect, a mobile terminal is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the vehicle driving control method based on a flooded road surface as described above when executing the computer program.

[0015] In a fifth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle driving control method based on a flooded road surface as described above are implemented.

[0016] In a sixth aspect, a computer program product is provided, comprising computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the vehicle driving control method based on a flooded road surface as described above.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. By acquiring the perception signal of the road ahead of the vehicle in real time and using the terrain recognition AI algorithm to accurately judge the water accumulation information on the road ahead, the water accumulation situation on the road ahead of the vehicle can be judged timely and effectively, which not only improves the accuracy of road water accumulation recognition, but also can remind the driver in time, thereby significantly improving the driving safety of the vehicle on flooded roads; in addition, based on the judgment results of the road water accumulation situation, the vehicle can automatically start the corresponding vehicle control mode and control strategy, send a distress signal in time, and make the vehicle float on the water surface to provide escape space for the driver and passengers.

[0018] 2. By presetting different vehicle control modes and control strategies according to the depth of water on the road, this method achieves refined control of vehicle driving, ensuring that the most appropriate response measures can be taken when the vehicle is driving on different flooded roads, thereby improving driving safety and stability.

[0019] 3. After the vehicle wades through water, the corresponding wading automatic control mode and wading control strategy can effectively improve the vehicle's driving ability and enable the vehicle to pass through the wading area safely.

[0020] 4. Through the voice and text prompts on the car computer, the driver can quickly understand that the vehicle is in a floating state and be informed whether to activate the floating airbag device. This instant information feedback helps the driver to respond quickly to emergencies and take appropriate measures to ensure the safety of himself and the vehicle.

[0021] 5. When a vehicle is floating on water, the rescue procedure can be quickly initiated by requesting the vehicle host to send a vehicle distress location signal to the remote monitoring system. After receiving the distress signal, the remote monitoring system can immediately locate the vehicle and dispatch rescue resources to the scene, thereby greatly shortening the rescue response time.

[0022] 6. By installing a binocular camera at the front end of the vehicle, stereoscopic image information of the road ahead of the vehicle can be obtained. Compared with a monocular camera, a binocular camera can provide more accurate depth perception, which helps to more accurately judge the water accumulation on the road ahead; at the same time, the addition of a water level sensor provides direct data support for the measurement of water depth, further improving the accuracy of water accumulation identification.

[0023] 7. Water depth is the most direct and critical indicator for assessing road waterlogging conditions. By obtaining information on the depth of water on the road, the vehicle can accurately judge the road conditions ahead and make corresponding driving decisions, which helps to avoid the vehicle falling into danger due to misjudgment of water conditions.

[0024] 8. The vehicle body adopts the vehicle driving control method based on flooded roads to drive, so that the vehicle can automatically adjust the driving strategy according to the water accumulation conditions on the road. At the same time, combined with the real-time data of the water level sensor, the vehicle can accurately judge the depth of water accumulation, so as to take appropriate control measures to enhance the driving stability and safety of the vehicle on flooded roads.

[0025] 9. The airbag is laid flat between the upper shell and the lower shell. This design makes the installation of the floating airbag device on the vehicle more compact and does not take up too much space. At the same time, the upper shell and the lower shell provide solid support and protection for the airbag, ensuring the stability and safety of the airbag in the uninflated state. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 A flow chart of a vehicle driving control method based on a flooded road surface provided by the present invention; Figure 2 A model diagram of an automatic recognition algorithm for flooded road surfaces in a vehicle provided by the present invention; Figure 3 A diagram of an algorithm model for automatically opening a vehicle on a flooded road surface provided by the present invention; Figure 4 A schematic diagram of installing a water level sensor in a vehicle provided by the present invention; Figure 5-Figure 7 A schematic diagram of the wading height of a vehicle provided by the present invention on different road types; Figure 8 A model diagram of the control algorithm for opening the floating airbag device in the vehicle provided by the present invention; Fig. 9 A diagram of an algorithm model for automatically starting a rescue module in a vehicle provided by the present invention; Fig.10 A schematic diagram of the structure of a floating airbag device in a vehicle provided by the present invention; Fig.11 A schematic diagram showing the installation of a floating airbag device in a vehicle provided by the present invention from a first viewing angle; Fig.12 A schematic diagram showing the installation of a floating airbag device in a vehicle provided by the present invention from a second viewing angle; Fig.13 The schematic diagram of the vehicle driving control system based on the flooded road surface provided by the present invention; Among them: 1. Frame; 2. Front anti-collision beam; 3. Water level sensor; 4. Upper shell; 5. Gas generator; 6. Airbag; 7. Lower shell; 8. Floating airbag device; 9. Vehicle body; 10. Bolts. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0031] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0032] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0033] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] During driving, vehicles may encounter various wading roads, such as urban roads with water accumulation, low-lying areas, and off-road unpaved roads. However, it is often difficult for drivers to accurately judge whether the road ahead is a wading road and the depth of the water accumulation, which is particularly obvious in severe weather conditions. The vehicles currently in mass production on the market with automatic recognition functions for wading roads mainly rely on laser radar or cameras for recognition, and remind the driver to manually start the wading mode on the vehicle's large screen. However, although the recognition accuracy of this method can reach about 95% under normal circumstances, the recognition accuracy under extreme weather conditions drops sharply to 80% or even cannot be recognized, and there is a risk of the vehicle being submerged and the driver and passengers drowning. In addition, there is no vehicle with automatic wading function in the prior art, and the proposed automatic wading start method has low accuracy or cannot be automatically started in extreme weather. At the same time, the wading automatic control solutions on the market often lack remote rescue and floating functions, and cannot provide drivers and passengers with sufficient escape time and remote rescue channels.

[0035] In order to solve the above technical defects, the inventor provides a vehicle driving control method based on a flooded road surface and related devices.

[0036] The present invention is further described in detail below in conjunction with the accompanying drawings: In a first aspect, an embodiment of the present invention provides a vehicle driving control method based on a flooded road surface, such as Figure 1 As shown, including: S101. Preset the vehicle control mode and control strategy. For example, due to the influence of natural environment, weather and other factors, there will be a certain amount of water on the road surface, and the judgment of the depth of the water mainly depends on the driver's driving experience. When the vehicle is driving on a road with water, if the driver makes a wrong judgment, the vehicle will be deeply stuck in the water, causing a driving safety hazard, and even endangering personal safety in serious cases. In order to improve the vehicle's wading ability and avoid the vehicle being unable to pass through the flooded road surface smoothly after wading, or the vehicle being unable to automatically send a distress signal to the remote platform, before the vehicle is driven, the vehicle control mode and the vehicle control strategy corresponding to the control mode are preset in advance to improve the safety of the vehicle after wading. Specifically, in the process of presetting the vehicle control mode and control strategy, different vehicle control modes and control strategies need to be preset according to the depth of water accumulation on the road surface; among them, it can be broadly understood that the road water accumulation depth generally includes two types, one type is when the vehicle is driving on a flooded road surface, the water level of the accumulated water reaches a position half the height of the vehicle tires, and the water depth is called the wading depth; the other type is when the vehicle is driving on a flooded road surface, the water level of the accumulated water reaches the height of the vehicle door handle, and the water depth is called the floating depth; in order to be able to specifically solve the impact of the two road water accumulation depths on the vehicle, the vehicle control mode is associated with the road water accumulation depth, and the vehicle control mode can be divided into a vehicle wading automatic control mode, a floating water automatic control mode and an automatic rescue control device, and in terms of control strategy, the control strategy is corresponded to the control mode, which can be divided into a wading control strategy, a floating water control strategy and a rescue control strategy.

[0037] After the above preset is completed, the conditions for starting the control mode and control strategy are set. It can be understood that when the vehicle is traveling on a road with accumulation of water, and the depth of the water on the road reaches the wading depth, the vehicle will start the wading automatic control mode and the wading control strategy; when the vehicle is traveling on a road with accumulation of water, and the depth of the water on the road reaches the floating depth, the vehicle will start the floating control mode and the floating control strategy. At the same time, the driver can synchronously start the automatic rescue control mode and the rescue control strategy according to the situation of the vehicle in the accumulated water.

[0038] Through the operation of the above steps, the safety of the vehicle during wading can be significantly improved. This preset method ensures that the vehicle can take the most appropriate response measures at different water depths, reducing the risk of driver misjudgment. At the same time, the vehicle's control mode is associated with the depth of water on the road, so that the vehicle can automatically identify the water situation and make corresponding adjustments. This intelligent control enhances the vehicle's ability to cope with complex road conditions, especially in potentially dangerous environments such as flooded roads. In addition, by presetting the control mode and control strategy, the interference of human factors can be reduced, ensuring that the vehicle is more stable and reliable during the wading process, solving the problem of subjectivity and uncertainty in the traditional method of relying on the driver's driving experience to judge the depth of water.

[0039] In addition, when the vehicle cannot pass through the flooded road surface smoothly or faces the danger of floating water, the automatic rescue control mode and rescue control strategy can quickly activate the rescue mechanism and send a distress signal to the remote platform, which improves the rescue efficiency and buys more escape opportunities and rescue time for the driver and passengers.

[0040] In terms of vehicle performance, the preset wading control strategy and floating water control strategy can be customized according to the specific situation of the vehicle and the depth of water accumulation to optimize the performance of the vehicle. For example, when the wading depth is deep, the vehicle can adjust the suspension height, power output and other parameters to ensure stable passing; when the floating depth is deep, the vehicle can activate emergency measures such as floating airbags. Furthermore, the preset control mode and control strategy make the vehicle more intelligent and automated during the wading process, reducing the burden on the driver. The driver does not need to worry too much about the water accumulation and can focus more on driving itself, which improves the driving experience.

[0041] S102, obtaining real-time perception signals of the road surface in front of the vehicle, and using a terrain recognition AI algorithm to determine the water accumulation information on the road surface in front; illustratively, after the control mode and control strategy of the vehicle are preset, a binocular camera and a water level sensor are installed at the front end of the vehicle, and a terrain recognition AI algorithm (automatic recognition algorithm for flooded road surface), an automatic opening algorithm for flooded road surface, an opening control algorithm for a floating airbag device, and an automatic opening algorithm for a distress module are integrated into the vehicle chassis domain control ECU; during vehicle driving, a binocular camera is used to obtain real-time perception signals of the road surface in front of the vehicle, and the terrain recognition AI algorithm integrated in the vehicle chassis domain control ECU is used to determine the water accumulation information on the road surface in front, and the water accumulation information on the road surface is actually the water depth information on the road surface. In the above steps, the installation of binocular cameras enables the vehicle to obtain three-dimensional image information of the road ahead in real time, providing an accurate data basis for terrain recognition. Through the terrain recognition AI algorithm, the vehicle can quickly and accurately judge the water accumulation on the road ahead, including the depth of the water accumulation, providing key information for subsequent control decisions. The automatic opening algorithm for the flooded road surface, the floating airbag device opening control algorithm, and the automatic opening algorithm for the rescue module integrated in the vehicle chassis domain control ECU realize the intelligent control of the vehicle to the flooded situation. These algorithms can automatically adjust the vehicle's control mode and control strategy according to the real-time perceived road surface water accumulation information, without the need for manual intervention by the driver, thereby improving the response efficiency and accuracy; moreover, the terrain recognition AI algorithm can identify a variety of road conditions, not only limited to flooded roads, but also other complex road conditions, such as muddy, sandy, etc., which enables the vehicle to adopt the most appropriate control strategy under various complex road conditions, enhancing the vehicle's passability and adaptability. In addition, the combination of real-time perception and intelligent control enables the vehicle to respond quickly when encountering a flooded road surface, avoiding safety accidents caused by driver misjudgment or untimely response. When the vehicle is driving on a road with deep water, the automatic opening control algorithm of the floating airbag device provides additional safety protection for the vehicle in extreme floating conditions, helping the vehicle to float stably and wait for rescue. The automatic opening algorithm of the rescue module can quickly activate the rescue mechanism when the vehicle encounters a dangerous situation, send a distress signal to the remote platform, improve the rescue efficiency, and buy more rescue time for the driver and passengers, especially when the vehicle is stuck in deep water or cannot get out of trouble by itself. Finally, the combination of intelligent control and real-time perception makes the driver more calm and confident when facing wading roads. The driver does not need to worry too much about the water accumulation, and can focus more on driving itself and enjoy the driving process.

[0042] S103, based on the judgment result of the water accumulation information on the road ahead, start the vehicle control mode and control strategy corresponding to the judgment result. Exemplarily, when it is judged that the water accumulation depth on the road ahead is the wading depth, the vehicle control mode is the wading automatic control mode, and the wading control strategy is executed. The specific control strategy includes requesting the vehicle controller to reduce the power torque output and limit the torque and speed of the vehicle; requesting the vehicle suspension spring to be raised to the maximum to increase the vehicle ground clearance and improve the vehicle passability; requesting the vehicle suspension shock absorber to reduce the damping force and improve the vehicle driving comfort; requesting the vehicle chassis domain control to start the vehicle chassis wading mode to improve the vehicle off-road capability; requesting the human-machine interface to display the wading depth and issue a danger alarm to the driver. The above control strategies can be started in sequence or synchronously, without limitation. Among them, when requesting the vehicle controller to reduce the power torque output, the speed of the vehicle during wading can be effectively controlled to avoid the risks of splashing water and water intrusion into the engine caused by excessive speed. The torque control speed can also ensure that the vehicle can quickly decelerate or stop in case of emergencies, thereby improving driving safety. When requesting the vehicle suspension spring to be raised to the highest position to increase the ground clearance, the ground clearance of the vehicle can be significantly increased, making it easier for the vehicle to pass through deep waterlogged roads. At the same time, increasing the ground clearance can also reduce the area of ​​contact between the bottom of the vehicle and the water surface, reducing the possibility of the vehicle being blocked or stalled due to water flow resistance. When requesting the suspension shock absorber to reduce the damping force to improve driving comfort, the vehicle can pass more smoothly, reduce bumps and vibrations, and improve driving comfort. Not only can the driver focus more on driving, but also reduce the discomfort of passengers and improve the overall riding experience. When the off-road capability is improved by requesting the vehicle chassis wading mode to be turned on, the vehicle's passability and off-road capability under complex road conditions with waterlogging are enhanced, and stable driving performance is maintained. By requesting the human-machine interface to display the wading depth and giving a hazard alarm, the driver can intuitively understand the current water accumulation situation on the road, thereby making more reasonable driving decisions and avoiding safety accidents.

[0043] When the depth of water accumulation on the road ahead is determined to be the floating depth, the vehicle control mode is the floating automatic control mode or the emergency automatic control mode, and the floating control strategy or the emergency control strategy is executed. Specifically, in the floating automatic control mode, the floating control strategy includes prompting the driver on the vehicle computer through voice and text whether to open the floating airbag device; requesting the vehicle to open the sunroof so that the driver can escape through the sunroof; requesting the vehicle windows to automatically close to prevent water from entering the vehicle space; requesting the vehicle to automatically turn on the double flash and buzzer alarm.

[0044] During the above request process, the driver is prompted on the vehicle computer through voice and text, so that the driver can quickly understand the situation of the vehicle in the water in an emergency. This prompt method is intuitive and clear, which helps the driver make correct decisions in tense situations and promptly open the floating airbag device to provide additional buoyancy support to ensure the safety of the vehicle and passengers. When requesting the vehicle to open the sunroof so that the driver can escape, the sunroof becomes an important escape route, which can quickly provide an escape exit for the driver and passengers, reducing the difficulty of escape caused by the door being unable to open or the window being broken. When requesting the vehicle's windows to close automatically to prevent water from entering the interior space, it can effectively prevent water from outside the vehicle from flowing into the vehicle, keeping the interior space relatively dry and safe, which is crucial for the breathing of passengers, the protection of electronic equipment, and the integrity of the vehicle's internal structure. When requesting the vehicle to automatically turn on the double flash and buzzer alarm, it can not only alert surrounding vehicles and pedestrians to avoid secondary accidents such as collisions, but also attract the attention of the surrounding people, which may prompt them to provide timely assistance. The two alarm methods work together to improve the visibility and possibility of rescue of the vehicle in floating water.

[0045] The rescue control strategy specifically includes requesting the vehicle host to send a vehicle rescue position signal to the remote monitoring system for alarm and rescue, and automatically saving the number of vehicle passengers, life characteristics, and the movement state of the vehicle during the floating process. When the vehicle encounters a floating emergency, by requesting the vehicle host to send a vehicle rescue position signal to the remote monitoring system, the distress information of the vehicle can be quickly conveyed to the rescue agency. This instant alarm and rescue mechanism greatly shortens the rescue response time, provides a valuable time window for rescue personnel, and increases the probability of successful rescue. While sending the distress signal, the number of vehicle passengers and life characteristics information are automatically saved, which helps rescue personnel understand the number and safety status of people in the car, so as to make a more accurate and efficient rescue plan. The movement state data of the vehicle during the floating process is also automatically saved. This information has important reference value for analyzing the cause of the accident, evaluating vehicle performance, and improving the floating control system. In addition, after receiving the distress signal, the remote monitoring system can quickly dispatch the nearest rescue team to the scene according to the real-time location of the vehicle and detailed distress information. This targeted rescue method not only improves the rescue efficiency, but also reduces the risk and uncertainty in the rescue process.

[0046] In summary, this vehicle driving control method based on flooded roads significantly improves the driving safety of vehicles on flooded roads through real-time perception, intelligent judgment and automatic control, reduces the occurrence of traffic accidents, and provides drivers and passengers with a safer and more reliable driving experience.

[0047] In a second aspect, the present embodiment provides a vehicle, including a vehicle body, a chassis domain controller, a water level sensor, and a floating airbag device are installed on the vehicle body, the chassis domain controller is electrically connected to the floating airbag device and the water level sensor, and the vehicle body is driven using the vehicle driving control method based on a flooded road surface as described above. Figure 4 , Fig.11 and Fig.12 As shown, in one embodiment, the water level sensor 3 is installed at the connection between the frame 1 and the front anti-collision beam 2, which can ensure that the water level sensor 3 is in a lower position. In emergency situations such as when the vehicle body 9 wades or encounters floating water, the water level sensor 3 can detect the water level change in time, provide valuable warning time for the driver and the vehicle body 9, and help the driver to take timely countermeasures, thereby avoiding damage to the vehicle and personal injury. At the same time, as a part of the vehicle body structure, the front anti-collision beam 2 has high strength and rigidity. Installing the water level sensor 3 here can ensure that the water level sensor 3 is not easily damaged in situations such as when the vehicle body 9 wades or collides, thereby improving the service life and reliability of the water level sensor 3. At the same time, this design also helps to reduce false alarms or missed alarms caused by failures of the water level sensor 3, and improve the overall safety of the vehicle. Furthermore, the connection between the frame 1 and the front anti-collision beam 2 is a key part of the vehicle structure and an ideal location for the installation of the water level sensor 3. Installing the water level sensor 3 at this location can achieve a close combination of the water level sensor 3 and the vehicle body 9 structure, reducing additional installation space and costs. Installing the water level sensor 3 at the connection between the vehicle frame 1 and the front anti-collision beam 2 can facilitate maintenance and inspection by maintenance personnel. When the water level sensor 3 needs to be replaced or upgraded, the operation can be completed quickly and conveniently, reducing maintenance costs and time.

[0048] In another embodiment, the water level sensor 3 is installed at the rear end of the front anti-collision beam 2. The position of the rear end of the front anti-collision beam 2 is usually lower, close to the water surface that the vehicle may encounter when driving. During the driving of the vehicle, if water accumulates in front, the water level sensor 3 installed at the rear end of the front anti-collision beam 2 can detect the change in water level earlier. The ability to sense water level changes in advance provides the driver with more reaction time so that he can take timely countermeasures, such as slowing down, stopping or detouring.

[0049] like Figure 2 , Figure 5 , Figure 6 and Figure 7As shown, during the driving process of the vehicle, when the vehicle is driving on the road, for example, the road type at this time may be flat road, uphill or downhill, the AI ​​algorithm integrated in the chassis domain controller, that is, the automatic recognition algorithm for wading road surface, first determines whether the vehicle body 9 is in a normal driving state. The speed of the vehicle body 9 is between 20km / h and 30km / h, and the driving time is ≥500ms (this is only an example and is not limited to this). If so, the inertial measurement unit of the vehicle body 9 outputs the lateral, longitudinal, vertical acceleration information and yaw angular velocity information of the vehicle body 9, and sends the signal to the chassis domain controller; the brake controller outputs the torque, body speed and wheel speed of the wheels on the vehicle body 9, and The signal is sent to the chassis domain controller; the steering controller outputs the steering wheel angle information, and sends a signal to the chassis domain controller; the front area controller outputs the overall mass, drag coefficient, transmission efficiency, wheelbase, track width and steering ratio data of the vehicle body 9, and sends a signal to the chassis domain controller; while receiving the above data, the chassis domain controller also receives the road type signal of the forty meters in front of the vehicle body 9 collected by the front-end binocular camera of the vehicle body 9, and uses the terrain recognition AI algorithm to determine whether the road type in front of the vehicle body 9 is a wading road; if it is determined to be a wading road, the judgment result is output as the wading road surface and wading depth, and the wading automatic control mode on the vehicle body 9 is automatically turned on. Figure 3 As shown, when the vehicle body 9 turns on the wading automatic control mode, the water level sensor 3 sends the wading depth signal to the wading road automatic start algorithm, and the wading road automatic start algorithm determines the wading depth of the vehicle; Figure 5 , Figure 6 and Figure 7 It can be seen that under the three types of road conditions, the depth of water accumulation can be divided into a mm depth and b mm depth. When it is judged that the wading depth of the vehicle body 9 is greater than a mm depth, the vehicle body 9 is judged to be in the wading depth, and the control algorithm A is executed, that is, the wading automatic control mode is turned on, and the corresponding wading control strategy is executed; when it is judged that the wading depth of the vehicle body 9 is greater than b mm depth, the vehicle body 9 is judged to be in the floating water depth, and the control algorithm B is executed, that is, the floating water automatic control mode is turned on, and the floating water control strategy is executed; at the same time, when it is judged that the wading depth of the vehicle body 9 is greater than b mm depth, as Fig. 9 As shown, the automatic rescue control mode can also be turned on and the rescue control strategy can be executed.

[0050] In the automatic rescue control mode and executing the rescue control strategy, the chassis domain controller activates the floating airbag device 8, such as Fig.11 and Fig.12 As shown, the floating airbag device 8 is installed on the bottom of the vehicle body 9 by bolts 10; Fig.10As shown, the floating airbag device 8 includes an upper shell 4, a gas generator 5, an airbag 6, and a lower shell 7; the upper shell 4 is specifically made of high-strength and high-lightweight plastic, the lower shell 7 is made of high-strength and high-lightweight carbon fiber, the gas generator 5 is fixed to the upper shell 4, and the airbag 6 and the gas generator 5 are rigidly connected together through a clamp. The airbag 6 is evenly spread between the upper shell 4 and the lower shell 7, and the upper shell 4 and the lower shell 7 are tightened together by a clamping structure. After the airbag device opening control algorithm receives a signal, the airbag electric detonator receives an ignition command, detonates the ignition agent, and generates a large amount of nitrogen. The airbag 6 breaks through the cushion within 1S and quickly deploys, pops open the lower shell 7, and forms an elastic air cushion under the vehicle to make the vehicle body 9 float, providing the driver and passengers with enough time to escape and wait for rescue.

[0051] In a third aspect, a vehicle driving control system based on a flooded road is provided, such as Fig.13 As shown, including: A preset module, used to preset the control mode and control strategy of the vehicle; An acquisition module is used to acquire real-time perception signals of the road surface in front of the vehicle; A judgment module, used to judge the water accumulation information on the road ahead; The activation module is used to activate the vehicle control mode and control strategy corresponding to the judgment result.

[0052] In this control system, the control mode and control strategy for flooded roads are set through preset modules. The system can respond quickly when water accumulation is identified and adjust the vehicle's driving state, such as slowing down and adjusting tire grip, etc., thereby effectively reducing safety risks such as slipping and drifting caused by water accumulation.

[0053] The real-time perception and judgment module can ensure that the vehicle has an accurate understanding of the road conditions ahead, providing additional safety for the driver, especially when vision is limited or driving at night. The system can automatically adjust the vehicle settings to adapt to flooded roads, reducing the need for manual adjustments by the driver, thereby improving driving convenience and comfort.

[0054] By optimizing control strategies, such as adjusting the suspension system and braking force, the bumps and shakes of the vehicle when passing through flooded roads can be further reduced, improving the riding experience of passengers. The system enables vehicles to better adapt to different weather and road conditions, especially in rainy areas or sections prone to flooding, significantly improving the vehicle's traffic capacity and reliability. By promptly identifying and responding to flooded roads, the system can help drivers avoid vehicle damage caused by blindly driving into deep water areas, such as water ingress to the engine and electrical system short circuits; the system can also provide appropriate driving advice or warnings based on the depth of the water and the flow of water to further protect the vehicle from damage.

[0055] In a fourth aspect, a mobile terminal is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the vehicle driving control method based on a flooded road surface as described above when executing the computer program.

[0056] In a fifth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle driving control method based on a flooded road surface as described above are implemented.

[0057] In a sixth aspect, a computer program product is provided, comprising computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the vehicle driving control method based on a flooded road surface as described above.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit its protection scope. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that after reading the present invention, those skilled in the art can still make various changes, modifications or equivalent substitutions to the specific implementation methods of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the pending claims of the invention.

Claims

1. A vehicle driving control method based on a flooded road surface, characterized in that: include: Preset vehicle control mode and control strategy; Obtaining real-time perception signals of the road ahead of the vehicle, and using terrain recognition AI algorithms to determine water accumulation information on the road ahead; Based on the judgment result of the road surface water information ahead, the vehicle control mode and control strategy corresponding to the judgment result are activated.

2. The vehicle driving control method based on a flooded road surface according to claim 1, characterized in that: The control mode and control strategy of the preset vehicle specifically include: Different vehicle control modes and control strategies are preset according to the depth of water on the road; wherein the water depth on the road includes wading depth and floating depth, the vehicle control mode includes vehicle wading automatic control mode, floating automatic control mode and rescue automatic control mode, and the control strategy includes wading control strategy, floating control strategy and rescue control strategy; When the depth of water on the road is the wading depth, the control mode of the vehicle is preset to the wading automatic control mode, and the wading control strategy is executed; When the road surface water depth is the floating water depth, the control mode of the vehicle is preset to be a floating water automatic control mode or a rescue automatic control model, and the floating water control strategy or the rescue control strategy is executed.

3. The vehicle driving control method based on a flooded road surface according to claim 2 is characterized in that: The water-related control strategy specifically includes: Request the vehicle controller to reduce the power torque output and limit the torque and speed of the vehicle; Request to raise the vehicle suspension spring to the highest position to increase the vehicle ground clearance and improve vehicle passability; Request the vehicle suspension shock absorber to reduce the damping force to improve the vehicle's driving comfort; Request the vehicle chassis domain control to turn on the vehicle chassis wading mode to improve the vehicle's off-road capability; Request the human-machine interface to display the wading depth and issue a danger warning to the driver.

4. The vehicle driving control method based on a flooded road surface according to claim 2, characterized in that: The floating water control strategy specifically includes: In the car computer, the driver is prompted by voice and text whether to activate the floating airbag device; Requesting the vehicle to open the sunroof so that the driver can escape through the sunroof; Request the vehicle windows to close automatically to prevent water from entering the interior of the vehicle; Request the vehicle to automatically turn on the hazard lights and chime alarm.

5. The vehicle driving control method based on a flooded road surface according to claim 2, characterized in that: The rescue control strategy specifically includes: Request the vehicle host to send a vehicle distress location signal to the remote monitoring system for alarm and rescue, and automatically save the number of vehicle passengers, life characteristics, and movement status of the vehicle during floating.

6. The vehicle driving control method based on a flooded road surface according to claim 1, characterized in that: Obtaining real-time perception signals of the road ahead of the vehicle and using terrain recognition AI algorithms to determine the waterlogging information on the road ahead, specifically including: A binocular camera and a water level sensor are installed at the front end of the vehicle, and a terrain recognition AI algorithm is integrated in the vehicle chassis domain control ECU. During vehicle driving, the binocular camera is used to obtain real-time perception signals of the road surface in front of the vehicle, and the terrain recognition AI algorithm is used to determine the water accumulation information on the road ahead.

7. The vehicle driving control method based on a flooded road surface according to claim 6, characterized in that: The road surface water accumulation information is the water accumulation depth information of the road surface.

8. A vehicle, comprising a vehicle body, characterized in that: A chassis domain controller, a water level sensor and a floating airbag device are installed on the vehicle body. The chassis domain controller is electrically connected to the floating airbag device and the water level sensor. The vehicle body is driven using the vehicle driving control method based on a flooded road surface as described in any one of claims 1-7.

9. The vehicle according to claim 8, characterized in that The floating airbag device comprises an upper shell, a lower shell, an airbag and an ECU gas generator. The airbag is laid flat between the upper shell and the lower shell. The ECU gas generator is fixed on the upper shell and rigidly connected to the airbag.

10. A vehicle driving control system based on a flooded road surface, characterized in that: include: A preset module, used to preset the control mode and control strategy of the vehicle; An acquisition module is used to acquire real-time perception signals of the road surface in front of the vehicle; A judgment module, used to judge the water accumulation information on the road ahead; The activation module is used to activate the vehicle control mode and control strategy corresponding to the judgment result.

11. A mobile terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the vehicle driving control method based on a flooded road surface as described in any one of claims 1 to 7 are implemented.

12. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the vehicle driving control method based on a flooded road surface as described in any one of claims 1 to 7 are implemented.

13. A computer program product comprising computer instructions, characterized in that: The computer instructions instruct the computing device to execute operations corresponding to the vehicle driving control method based on a flooded road surface as described in any one of claims 1-7.

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