Vehicle control method and device and vehicle

Abstract

The invention relates to the technical field of automatic control, in particular to a vehicle control method and device and a vehicle. The method comprises the steps that driving state information and environment information of the vehicle are obtained, and the vehicle is provided with a silicone oil fan; determining whether the vehicle has a wading risk according to the driving state information and the environment information; when it is determined that the vehicle has the wading risk, the suspension height of the vehicle is adjusted, and the silicone oil fan is controlled to reduce the rotating speed. Whether the current driving condition of the vehicle has the wading risk or not is comprehensively determined by obtaining the driving state information and the external environment information of the vehicle, and the suspension height of the vehicle is adjusted when the vehicle has the wading risk, so that the silicone oil fan is lifted to reduce the resistance of accumulated water on blades of the silicone oil fan, and the rotating speed of the silicone oil fan is reduced; the impact force of accumulated water on the silicone oil fan blades is further reduced, and the risk that the silicone oil fan blades break and deform due to wading is reduced to the maximum extent.

Description

Technical Field

[0001] The present disclosure relates to the field of automatic control technology, and in particular to a vehicle control method, device and vehicle. Background Art

[0002] In recent years, with the rapid growth of my country's economy and the rapid development of the automobile industry, more and more people have begun to use off-road vehicles to complete various challenges, and differentiated products represented by off-road vehicles have rapidly emerged.

[0003] Silicone oil fan is a commonly used cooling configuration in off-road vehicles. The silicone oil fan is connected to the engine gear train. It is usually necessary to control the flow of silicone oil in the silicone oil fan based on signals such as the engine water temperature, thereby driving the silicone oil fan to dissipate heat. Therefore, the silicone oil fan does not have a stall protection device like an electronic fan. When the water level is high or the vehicle speed is high, the fan rotates to push water, which may cause the fan blades to break or deform, and easily scratch the radiator core, causing damage to the radiator core.

[0004] Therefore, how to prevent silicone oil fan blades from being deformed or broken under stress has become an urgent problem to be solved in off-road vehicles. Summary of the invention

[0005] In order to solve the above technical problems, the present disclosure provides a vehicle control method, device and vehicle to prevent silicone oil fan blades from being deformed or broken due to force.

[0006] In a first aspect, an embodiment of the present disclosure provides a vehicle control method, including:

[0007] Acquiring driving state information and environmental information of a vehicle, wherein the vehicle is equipped with a silicone oil fan;

[0008] Determining whether the vehicle has a risk of wading according to the driving state information and the environmental information;

[0009] When it is determined that the vehicle is at risk of wading, the suspension height of the vehicle is adjusted and the rotation speed of the silicone oil fan is controlled to decrease.

[0010] In some embodiments, the driving state information includes a vehicle tilt angle; and determining whether the vehicle has a risk of wading according to the driving state information and the environmental information includes:

[0011] Determine the slope and uphill and downhill conditions of the road section where the vehicle is located according to the vehicle tilt angle;

[0012] When the slope is greater than a preset slope threshold and the vehicle is in a downhill state, it is determined whether the vehicle has a risk of wading according to the environmental information.

[0013] In some embodiments, the driving state information includes the wading depth of the vehicle, and the environmental information includes road condition information in the driving direction of the vehicle; the vehicle having a wading risk includes the vehicle being in a wading state, or the vehicle is about to pass through a wading section;

[0014] When the slope of the vehicle is greater than a preset slope threshold and the vehicle is in a downhill state, determining whether the vehicle has a risk of wading includes:

[0015] determining that the vehicle is in a wading state according to the wading depth of the vehicle; or,

[0016] When it is identified according to the road condition information that there is a flooded section in the direction of travel of the vehicle, it is determined that the vehicle is about to pass through the flooded section.

[0017] In some embodiments, when it is determined that the vehicle is in a wading state, adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotation speed includes:

[0018] When the wading depth of the vehicle is greater than a first preset depth, the front air suspension of the vehicle is controlled to rise, the rear air suspension is controlled to rise, and the silicone oil fan is controlled to reduce the rotation speed; or,

[0019] When the wading depth of the vehicle is less than or equal to a first preset depth, the front air suspension of the vehicle is controlled to rise, and the rotation speed of the silicone oil fan is controlled to decrease.

[0020] In some embodiments, when it is identified according to the road condition information that there is a flooded road section in the direction of vehicle travel, adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotation speed includes:

[0021] The front air suspension of the vehicle is controlled to rise, the rear air suspension is controlled to fall, and the rotation speed of the silicone oil fan is controlled to decrease.

[0022] In some embodiments, the driving state information includes a vehicle tilt angle and a vehicle wading depth; and determining whether the vehicle has a wading risk according to the driving state information and the environmental information includes:

[0023] Determine the slope and uphill and downhill conditions of the road section where the vehicle is located according to the vehicle tilt angle;

[0024] When the slope is less than or equal to a preset slope threshold, and the wading depth is greater than a second preset depth, it is determined that the vehicle has a wading risk; or,

[0025] When the slope is greater than a preset slope threshold, the vehicle is in an uphill state, and the wading depth is greater than a third preset depth, it is determined that the vehicle is at risk of wading.

[0026] In some embodiments, when it is determined that the vehicle is at risk of wading, adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotation speed includes:

[0027] When it is determined that the vehicle is at risk of wading, the front air suspension of the vehicle is controlled to rise, and the rotation speed of the silicone oil fan is controlled to decrease.

[0028] In some embodiments, when the slope is less than or equal to a preset slope threshold and the wading depth is greater than a second preset depth, after adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotation speed, the method further includes:

[0029] When the running speed of the vehicle is less than a preset speed threshold, obtaining the water temperature of the engine;

[0030] When the water temperature is higher than a preset temperature threshold, determining the increase in silicone oil flow rate according to the difference between the water temperature and the preset temperature threshold;

[0031] The silicone oil flow rate of the silicone oil fan is increased based on the increased amount of silicone oil flow rate to increase the rotation speed of the silicone oil fan.

[0032] In a second aspect, an embodiment of the present disclosure provides a vehicle control device, including:

[0033] An acquisition module, used to acquire driving state information and environmental information of a vehicle, wherein the vehicle is equipped with a silicone oil fan;

[0034] A determination module, configured to determine whether the vehicle has a risk of wading according to the driving state information and the environmental information;

[0035] The control module is used to adjust the suspension height of the vehicle and control the silicone oil fan to reduce the rotation speed when it is determined that the vehicle has a risk of wading.

[0036] In a third aspect, an embodiment of the present disclosure provides a vehicle, including:

[0037] Memory;

[0038] Processor; and

[0039] Computer programs;

[0040] The memory stores executable program code, and the processor is used to call and execute the executable program code to perform the method described in the first aspect.

[0041] The vehicle control method, device and vehicle provided by the embodiments of the present disclosure obtain the vehicle's driving state information and external environment information to comprehensively determine whether the vehicle's current driving condition poses a risk of wading. When the vehicle poses a risk of wading, the vehicle's suspension height is adjusted to raise the silicone oil fan to reduce the resistance of the silicone oil fan blades from accumulated water, and the rotation speed of the silicone oil fan is reduced to further reduce the impact force of the silicone oil fan blades from accumulated water, thereby minimizing the risk of the silicone oil fan blades breaking and deforming due to wading. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 A flow chart of a vehicle control method provided by an embodiment of the present disclosure;

[0045] Figure 2 A flow chart of a vehicle control method provided by an embodiment of the present disclosure;

[0046] Figure 3 A flow chart of a vehicle control method provided by an embodiment of the present disclosure;

[0047] Figure 4 A flow chart of a vehicle control method provided by an embodiment of the present disclosure;

[0048] Figure 5 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present disclosure;

[0049] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present disclosure;

[0050] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0051] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0052] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0053] In recent years, with the rapid growth of my country's economy and the rapid development of the automobile industry, user needs have also changed from the past single car demand to diversified demands. Customers' driving conditions are becoming more and more complex, and differentiated products represented by off-road vehicles have rapidly emerged. More and more people are beginning to use off-road vehicles to complete various challenges, such as jungle off-road, muddy road challenges, wading challenges, deep pit challenges, desert crossing, desert slope rushing, desert pot washing, desert escape, etc.

[0054] The electric silicone oil fan of an off-road vehicle is connected to the engine gear train and driven by the engine gear train, so the fan torque is relatively large; the flow of silicone oil in the electric silicone oil fan is usually controlled based on signals such as the engine water temperature, so the fan does not have a stall protection device similar to an electronic fan. When the off-road vehicle is in a wading challenge or the vehicle is in a wading condition, when the water level is high or the vehicle speed is high, the fan rotates to push water, and the fan blades are subjected to greater force, which may cause the fan blades to break or the fan to deform, thereby scratching the radiator core and causing the core to leak and other faults.

[0055] In view of the above problems, an embodiment of the present disclosure provides a vehicle control method, which is introduced below in conjunction with a specific embodiment.

[0056] Figure 1 This is a flow chart of a vehicle control method provided in an embodiment of the present disclosure. The method can be applied to vehicle control devices, such as vehicle computers, smart phones, PDAs, tablet computers, wearable devices with display screens, desktop computers, laptop computers, all-in-one computers, etc. It is understandable that the vehicle control method provided in an embodiment of the present disclosure can also be applied in other scenarios.

[0057] Below Figure 1 The vehicle control method shown in FIG. 1 is introduced, and the specific steps of the method are as follows:

[0058] S101, obtaining driving state information and environmental information of a vehicle, wherein the vehicle is equipped with a silicone oil fan.

[0059] The vehicle's driving status information refers to various parameters of the vehicle under the current driving status, such as the vehicle's lateral and longitudinal acceleration sensor data, the wading depth sensor data of the rearview mirrors on both sides of the vehicle body, the vehicle speed signal, the engine water temperature information, the vehicle's driving slope information, etc.

[0060] The vehicle's lateral and longitudinal acceleration sensors can be used to obtain the vehicle's acceleration information in the horizontal (longitudinal) and vertical (lateral) directions. These data can help determine the vehicle's driving status, such as whether it is climbing, descending, driving on a flat road, turning, etc. The wading depth sensor can be used to determine whether the vehicle is wading and the depth of the wading. The vehicle's driving speed information is used to determine the vehicle's driving status, such as whether it is driving at high speed or low speed. The engine water temperature information is used to determine the engine's operating status and whether the speed of the silicone oil fan needs to be adjusted to meet the heat dissipation requirements.

[0061] Driving status information is monitored and analyzed through various sensors and controllers of the vehicle, providing comprehensive data for the vehicle's control system.

[0062] The vehicle's environmental information refers to data related to the vehicle's external conditions, which is used to help the vehicle control device determine the current driving scene and adjust the vehicle's control strategy accordingly. For example, information such as obstacles and road conditions in the vehicle's surroundings can be obtained through lidar, cameras, etc.

[0063] A silicone oil fan is a cooling fan that uses silicone oil as a transmission medium. Through the viscosity of the silicone oil, the engine power is transmitted to the fan, causing the fan to rotate to achieve heat dissipation.

[0064] Specifically, the vehicle in the present disclosure is an off-road vehicle.

[0065] S102: Determine whether the vehicle has a risk of wading according to the driving state information and the environmental information.

[0066] Among them, whether the vehicle is at risk of wading, including whether the vehicle is currently in a wading state, or whether the vehicle is about to pass through a wading section.

[0067] When the vehicle is at risk of wading, it means that the silicone oil fan is about to come into contact with the accumulated water. At the same time, the speed of the vehicle and the rotation of the silicone oil fan may cause the blades of the silicone oil fan to be subjected to greater resistance from the accumulated water, which may cause deformation or breakage.

[0068] The vehicle control device comprehensively evaluates the vehicle's environment based on the vehicle's driving status information and environmental information, and determines whether the vehicle is currently in a wading state or is about to be in a wading state, and then controls the vehicle to reduce the resistance of the silicone oil fan blades.

[0069] S103: When it is determined that the vehicle is at risk of wading, adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce its rotation speed.

[0070] Specifically, it is necessary to ensure that the silicone oil fan after reducing the speed can meet the basic heat dissipation requirements of the engine.

[0071] When the vehicle is at risk of wading through water, adjust the vehicle's suspension height to raise the silicone oil fan and keep it as far away from the water surface as possible, or reduce the immersion depth of the silicone oil fan as much as possible to reduce the resistance of the silicone oil fan blades from the accumulated water; at the same time, reduce the speed of the silicone oil fan. The speed of the silicone oil fan is no longer controlled based on the engine speed and engine water temperature. Instead, the speed of the silicone oil fan is reduced by controlling the silicone oil flow rate, thereby slowing down the relative speed of the silicone oil fan blades in contact with the accumulated water, and further reducing the impact force of the silicone oil fan blades from the accumulated water.

[0072] Optionally, controlling the silicone oil fan to reduce its speed includes: controlling the silicone oil fan to rotate at a minimum speed. The minimum speed of the silicone oil fan is related to the current engine speed, the minimum speed of the silicone oil fan and the engine speed meet a preset speed ratio, and meet the basic heat dissipation requirements of the engine.

[0073] The disclosed embodiment obtains driving state information and environmental information of a vehicle, wherein the vehicle is equipped with a silicone oil fan; determines whether the vehicle is at risk of wading according to the driving state information and the environmental information; when it is determined that the vehicle is at risk of wading, adjusts the suspension height of the vehicle and controls the silicone oil fan to reduce its rotation speed; by obtaining the driving state information and external environmental information of the vehicle, comprehensively determines whether the current driving condition of the vehicle is at risk of wading, and when the vehicle is at risk of wading, adjusts the suspension height of the vehicle to raise the silicone oil fan to reduce the resistance of the silicone oil fan blades from the accumulated water, and reduces the rotation speed of the silicone oil fan, thereby further reducing the impact force of the silicone oil fan blades from the accumulated water, and minimizing the risk of the silicone oil fan blades breaking and deforming due to wading.

[0074] In some embodiments, the driving status information includes a vehicle tilt angle; determining whether the vehicle is at risk of wading based on the driving status information and the environmental information includes: determining the slope and uphill and downhill states of the road section on which the vehicle is located based on the vehicle tilt angle; when the slope is greater than a preset slope threshold and the vehicle is in a downhill state, determining whether the vehicle is at risk of wading based on the environmental information.

[0075] Optionally, in the step of obtaining the vehicle's driving status information, obtaining the vehicle's tilt angle includes: obtaining data from the vehicle's lateral and longitudinal acceleration sensors, obtaining the vehicle's acceleration in the vertical and horizontal directions, and obtaining the vehicle's tilt angle, that is, the slope of the road section where the vehicle is located.

[0076] Optionally, in the step of acquiring the driving state information of the vehicle, acquiring the vehicle's inclination angle includes: directly acquiring the vehicle's inclination angle, that is, the slope of the road section where the vehicle is located, through a slope sensor.

[0077] When the vehicle's slope value is greater than a preset slope threshold, the vehicle is considered to be in an uphill or downhill state.

[0078] When the vehicle is in a downhill state, if the vehicle is not currently in a wading state, it may also enter a wading state at the bottom of the slope where water accumulates.

[0079] Specifically, whether the vehicle is at risk of wading includes whether the vehicle is currently in a wading state, or whether there is a flooded section in the direction of travel of the vehicle.

[0080] One possible scenario is that the vehicle control device obtains the current wading depth of the vehicle through the wading depth sensor, and then determines whether the vehicle is currently in a wading state. When the wading depth of the vehicle is greater than a wading depth threshold, it is determined that the vehicle is in a wading state; correspondingly, when the wading depth of the vehicle is less than or equal to the wading depth threshold, it is determined that the vehicle is not in a wading state.

[0081] Optionally, the wading depth sensors are wading depth sensors for rearview mirrors on both sides of the vehicle body. Further, when the wading depth of the vehicle obtained by any of the rearview mirror wading depth sensors is greater than a wading depth threshold, it is determined that the vehicle is in a wading state; correspondingly, when the wading depth of the vehicle obtained by the rearview mirror wading depth sensors on both sides of the vehicle body is less than or equal to the wading depth threshold, it is determined that the vehicle is not in a wading state.

[0082] Furthermore, when the vehicle is in a wading state, the severity of the vehicle wading is determined, and different vehicle control strategies are executed according to the severity of the vehicle wading.

[0083] Specifically, when the wading depth of the vehicle is greater than a first preset depth, the front air suspension of the vehicle is controlled to rise, the rear air suspension is controlled to rise, and the rotation speed of the silicone oil fan is controlled to decrease.

[0084] When the vehicle's wading depth is greater than the first preset depth, it means that the vehicle's wading degree is serious. At this time, the front and rear air suspensions of the vehicle need to be raised to raise the silicone oil fan as much as possible, while controlling the silicone oil fan to reduce its speed.

[0085] Alternatively, when the vehicle is in a wading state but the wading depth of the vehicle is less than or equal to a first preset depth, the front air suspension of the vehicle is controlled to rise, and the silicone oil fan is controlled to reduce its rotation speed.

[0086] When the vehicle's wading depth is less than or equal to the first preset depth, it means that the vehicle's wading degree is normal. At this time, the front air suspension of the vehicle is raised, the silicone oil fan is raised to a certain extent, and the silicone oil fan is controlled to reduce its speed.

[0087] Another possible scenario is that the vehicle control device obtains road condition information in the direction of the vehicle's travel through sensors such as the vehicle's front-view camera and lidar. If it is identified based on the road condition information that there is a flooded section in the direction of the vehicle's travel, it is determined that the vehicle is about to pass through the flooded section and the vehicle is at risk of wading. Alternatively, if it is identified based on the road condition information that there is no flooded section in the direction of the vehicle's travel, it is determined that the vehicle will not pass through the flooded section in a short time and the vehicle is not at risk of wading.

[0088] Specifically, taking the vehicle's front-view camera as an example, the vehicle control device collects image data of the road scene in real time through the front-view camera, and pre-processes the collected images, including compression, grayscale, noise filtering, and image enhancement, to improve image quality and facilitate subsequent water accumulation detection. The pre-processed image is input into a trained deep learning model (such as a convolutional neural network, CNN), and the model outputs a segmentation result map of the water accumulation area. By detecting the brightness of the water accumulation area in the segmentation result map, the image area with brightness higher than the set threshold is filtered out to exclude high-brightness areas that may be road reflections rather than water accumulation areas. If there is a water accumulation area, it is determined that there is a water accumulation section in the direction of vehicle travel.

[0089] Optionally, the point cloud data of the vehicle environment information generated by the laser radar is combined to filter out the point cloud data of the waterlogged area to further improve the accuracy of identifying the waterlogged area.

[0090] When it is identified according to the road condition information that there is a flooded section in the direction of travel of the vehicle, the suspension height of the vehicle is adjusted and the rotation speed of the silicone oil fan is controlled to reduce, including: controlling the front air suspension of the vehicle to rise, the rear air suspension to lower, and controlling the rotation speed of the silicone oil fan to reduce.

[0091] When there is a flooded section in the direction of the vehicle's travel, it means that the vehicle is about to enter a wading state. When the vehicle enters a wading state from a non-wading state, the blades of the silicone oil fan will be subjected to a greater impact force at the moment of entering the water surface, which will also bring a higher risk of blade breakage or deformation. Therefore, when the vehicle is in a downhill state, even if the vehicle is not currently in a wading state, the vehicle control device will predict the possible wading risks in the future based on environmental information to prevent possible blade damage to the silicone oil fan at the moment of entering the water.

[0092] Therefore, before the vehicle enters the wading state, the front air suspension of the vehicle is controlled to rise and the rear air suspension is lowered in advance to reduce the impact force of the silicone oil fan blades when entering the water surface.

[0093] Based on the above embodiment, when it is determined that the vehicle is in a wading state or is about to enter a wading state, the current wading depth of the vehicle is monitored in real time; the rotation speed of the silicone oil fan is determined according to the wading depth, and the rotation speed of the silicone oil fan is proportional to the wading depth.

[0094] The deeper the wading depth, the lower the corresponding silicone oil fan speed; correspondingly, when the wading depth is lower, the higher the silicone oil fan speed.

[0095] During the wading process of the vehicle, the deeper the wading depth, the deeper the silicone oil fan blades enter the water, and the greater the impact force on the silicone oil fan blades by water. In this case, gradually reducing the speed of the silicone oil fan as the wading depth increases can further reduce the impact on the silicone oil fan blades.

[0096] Correspondingly, when the vehicle is in the process of exiting the wading area, the wading depth of the vehicle decreases as the wading time increases, and the silicone oil fan is controlled to increase the speed to meet the vehicle's heat dissipation needs as much as possible.

[0097] The disclosed embodiment dynamically adjusts the rotation speed of the silicone oil fan based on the wading depth of the vehicle. The deeper the wading depth, the slower the rotation speed of the silicone oil fan, thereby making the rotation speed of the silicone oil fan more in line with the current wading condition and further reducing the impact force of water on the silicone oil fan under the wading condition. At the same time, the rotation speed of the silicone oil fan is timely increased when the wading depth gradually decreases, thereby improving the heat dissipation performance while protecting the blades from deformation, thereby taking into account the needs of both hardware protection and heat dissipation.

[0098] Figure 2 A flow chart of a vehicle control method provided by an embodiment of the present disclosure is as follows: Figure 2 As shown, in the above embodiment, when the vehicle is in a downhill state, the vehicle control method includes the following steps:

[0099] S201. Obtain vehicle driving status information and environmental information.

[0100] The driving state information of the vehicle includes at least the vehicle tilt angle and the vehicle wading depth; the environmental information includes at least the road condition information in the driving direction of the vehicle.

[0101] S202: Determine, based on the vehicle's tilt angle, whether the vehicle is in a downhill state.

[0102] S203: Obtain road condition information in the direction of vehicle travel.

[0103] S204: Determine whether the vehicle is about to pass through a flooded section based on the road condition information. If yes, execute S205; if no, execute S201.

[0104] S205: Obtain the wading depth of the vehicle.

[0105] S206: Determine the vehicle's wading status and wading severity.

[0106] If the vehicle is not in a wading state, execute S207;

[0107] If the vehicle is in a wading state and the wading depth of the vehicle is less than or equal to the first preset depth, execute S208;

[0108] If the vehicle is in a wading state and the wading depth of the vehicle is greater than the first preset depth, execute S209.

[0109] S207: Control the front air suspension of the vehicle to rise and the rear air suspension to fall, so as to raise the silicone oil fan.

[0110] S208. Control the front air suspension of the vehicle to rise so as to raise the silicone oil fan.

[0111] S209: Control the front air suspension and the rear air suspension of the vehicle to raise, so as to raise the silicone oil fan.

[0112] S210: Instead of controlling the speed of the silicone oil fan according to the engine speed and the engine water temperature, the speed of the silicone oil fan is reduced by controlling the silicone oil flow rate.

[0113] The disclosed embodiment executes corresponding vehicle control strategies according to the wading state and wading depth of the vehicle when the vehicle is in a downhill state, and raises the front air suspension in advance and lowers the rear air suspension when the vehicle is not wading but is about to wade, so as to alleviate the impact force on the silicone oil fan at the moment of entering the water, while ensuring the stability of the vehicle when rushing down the slope; raises the front and rear air suspensions in extreme wading conditions to raise the silicone oil fan and improve the off-road wading capability of the vehicle; raises the front air suspension in normal wading conditions to raise the silicone oil fan and reduce the resistance on the silicone oil fan; and controls the silicone oil fan to reduce its rotation speed at the same time, so as to further alleviate the stress on the silicone oil fan and avoid the silicone oil fan from being broken or deformed as much as possible.

[0114] In some embodiments, the driving state information includes a vehicle tilt angle and a vehicle wading depth. Determining whether the vehicle has a wading risk based on the driving state information and the environmental information includes: determining the slope of the road section where the vehicle is located and the uphill and downhill states based on the vehicle tilt angle; when the slope is less than or equal to a preset slope threshold and the wading depth is greater than a second preset depth, determining that the vehicle has a wading risk.

[0115] When the slope is less than or equal to the preset slope threshold, it means that the vehicle is currently traveling on a relatively flat road section. At this time, when the vehicle's wading depth is greater than the second preset depth, it is determined that the vehicle is at risk of wading.

[0116] The second preset depth is smaller than the first preset depth.

[0117] Alternatively, determining whether the vehicle is at risk of wading based on the driving status information and the environmental information also includes: when the slope is greater than a preset slope threshold, the vehicle is in an uphill state, and the wading depth is greater than a third preset depth, determining that the vehicle is at risk of wading.

[0118] When the slope is greater than the preset slope threshold, it is necessary to further determine whether the vehicle is in an uphill state or a downhill state based on the positive or negative slope. If the vehicle is in an uphill state and the wading depth of the vehicle is greater than the third preset depth, it is determined that there is a wading risk in the vehicle.

[0119] The third preset depth is smaller than the second preset depth.

[0120] That is, the first preset depth is greater than the second preset depth, and the second preset depth is greater than the third preset depth.

[0121] Based on the above embodiment, when it is determined that the vehicle is at risk of wading, the suspension height of the vehicle is adjusted and the rotation speed of the silicone oil fan is controlled to reduce, including: when it is determined that the vehicle is at risk of wading, the front air suspension of the vehicle is controlled to rise, and the rotation speed of the silicone oil fan is controlled to reduce.

[0122] When the vehicle is traveling on a flat road and the wading depth is greater than a second preset depth, or when the vehicle is traveling on an uphill section and the wading depth is greater than a third preset depth, it is considered that the vehicle is at risk of wading. At this time, the front air suspension of the vehicle is controlled to rise to raise the silicone oil fan, and the silicone oil fan is controlled to reduce its speed.

[0123] Figure 3 A flow chart of a vehicle control method provided by an embodiment of the present disclosure is as follows: Figure 3 As shown, in the above embodiment, when the vehicle is in an uphill state, the vehicle control method includes the following steps:

[0124] S301. Obtain driving status information of the vehicle.

[0125] The driving status information of the vehicle includes at least the vehicle tilt angle and the vehicle wading depth.

[0126] S302: Determine, based on the vehicle's tilt angle, whether the vehicle is in an uphill state.

[0127] S303: Determine whether the wading depth of the vehicle is greater than a third preset depth. If so, execute S304; if not, execute S301.

[0128] S304, controlling the front air suspension of the vehicle to rise, and controlling the silicone oil fan to reduce its rotation speed.

[0129] The disclosed embodiment adopts a strategy of controlling the front air suspension of the vehicle to rise and controlling the silicone oil fan to reduce its rotation speed when the vehicle is traveling on a flat road or uphill and the wading depth exceeds a threshold, thereby raising the silicone oil fan to reduce the resistance of the accumulated water to the fan and reducing the impact force of the accumulated water when the blades rotate, thereby minimizing the risk of the silicone oil fan blades breaking and deforming due to wading.

[0130] In addition, the disclosed embodiment sets different wading depth judgment values ​​for the vehicle in an uphill state, driving on a flat road, and downhill state, so that the vehicle wading judgment can be adapted to different working conditions, thereby accurately identifying the vehicle's wading state and taking corresponding measures in an uphill state, driving on a flat road, and downhill state, thereby improving the flexibility and accuracy of the vehicle control method.

[0131] Based on the above embodiment, when the slope is less than or equal to a preset slope threshold and the wading depth is greater than a second preset depth, after adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the speed, the method also includes: when the driving speed of the vehicle is less than a preset speed threshold, obtaining the water temperature of the engine; when the water temperature is higher than a preset temperature threshold, determining the increase in silicone oil flow rate based on the difference between the water temperature and the preset temperature threshold; increasing the silicone oil flow rate of the silicone oil fan based on the increase in silicone oil flow rate to increase the speed of the silicone oil fan.

[0132] If the slope is less than or equal to the preset slope threshold and the wading depth is greater than the second preset depth, it means that the vehicle is currently traveling on a flat road and there is a risk of wading. At this time, after adjusting the vehicle suspension and the speed of the silicone oil fan, the speed of the silicone oil fan is further increased appropriately based on the vehicle speed and the engine water temperature.

[0133] The vehicle control device monitors the vehicle's driving speed. When the driving speed is greater than or equal to the preset speed threshold, the vehicle speed is high and the air intake volume is relatively large, thereby taking away part of the heat generated by the engine. Even if the silicone oil fan speed is low, it can still meet the vehicle's heat dissipation needs. At this time, the silicone oil fan is still kept at a reduced speed; when the driving speed is less than the preset speed threshold, the vehicle speed is low and the air intake volume is relatively small, and the effect of taking away the heat generated by the engine is limited. At this time, the silicone oil fan is still fixed at a reduced speed and may not be able to meet the vehicle's heat dissipation needs. The speed of the silicone oil fan is increased according to the extent that the engine water temperature exceeds the preset temperature threshold to meet the vehicle's heat dissipation needs.

[0134] Specifically, when the engine water temperature is higher than a preset temperature threshold, the greater the difference between the engine water temperature and the preset temperature threshold, the greater the increase in silicone oil flow, thereby increasing the speed of the silicone oil fan.

[0135] Optionally, the increase in silicone oil flow rate is calculated as follows:

[0136] P=a*(T1-T0)

[0137] Among them, P is the increase in silicone oil flow, a is the preset coefficient, T1 is the water temperature of the engine, and T0 is the preset temperature threshold.

[0138] The preset coefficient is used to introduce the correlation between silicone oil temperature and viscosity to correct the change in power provided to the silicone oil fan caused by changes in viscosity due to different silicone oil temperatures, so that the increase in silicone oil flow is proportional to the difference between the water temperature and the preset temperature threshold. Increasing the corresponding silicone oil flow increase can increase the speed of the silicone oil fan.

[0139] Figure 4 A flow chart of a vehicle control method provided by an embodiment of the present disclosure is as follows: Figure 4 As shown, in the above embodiment, when the vehicle is in a flat road driving state, the vehicle control method includes the following steps:

[0140] S401. Obtain driving status information of the vehicle.

[0141] The driving status information of the vehicle includes at least the vehicle tilt angle and the vehicle wading depth.

[0142] S402: Determine, based on the vehicle's tilt angle, whether the vehicle is in a flat road driving state.

[0143] S403: Determine whether the wading depth of the vehicle is greater than a third preset depth. If so, execute S404; if not, execute S401.

[0144] S404, controlling the front air suspension of the vehicle to rise, and controlling the silicone oil fan to reduce its rotation speed.

[0145] S405: Detect the driving speed of the vehicle.

[0146] S406: Determine whether the vehicle's driving speed is less than a preset speed threshold. If so, execute S407; if not, execute S401;

[0147] S407: Obtain the water temperature of the engine.

[0148] S408: Determine whether the water temperature of the engine is higher than a preset temperature threshold. If yes, execute S409; if no, execute S401.

[0149] S409, determining an increase in silicone oil flow rate according to a difference between the water temperature and a preset temperature threshold, and increasing the silicone oil flow rate of the silicone oil fan based on the increase in silicone oil flow rate to increase a rotation speed of the silicone oil fan.

[0150] The disclosed embodiment monitors the engine water temperature by adjusting the suspension state and reducing the speed of the silicone oil fan when the vehicle is traveling on a flat road and in a wading state. When the engine water temperature is too high, the silicone oil flow rate is appropriately increased to increase the speed of the silicone oil fan, while the silicone oil fan is kept at a low speed as much as possible. This can reduce the possibility of damage to the silicone oil fan blades while meeting the vehicle's heat dissipation needs, thereby improving the stability and flexibility of the vehicle control method.

[0151] In some embodiments, the vehicle control method includes the following steps:

[0152] Step 1: The vehicle is in the engine starting state.

[0153] Step 2: The vehicle control device monitors the vehicle driving status.

[0154] Step 3: The vehicle control device monitors the vehicle's lateral and longitudinal acceleration sensors to determine the vehicle's climbing slope i.

[0155] Step 4: The vehicle control device determines whether the slope i is less than or equal to a preset slope threshold.

[0156] Optionally, the preset slope threshold is 3%.

[0157] Step 5: If yes, it means that the vehicle is traveling on a relatively flat road.

[0158] Step 6: The vehicle control device monitors the wading depth sensors of the rearview mirrors on both sides of the vehicle body to determine the wading state and the wading depth L1.

[0159] Step 7: The vehicle control device determines whether the vehicle is in a wading state, and whether the wading depth L1 is less than or equal to N1.

[0160] Step 8: If no, this strategy is not executed when the vehicle is not in a wading state.

[0161] Step 9: If yes, the vehicle is in a wading state, and the wading depth L1 is less than or equal to N1.

[0162] Step 10, the vehicle control device executes according to the original strategy, that is, when the vehicle is not in a wading state, this strategy is not executed.

[0163] Step 11, the vehicle control device jumps to step 2 for execution.

[0164] Step 12, following step 7, if no, when the vehicle is in a wading state, and the wading depth L1 is greater than N1;

[0165] Step 13, the vehicle control device controls the front air suspension of the vehicle to rise, so that the vehicle cabin is raised, and the silicone oil fan is lifted.

[0166] Step 14, the vehicle control device controls the electronically controlled silicone oil fan to no longer be controlled according to the engine speed and the engine water temperature, etc. The vehicle control device controls the silicone oil flow rate to achieve the silicone oil fan running at the minimum speed n1.

[0167] Step 15: The vehicle control device monitors the vehicle's driving speed V1.

[0168] Step 16: The vehicle control device determines whether the driving speed V1 is greater than or equal to a preset speed threshold.

[0169] Optionally, the preset speed threshold is 20km / h.

[0170] Step 17: If yes, maintain the driving strategy of steps 13-14 until the wading depth L1 is less than or equal to N1 or the vehicle is no longer wading.

[0171] Step 18, the vehicle control device executes according to step 2.

[0172] Step 19, following step 16, if no, the vehicle control device monitors the engine water temperature T1;

[0173] Step 20 : The vehicle control device determines whether the engine water temperature T1 is less than or equal to a preset temperature threshold.

[0174] Optionally, the preset temperature threshold is 105°C.

[0175] Step 21, if yes, the vehicle control device executes according to step 17.

[0176] Step 22, following step 20, if not, the vehicle control device controls the silicone oil flow to increase, so as to increase the speed of the silicone oil fan.

[0177] Taking the preset temperature threshold of 105°C as an example, the calculation method for the increase in silicone oil flow is:

[0178] P=a*(T1-105)

[0179] Step 23, the vehicle control device executes according to step 2.

[0180] Step 24, following step 4, if no, and it is further determined that the vehicle is in an uphill state;

[0181] Step 25, the vehicle control device monitors the wading depth sensors of the rearview mirrors on both sides of the vehicle body, determines the wading state and determines the wading depth L2 in combination with the slope.

[0182] Step 26, the vehicle control device determines whether the vehicle is in a wading state, and the wading depth L2 is less than or equal to N2;

[0183] Step 27, if no, when the vehicle is not in a wading state, the vehicle control device executes according to step 8;

[0184] Step 28, if yes, the vehicle is in a wading state and the wading depth L2 is less than or equal to N2, then execute according to step 10.

[0185] Step 29, if no, when the vehicle is in a wading state and the wading depth L2 is greater than N2;

[0186] Step 30, the vehicle control device controls the front air suspension of the vehicle to rise, so that the silicone oil fan is raised.

[0187] Step 31, execute according to step 2;

[0188] Step 32, followed by step 4, if no, and it is further determined that the vehicle is in a downhill state;

[0189] Step 33, the vehicle control device monitors the vehicle driving status and the vehicle-mounted camera;

[0190] Step 34, the vehicle control device determines whether the vehicle will be in a water-crossing off-road scenario based on the front road condition information collected by the vehicle-mounted camera.

[0191] Step 35: If no, this strategy is not executed.

[0192] Step 36, if yes, the vehicle control device monitors the wading depth sensors of the rearview mirrors on both sides of the vehicle body, determines the wading state and determines the wading depth L3 in combination with the slope.

[0193] Step 37: The vehicle control device determines whether the vehicle is in a wading state, and whether the wading depth L3 is less than or equal to N3.

[0194] Step 38: If yes, the vehicle is in a wading state and the wading depth L3 is less than or equal to N3.

[0195] Step 39, the vehicle control device controls the front air suspension of the vehicle to rise, so that the silicone oil fan is raised.

[0196] Step 40, the vehicle control device controls the electronically controlled silicone oil fan to no longer be controlled according to the engine speed and the engine water temperature, etc. The vehicle control device controls the silicone oil flow rate to achieve the silicone oil fan running at the minimum speed n1.

[0197] Step 41, the vehicle control device executes according to step 2.

[0198] Step 42, followed by step 38, if no, when the vehicle is not in a wading state;

[0199] Step 43, the vehicle control device controls the front air suspension of the vehicle to rise and the rear air suspension to lower, so as to raise the silicone oil fan, and then executes according to step 40.

[0200] Step 44, followed by step 38, if no, the vehicle is in a wading state and the wading depth L3 is greater than N3;

[0201] Step 45 , the vehicle control device controls the front air suspension of the vehicle to rise, the rear air suspension to rise, and the silicone oil fan to rise, and then executes according to step 40 .

[0202] Optionally, the relationship among the above N1, N2, and N3 is:

[0203] N2 <N1<N3

[0204] The disclosed embodiments use the vehicle's lateral and longitudinal acceleration sensors, wading depth sensors, on-board cameras, engine water temperature, vehicle speed signals, etc. to control the vehicle's air suspension lifting and lowering, electronically control the silicone oil flow, etc. when the vehicle passes through a wading scene, so as to raise the vehicle's driving chassis and reduce the speed of the silicone oil fan, thereby avoiding the risk of water flow impacting the fan when wading, and minimizing the risk of water leakage in the radiator core caused by the breakage and deformation of the silicone oil fan blades.

[0205] It can be understood that in any of the above embodiments, there are no specific requirements for the size, structure, model, power and other parameters of the components used; there are no specific requirements for the calibration values, and the specific values ​​are determined by calibration tests or expert experience; there are no specific name constraints on the vehicle control equipment, as long as it can realize its control function; there are no specific requirements for the order of collaborative work in each step, as long as it can realize the function of the whole vehicle; there are no specific requirements for the specific transmission path and signal name of each signal, as long as it can realize its corresponding function; there are no specific requirements for the layout of each sensor, and the method of acquiring each sensor data can be direct acquisition or indirect acquisition through calculation and other methods.

[0206] Figure 5 The schematic diagram of the structure of the vehicle control device provided in the embodiment of the present disclosure. The vehicle control device may be the vehicle control device as described in the above embodiment, or the vehicle control device may be a component or assembly in the vehicle control device. The processing flow provided in the vehicle control device vehicle control method embodiment of the present disclosure is as follows: Figure 5As shown, the vehicle control device 50 includes: an acquisition module 51, a determination module 52, and a control module 53; the acquisition module 51 is used to acquire driving state information and environmental information of the vehicle, and the vehicle is equipped with a silicone oil fan; the determination module 52 is used to determine whether the vehicle has a risk of wading according to the driving state information and the environmental information; the control module 53 is used to adjust the suspension height of the vehicle and control the silicone oil fan to reduce the speed when it is determined that the vehicle has a risk of wading.

[0207] Optionally, the driving status information includes the vehicle's tilt angle; the determination module 52 includes a first determination unit 521 and a second determination unit 522; the first determination unit 521 is used to determine the slope of the road section on which the vehicle is located and the uphill and downhill status according to the vehicle's tilt angle; the second determination unit 522 is used to determine whether the vehicle has a risk of wading according to the environmental information when the slope is greater than a preset slope threshold and the vehicle is in a downhill state.

[0208] Optionally, the driving status information includes the vehicle's wading depth, and the environmental information includes road condition information in the direction of vehicle travel; the vehicle's wading risk includes the vehicle being in a wading state, or the vehicle is about to pass through a wading section; the second determination unit 522 is used to determine that the vehicle is in a wading state based on the vehicle's wading depth; or, when it is identified according to the road condition information that there is a flooded section in the direction of vehicle travel, determine that the vehicle is about to pass through the wading section.

[0209] Optionally, the control module 53 includes a first control unit 531, which is used to control the front air suspension of the vehicle to rise, the rear air suspension to rise, and the silicone oil fan to reduce the speed when the wading depth of the vehicle is greater than a first preset depth; or, when the wading depth of the vehicle is less than or equal to the first preset depth, control the front air suspension of the vehicle to rise, and control the silicone oil fan to reduce the speed.

[0210] Optionally, the control module 53 includes a second control unit 532, which is used to control the front air suspension of the vehicle to rise, the rear air suspension to fall, and control the silicone oil fan to reduce its rotation speed.

[0211] Optionally, the driving status information includes the vehicle's tilt angle and the vehicle's wading depth; the second determination unit 522 is also used to determine that the vehicle is at risk of wading when the slope is less than or equal to a preset slope threshold and the wading depth is greater than a second preset depth; or, when the slope is greater than the preset slope threshold, the vehicle is in an uphill state, and the wading depth is greater than a third preset depth, determine that the vehicle is at risk of wading.

[0212] Optionally, the control module 53 includes a third control unit 533, which is used to control the front air suspension of the vehicle to rise and control the silicone oil fan to reduce its rotation speed when it is determined that the vehicle has a risk of wading.

[0213] Optionally, the vehicle control device 50 also includes a temperature monitoring module 54; the temperature monitoring module 54 includes an acquisition unit 541, a third determination unit 542, and a flow increasing unit 543; the acquisition unit 541 is used to acquire the water temperature of the engine when the driving speed of the vehicle is less than a preset speed threshold; the third determination unit 542 is used to determine the increase in silicone oil flow according to the difference between the water temperature and the preset temperature threshold when the water temperature is higher than the preset temperature threshold; the flow increasing unit 543 is used to increase the silicone oil flow of the silicone oil fan based on the increase in silicone oil flow to increase the rotation speed of the silicone oil fan.

[0214] Figure 5 The vehicle control device of the illustrated embodiment can be used to execute the technical solution of the above-mentioned method embodiment, and its implementation principle and technical effect are similar and will not be repeated here.

[0215] Figure 6 A schematic diagram of the structure of a vehicle provided by an embodiment of the present disclosure. For example, Figure 6 As shown, the vehicle 600 includes: a memory 601 and a processor 602, wherein the memory 601 stores an executable program code 6011, and the processor 602 is used to call and execute the executable program code 6011 to perform a vehicle control method.

[0216] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0217] In the case of dividing each functional module according to each function, the vehicle may include: an acquisition module, a determination module, a control module, a temperature monitoring module, and the like.

[0218] Among them, the acquisition module is used to obtain the vehicle's driving status information and environmental information, and the vehicle is equipped with a silicone oil fan; the determination module is used to determine whether the vehicle has a risk of wading according to the driving status information and the environmental information; the control module is used to adjust the suspension height of the vehicle and control the silicone oil fan to reduce the speed when it is determined that the vehicle has a risk of wading.

[0219] Optionally, the driving status information includes a vehicle tilt angle; the determination module includes a first determination unit and a second determination unit; the first determination unit is used to determine the slope of the road section where the vehicle is located and the uphill and downhill status according to the vehicle tilt angle; the second determination unit is used to determine whether the vehicle has a water wading risk according to the environmental information when the slope is greater than a preset slope threshold and the vehicle is in a downhill state.

[0220] Optionally, the driving status information includes the vehicle's wading depth, and the environmental information includes road condition information in the direction of vehicle travel; the vehicle's wading risk includes the vehicle being in a wading state, or the vehicle is about to pass through a wading section; the second determination unit is used to determine that the vehicle is in a wading state based on the vehicle's wading depth; or, when it is identified according to the road condition information that there is a flooded section in the direction of vehicle travel, determine that the vehicle is about to pass through the wading section.

[0221] Optionally, the control module includes a first control unit, which is used to control the front air suspension of the vehicle to rise, the rear air suspension to rise, and the silicone oil fan to reduce the speed when the wading depth of the vehicle is greater than a first preset depth; or, when the wading depth of the vehicle is less than or equal to the first preset depth, control the front air suspension of the vehicle to rise, and control the silicone oil fan to reduce the speed.

[0222] Optionally, the control module includes a second control unit for controlling the front air suspension of the vehicle to rise, the rear air suspension to fall, and controlling the silicone oil fan to reduce its rotation speed.

[0223] Optionally, the driving status information includes the vehicle's tilt angle and the vehicle's wading depth; the second determination unit is also used to determine that the vehicle is at risk of wading when the slope is less than or equal to a preset slope threshold and the wading depth is greater than a second preset depth; or, when the slope is greater than the preset slope threshold, the vehicle is in an uphill state, and the wading depth is greater than a third preset depth, determine that the vehicle is at risk of wading.

[0224] Optionally, the control module includes a third control unit for controlling the front air suspension of the vehicle to rise and controlling the silicone oil fan to reduce its rotation speed when it is determined that the vehicle is at risk of wading.

[0225] Optionally, the vehicle control device also includes a temperature monitoring module; the temperature monitoring module includes an acquisition unit, a third determination unit, and a flow increasing unit; the acquisition unit is used to acquire the water temperature of the engine when the driving speed of the vehicle is less than a preset speed threshold; the third determination unit is used to determine the increase in silicone oil flow according to the difference between the water temperature and the preset temperature threshold when the water temperature is higher than the preset temperature threshold; the flow increasing unit is used to increase the silicone oil flow of the silicone oil fan based on the increase in silicone oil flow to increase the speed of the silicone oil fan.

[0226] Figure 7 Schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. The electronic device may be the vehicle control device described in the above embodiment. The electronic device provided in an embodiment of the present disclosure may execute the processing flow provided in an embodiment of the vehicle control method, such as Figure 7 As shown, the electronic device 70 includes: a memory 71, a processor 72, a computer program and a communication interface 73; wherein the computer program is stored in the memory 71 and is configured so that the processor 72 executes the vehicle control method as described above.

[0227] The memory 71 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created according to the use of the vehicle, etc. In addition, the memory 71 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 71 may optionally include a memory remotely arranged relative to the processor 72, and these remote memories may be connected to the terminal device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0228] This embodiment also provides a computer-readable storage medium, which stores computer program code (including but not limited to disk storage, CD-ROM, optical storage, etc.). When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided in the above embodiment.

[0229] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. The computer program is executed by a processor to implement the vehicle control method described in the above embodiment.

[0230] For example, the computer program is executed by the processor to achieve: obtaining driving status information and environmental information of a vehicle, the vehicle being equipped with a silicone oil fan; determining whether the vehicle is at risk of wading according to the driving status information and the environmental information; when it is determined that the vehicle is at risk of wading, adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the speed.

[0231] In addition, an embodiment of the present disclosure also provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the vehicle control method as described above is implemented.

[0232] For example, when the computer program or instruction is executed by the processor, it implements: obtaining driving status information and environmental information of a vehicle, the vehicle being equipped with a silicone oil fan; determining whether the vehicle has a risk of wading according to the driving status information and the environmental information; when it is determined that the vehicle has a risk of wading, adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the speed.

[0233] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0234] For example, when the computer program product runs on a computer, the computer executes the following: obtaining driving status information and environmental information of a vehicle, the vehicle being equipped with a silicone oil fan; determining whether the vehicle is at risk of wading according to the driving status information and the environmental information; and when it is determined that the vehicle is at risk of wading, adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce its rotation speed.

[0235] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0236] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0237] In the description of the present disclosure, it should be understood that the terms "up", "down", "front", "back", "left" and "right" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the positions or elements referred to must have specific directions, be constructed and operate in specific directions. Therefore, they should not be understood as limitations of the present disclosure.

[0238] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0239] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0240] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

[0241] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0242] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. It should also be noted that the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0243] The above are only embodiments of the present disclosure and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of the claims of the present disclosure.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquiring driving state information and environmental information of a vehicle, wherein the vehicle is equipped with a silicone oil fan; Determining whether the vehicle has a risk of wading according to the driving state information and the environmental information; When it is determined that the vehicle is at risk of wading, the suspension height of the vehicle is adjusted and the rotation speed of the silicone oil fan is controlled to decrease.

2. The method according to claim 1, characterized in that The driving state information includes a vehicle tilt angle; and determining whether the vehicle has a risk of wading according to the driving state information and the environmental information includes: Determine the slope and uphill and downhill conditions of the road section where the vehicle is located according to the vehicle tilt angle; When the slope is greater than a preset slope threshold and the vehicle is in a downhill state, it is determined whether the vehicle has a risk of wading according to the environmental information.

3. The method according to claim 2, characterized in that The driving state information includes the wading depth of the vehicle, and the environmental information includes the road condition information in the driving direction of the vehicle; the vehicle having a wading risk includes the vehicle being in a wading state, or the vehicle is about to pass through a wading section; When the slope of the vehicle is greater than a preset slope threshold and the vehicle is in a downhill state, determining whether the vehicle has a risk of wading includes: Determining that the vehicle is in a wading state according to the wading depth of the vehicle; or, When it is identified according to the road condition information that there is a flooded section in the direction of travel of the vehicle, it is determined that the vehicle is about to pass through the flooded section.

4. The method according to claim 3, characterized in that When it is determined that the vehicle is in a wading state, adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotation speed includes: When the wading depth of the vehicle is greater than a first preset depth, the front air suspension of the vehicle is controlled to rise, the rear air suspension is controlled to rise, and the silicone oil fan is controlled to reduce the rotation speed; or, When the wading depth of the vehicle is less than or equal to a first preset depth, the front air suspension of the vehicle is controlled to rise, and the rotation speed of the silicone oil fan is controlled to decrease.

5. The method according to claim 3, characterized in that: When it is identified according to the road condition information that there is a flooded road section in the direction of vehicle travel, adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotation speed, including: The front air suspension of the vehicle is controlled to rise, the rear air suspension is controlled to fall, and the rotation speed of the silicone oil fan is controlled to decrease.

6. The method according to claim 1, characterized in that The driving state information includes a vehicle tilt angle and a vehicle wading depth; and determining whether the vehicle has a wading risk according to the driving state information and the environmental information includes: Determine the slope and uphill and downhill conditions of the road section where the vehicle is located according to the vehicle tilt angle; When the slope is less than or equal to a preset slope threshold, and the wading depth is greater than a second preset depth, it is determined that the vehicle has a wading risk; or, When the slope is greater than a preset slope threshold, the vehicle is in an uphill state, and the wading depth is greater than a third preset depth, it is determined that the vehicle is at risk of wading.

7. The method according to claim 6, characterized in that When it is determined that the vehicle has a risk of wading, adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotation speed includes: When it is determined that the vehicle is at risk of wading, the front air suspension of the vehicle is controlled to rise, and the rotation speed of the silicone oil fan is controlled to decrease.

8. The method according to claim 6, characterized in that When the slope is less than or equal to a preset slope threshold and the wading depth is greater than a second preset depth, after adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotation speed, the method further includes: When the running speed of the vehicle is less than a preset speed threshold, obtaining the water temperature of the engine; When the water temperature is higher than a preset temperature threshold, determining the increase in silicone oil flow rate according to the difference between the water temperature and the preset temperature threshold; The silicone oil flow rate of the silicone oil fan is increased based on the increased amount of the silicone oil flow rate to increase the rotation speed of the silicone oil fan.

9. A vehicle control device, characterized in that: include: An acquisition module, used to acquire driving state information and environmental information of a vehicle, wherein the vehicle is equipped with a silicone oil fan; A determination module, configured to determine whether the vehicle has a risk of wading according to the driving state information and the environmental information; The control module is used to adjust the suspension height of the vehicle and control the silicone oil fan to reduce the rotation speed when it is determined that the vehicle has a risk of wading.

10. A vehicle, characterized in that: include: Memory; processor; The memory stores executable program code, and the processor is used to call and execute the executable program code to perform the method as described in any one of claims 1-8.

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