Vehicle control method, device and vehicle

Abstract

The present disclosure relates to the technical field of automatic control, and particularly relates to a vehicle control method and device and a vehicle. The method comprises: obtaining driving state information and environment information of the vehicle, wherein the vehicle is configured with a silicone oil fan; determining whether the vehicle has a risk of wading according to the driving state information and the environment information; when it is determined that the vehicle has the risk of wading, adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotating speed. The present disclosure determines whether the current driving condition of the vehicle has the risk of wading by comprehensively obtaining the driving state information and the external environment information of the vehicle, adjusts the suspension height of the vehicle when the vehicle has the risk of wading, so as to raise the silicone oil fan to reduce the resistance of the silicone oil fan blades from the accumulated water, and reduce the rotating speed of the silicone oil fan, further reduce the impact force of the silicone oil fan blades from the accumulated water, and minimize the risk of the silicone oil fan blade fracture and deformation due to wading.

Description

TECHNICAL FIELD

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

[0002] In recent years, with the rapid growth of China'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. Differentiated products represented by off-road vehicles have rapidly risen.

[0003] Silicone oil fans are a common heat dissipation configuration in off-road vehicles. The silicone oil fan is connected to the engine wheel system, and the flow of silicone oil of the silicone oil fan is usually controlled based on engine water temperature and other signals, so as to drive 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 and splashes 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 avoid the deformation or breakage of the silicone oil fan blades has become a problem to be solved in off-road vehicles. SUMMARY

[0005] To solve the above technical problems, the present disclosure provides a vehicle control method, device and vehicle to avoid the deformation or breakage of the silicone oil fan blades.

[0006] In a first aspect, the present disclosure provides a vehicle control method, comprising:

[0007] Obtaining driving state information and environment information of a vehicle, wherein the vehicle is configured with a silicone oil fan;

[0008] Determining whether the vehicle has a water crossing risk according to the driving state information and the environment information;

[0009] When it is determined that the vehicle has a water crossing risk, adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotation speed.

[0010] In some embodiments, the driving state information includes a vehicle inclination angle; and the determination of whether the vehicle has a water crossing risk according to the driving state information and the environment information comprises:

[0011] Determining the slope of the road section where the vehicle is located and the uphill or downhill state of the vehicle according to the vehicle inclination angle;

[0012] When the slope is greater than a preset slope threshold and the vehicle is in a downhill state, determining whether the vehicle has a water crossing risk according to the environment information.

[0013] In some embodiments, the driving state information comprises a water immersion depth of the vehicle, and the environment information comprises road condition information in a driving direction of the vehicle; the vehicle being at a water immersion risk comprises the vehicle being in a water immersion state, or the vehicle being about to pass through a water immersion road section; and the adjusting the suspension height of the vehicle and controlling the silicon oil fan to reduce the rotating speed comprises:

[0014] When a slope of a road on which the vehicle travels is greater than a preset slope threshold and the vehicle is in a downhill state, determining whether the vehicle is at a water immersion risk comprises:

[0015] According to the water immersion depth of the vehicle, determining that the vehicle is in a water immersion state; or,

[0016] When it is identified according to the road condition information that there is a waterlogged road section in the driving direction of the vehicle, determining that the vehicle is about to pass through a water immersion road section.

[0017] In some embodiments, when it is determined that the vehicle is in a water immersion state, the adjusting the suspension height of the vehicle and controlling the silicon oil fan to reduce the rotating speed comprises:

[0018] When the water immersion depth of the vehicle is greater than a first preset depth, controlling a front air suspension of the vehicle to be raised, a rear air suspension of the vehicle to be raised, and the silicon oil fan to reduce the rotating speed; or,

[0019] When the water immersion depth of the vehicle is less than or equal to the first preset depth, controlling the front air suspension of the vehicle to be raised, and the silicon oil fan to reduce the rotating speed.

[0020] In some embodiments, when it is identified according to the road condition information that there is a waterlogged road section in the driving direction of the vehicle, the adjusting the suspension height of the vehicle and controlling the silicon oil fan to reduce the rotating speed comprises:

[0021] Controlling the front air suspension of the vehicle to be raised, the rear air suspension of the vehicle to be lowered, and the silicon oil fan to reduce the rotating speed.

[0022] In some embodiments, the driving state information comprises a vehicle inclination angle and a water immersion depth of the vehicle; and the determining, according to the driving state information and the environment information, whether the vehicle is at a water immersion risk comprises:

[0023] According to the vehicle inclination angle, determining a slope of a road section on which the vehicle is located and an uphill or downhill state of the vehicle;

[0024] When the slope is less than or equal to a preset slope threshold and the water immersion depth is greater than a second preset depth, determining that the vehicle is at a water immersion risk; or,

[0025] When the slope is greater than the preset slope threshold, the vehicle is in an uphill state, and the water immersion depth is greater than a third preset depth, determining that the vehicle is at a water immersion risk.

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

[0027] controlling the front air suspension of the vehicle to rise and controlling the silicon oil fan to reduce the rotation speed when it is determined that the vehicle has a risk of wading.

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

[0029] obtaining the water temperature of the engine when the driving speed of the vehicle is less than a preset speed threshold;

[0030] determining a silicon oil flow increase amount according to a difference between the water temperature and a preset temperature threshold when the water temperature is higher than the preset temperature threshold;

[0031] increasing the silicon oil flow of the silicon oil fan based on the silicon oil flow increase amount to increase the rotation speed of the silicon oil fan.

[0032] In a second aspect, the embodiments of the present disclosure provide a vehicle control device, including:

[0033] an obtaining module configured to obtain driving state information and environmental information of a vehicle, the vehicle being configured with a silicon oil fan;

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

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

[0036] In a third aspect, the embodiments of the present disclosure provide a vehicle, including:

[0037] a memory;

[0038] a processor; and

[0039] a computer program;

[0040] wherein the memory stores executable program codes, and the processor is configured to invoke and execute the executable program codes to execute the method according to the first aspect.

[0041] The vehicle control method, device and vehicle provided by the embodiments of the present disclosure can obtain the driving state information and the external environment information of the vehicle, comprehensively determine whether the current driving condition of the vehicle has a risk of wading, and adjust the suspension height of the vehicle when the vehicle has a risk of wading, so as to raise the silicon oil fan to reduce the resistance of the silicon oil fan blade from the accumulated water, and reduce the rotating speed of the silicon oil fan, further reduce the impact force of the silicon oil fan blade from the accumulated water, and maximize the risk of the silicon oil fan blade breaking and deforming due to wading. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings, which are incorporated herein and constitute part of the 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 technical solutions in the embodiments of the present disclosure or the prior art, the drawings required to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0044] Figure 1 A vehicle control method flowchart provided by the embodiments of the present disclosure;

[0045] Figure 2 A vehicle control method flowchart provided by the embodiments of the present disclosure;

[0046] Figure 3 A vehicle control method flowchart provided by the embodiments of the present disclosure;

[0047] Figure 4 A vehicle control method flowchart provided by the embodiments of the present disclosure;

[0048] Figure 5 A vehicle control device structure schematic diagram provided by the embodiments of the present disclosure;

[0049] Figure 6 A vehicle structure schematic diagram provided by the embodiments of the present disclosure;

[0050] Figure 7 A vehicle structure schematic diagram provided by the embodiments of the present disclosure; DETAILED DESCRIPTION

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings required to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0052] Many specific details are set forth in the following description in order to provide a thorough understanding of the present disclosure. However, the present disclosure can be practiced according to other embodiments that do not require some of the specific details described below. Obviously, the description is only a part of the embodiments of the present disclosure, not all the embodiments.

[0053] In recent years, with the rapid growth of China's economy and the rapid development of the automobile industry, the demand of users has changed from the past single demand for cars to diversified demand, and the driving conditions of customers are becoming more and more complex. Differentiated products represented by off-road vehicles have rapidly risen, and more and more people have begun to use off-road vehicles to complete various challenges such as jungle off-road, muddy road challenge, water challenge, deep pit challenge, desert crossing, desert climbing, desert brushing, and desert escape.

[0054] The off-road vehicle electric control silicon oil fan is connected with the engine wheel system and driven by the engine wheel system, so the fan torque is large. The silicon oil flow of the electric control silicon oil fan is usually controlled based on engine water temperature and other signals, so the fan does not have a stall protection device like an electronic fan. When the off-road vehicle is in a water challenge or the vehicle is in a water condition, when the water level of the water challenge is high or the vehicle speed is high, the fan rotates and pushes water, and the fan blade is under great stress, which may cause the fan blade to break or the fan to deform, thereby scratching the radiator core and causing core water leakage and other faults.

[0055] To solve the above problems, the present embodiment provides a vehicle control method, which will be described below in conjunction with specific embodiments.

[0056] Figure 1 The vehicle control method provided by the present embodiment is shown in the flowchart. The method can be applied to a vehicle control device, such as a car machine, a smart phone, a palm computer, a tablet computer, a wearable device with a display screen, a desktop computer, a notebook computer, an all-in-one machine, etc. It can be understood that the vehicle control method provided by the present embodiment can also be applied in other scenarios.

[0057] The vehicle control method shown in the flowchart will be described below, and the specific steps of the method are as follows: Figure 1

[0058] S101, obtain the driving state information and the environment information of the vehicle, wherein the vehicle is configured with a silicon oil fan.

[0059] The driving state information of the vehicle is various parameters of the vehicle in the current driving state, such as vehicle lateral and longitudinal acceleration sensor data, vehicle body side rearview mirror water depth sensor data, vehicle speed signal, engine water temperature information, vehicle driving slope information, etc.

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

[0061] The driving state information is monitored and analyzed by various sensors and controllers of the vehicle, providing comprehensive data for the control system of the vehicle.

[0062] The environmental information of the vehicle refers to the data related to the external conditions of the vehicle, which is used to help the vehicle control device determine the current driving scene and adjust the control strategy of the vehicle accordingly. For example, the laser radar, camera, etc. are used to obtain the information of obstacles and road conditions in the environment around the vehicle.

[0063] The silicone oil fan is a heat dissipation fan that uses silicone oil as a transmission medium. The viscous properties of silicone oil transmit the power of the engine to the fan, making the fan rotate to dissipate heat.

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

[0065] S102, determining whether the vehicle has a wading risk according to the driving state information and the environmental information.

[0066] Wherein, whether the vehicle has a wading risk includes 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 has a wading risk, it means that the silicone oil fan will soon come into contact with the accumulated water, and 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 a large resistance from the accumulated water, which is prone to deformation or breakage.

[0068] The vehicle control device comprehensively evaluates the environmental situation of the vehicle based on the driving state information and the environmental information of the vehicle, 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 on the blades of the silicone oil fan.

[0069] S103, when it is determined that the vehicle has a wading risk, adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the speed.

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

[0071] When the vehicle is at risk of water, the suspension height of the vehicle is adjusted to raise the silicone oil fan as far as possible from the water surface or to reduce the water immersion depth of the silicone oil fan as much as possible, so as to reduce the resistance of the silicone oil fan blades from the water; at the same time, the speed of the silicone oil fan is reduced, and the speed of the silicone oil fan is no longer controlled based on the engine speed and the engine water temperature, but is reduced by controlling the silicone oil flow, so as to slow down the relative speed of the silicone oil fan blades in the process of contacting with the water, and further reduce the impact force of the silicone oil fan blades from the water.

[0072] Optionally, the control of the silicone oil fan to reduce the speed includes: control of 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, and the minimum speed of the silicone oil fan satisfies a preset speed ratio with the engine speed and meets the basic heat dissipation requirement of the engine.

[0073] The embodiments of the present disclosure obtain the driving state information and the environmental information of the vehicle, the vehicle is configured with a silicone oil fan; determine whether the vehicle is at risk of water according to the driving state information and the environmental information; when it is determined that the vehicle is at risk of water, the suspension height of the vehicle is adjusted and the speed of the silicone oil fan is controlled to be reduced; by obtaining the driving state information and the external environmental information of the vehicle, it is comprehensively determined whether the current driving condition of the vehicle is at risk of water, when the vehicle is at risk of water, the suspension height of the vehicle is adjusted to raise the silicone oil fan to reduce the resistance of the silicone oil fan blades from the water, and the speed of the silicone oil fan is reduced to further reduce the impact force of the silicone oil fan blades from the water, thereby reducing the risk of fracture and deformation of the silicone oil fan due to water to the greatest extent.

[0074] In some embodiments, the driving state information includes a vehicle inclination angle; the determination of whether the vehicle is at risk of water according to the driving state information and the environmental information includes: determination of the slope of the road section where the vehicle is located and the uphill and downhill state of the vehicle according to the vehicle inclination angle; when the slope is greater than a preset slope threshold and the vehicle is in a downhill state, it is determined according to the environmental information whether the vehicle is at risk of water.

[0075] Optionally, in the step of obtaining the driving state information of the vehicle, the vehicle inclination angle is obtained by: obtaining the data of the vehicle lateral and longitudinal acceleration sensor to obtain the acceleration of the vehicle in the vertical and horizontal directions, and obtain the inclination angle of the vehicle, i.e. the slope of the road section where the vehicle is located.

[0076] Optionally, in the step of obtaining the driving state information of the vehicle, the vehicle inclination angle is obtained by: directly obtaining the inclination angle of the vehicle, i.e. the slope of the road section where the vehicle is located, by using a slope sensor.

[0077] When the slope value of the vehicle is greater than the preset slope threshold value, it is considered that the vehicle is 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 can also enter a wading state at a water accumulation at the bottom of the slope.

[0079] Specifically, whether the vehicle has a wading risk includes whether the vehicle is currently in a wading state, or whether there is a water accumulation section in the driving direction of the vehicle.

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

[0081] Optionally, the wading depth sensor is a wading depth sensor on the two side mirrors of the vehicle body. Further, when the vehicle wading depth obtained by any one of the wading depth sensors on the two side mirrors is greater than the wading depth threshold value, it is determined that the vehicle is in a wading state; correspondingly, when the vehicle wading depth obtained by the wading depth sensors on the two side mirrors of the vehicle body is less than or equal to the wading depth threshold value, it is determined that the vehicle is not in a wading state.

[0082] Further, 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 different vehicle wading severities.

[0083] Specifically, when the vehicle wading depth is greater than a first preset depth, the front air suspension of the vehicle is raised, the rear air suspension is raised, and the speed of the silicone oil fan is reduced.

[0084] When the vehicle wading depth is greater than the first preset depth, it means that the vehicle wading is serious, and 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, and the speed of the silicone oil fan is reduced.

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

[0086] When the vehicle wading depth is less than or equal to the first preset depth, it means that the vehicle wading is general, and at this time the front air suspension of the vehicle is raised to a certain extent to raise the silicone oil fan, and the speed of the silicone oil fan is reduced.

[0087] Another possible case is that the vehicle control device obtains road condition information in the vehicle driving direction through sensors such as vehicle front-view cameras, laser radars, etc. If it is identified based on the road condition information that there is a waterlogged road section in the vehicle driving direction, it is determined that the vehicle will soon pass through the water-involved road section, and the vehicle has a water-involved risk. Or, if it is identified based on the road condition information that there is no waterlogged road section in the vehicle driving direction, it is determined that the vehicle will not pass through the water-involved road section in a short time, and the vehicle has no water-involved risk.

[0088] Specifically, taking the vehicle 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 image, including compression, grayscale, noise filtering, image enhancement, etc., to improve the image quality and facilitate subsequent waterlogging detection. The pre-processed image is input into a trained deep learning model (such as a convolutional neural network, CNN), which will output a segmentation result map of the waterlogged area. By detecting the brightness of the waterlogged area in the segmentation result map, image areas with brightness higher than a certain threshold are filtered out to exclude the possibility that the excessively high brightness area is a road surface reflection rather than a waterlogged area. If there is a waterlogged area, it is determined that there is a waterlogged road section in the vehicle driving direction.

[0089] Optionally, in combination with the point cloud data of the vehicle environment information of the laser radar, the point cloud data of the waterlogged area is screened out to further improve the accuracy of waterlogged area identification.

[0090] When it is identified according to the road condition information that there is a waterlogged road section in the vehicle driving direction, the suspension height of the vehicle is adjusted and the rotation speed of the silicone oil fan is controlled to be reduced, including: controlling the front air suspension of the vehicle to be raised, the rear air suspension to be lowered, and the rotation speed of the silicone oil fan to be reduced.

[0091] When there is a waterlogged road section in the vehicle driving direction, it means that the vehicle will soon enter a water-involved state. At the moment when the vehicle enters the water-involved state from the non-water-involved state, the blades of the silicone oil fan will bear a large impact force in the instant of entering the water surface, which will also bring a high risk of blade breakage or deformation. Therefore, when the vehicle is in a downhill state, even if the current vehicle is not in a water-involved state, the vehicle control device will predict the water-involved risk that may occur in the future based on the environmental information to prevent the blade damage that may occur in the instant of the silicone oil fan entering the water.

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

[0093] On the basis of the above embodiments, when it is determined that the vehicle is in a water-involved state or is about to enter a water-involved state, the current water-involved depth of the vehicle is monitored in real time; the rotation speed of the silicone oil fan is determined according to the water-involved depth, and the rotation speed of the silicone oil fan is proportional to the water-involved depth.

[0094] When the water depth is deeper, the silicon oil fan speed is lower; correspondingly, when the water depth is lower, the silicon oil fan speed is higher.

[0095] In the process of the vehicle wading, the deeper the water depth, the deeper the silicon oil fan blade enters the water, and the greater the impact force of the water on the silicon oil fan blade. In this case, gradually reducing the speed of the silicon oil fan with the increase of the water depth can further reduce the impact of the silicon oil fan blade.

[0096] Correspondingly, when the vehicle is driving out of the water area, the water depth of the vehicle decreases with the increase of the water time, and the silicon oil fan is controlled to increase the speed to meet the heat dissipation demand of the vehicle as much as possible.

[0097] The embodiment of the present disclosure dynamically adjusts the speed of the silicon oil fan based on the water depth of the vehicle. The deeper the water depth, the slower the speed of the silicon oil fan, which can make the speed of the silicon oil fan more consistent with the current water working condition, further reduce the impact force of the water on the silicon oil fan under the water working condition, and timely increase the speed of the silicon oil fan when the water depth gradually decreases, improve the heat dissipation performance while protecting the blade from deformation, and balance the needs of hardware protection and heat dissipation.

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

[0099] S201, obtaining the driving state information and the environmental information of the vehicle.

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

[0101] S202, determining that the vehicle is in a downhill state according to the vehicle inclination angle.

[0102] S203, obtaining the road condition information in the driving direction of the vehicle.

[0103] S204, judging whether the vehicle is about to pass through a water section according to the road condition information. If yes, execute S205; if no, execute S201.

[0104] S205, obtaining the water depth of the vehicle.

[0105] S206, judging the water state and the water severity of the vehicle.

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

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

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

[0109] S207, control the front air suspension of the vehicle to be raised and the rear air suspension of the vehicle to be lowered to lift the silicone oil fan.

[0110] S208, control the front air suspension of the vehicle to be raised to lift the silicone oil fan.

[0111] S209, control the front air suspension of the vehicle to be raised and the rear air suspension of the vehicle to be raised to lift the silicone oil fan.

[0112] S210, no longer control the speed of the silicone oil fan according to the engine speed and the engine water temperature, but control the speed of the silicone oil fan to be reduced by controlling the silicone oil flow.

[0113] The embodiments of the present disclosure can execute corresponding vehicle control strategies according to the vehicle wading state and the vehicle wading depth when the vehicle is in the downhill state, lift the front air suspension and lower the rear air suspension in advance when the vehicle is not in the wading state but is about to be in the wading state, so as to relieve the impact force on the silicone oil fan in the water instantaneously and ensure the stability of the vehicle when climbing the slope; lift the front air suspension and the rear air suspension when the vehicle is in the extreme wading state, so as to lift the silicone oil fan and improve the off-road wading capability of the vehicle; lift the front air suspension to lift the silicone oil fan and reduce the resistance on the silicone oil fan when the vehicle is in the general wading state; and control the speed of the silicone oil fan to be reduced, so as to further relieve the stress on the silicone oil fan and avoid the silicone oil fan from being broken or deformed due to stress as much as possible.

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

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

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

[0117] Alternatively, the determining whether the vehicle is at a risk of wading according to the driving state information and the environment information further comprises: 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, determining that the vehicle is at the risk of wading.

[0118] When the slope is greater than the preset slope threshold, the vehicle is further determined to be in an uphill state or a downhill state according to the positive or negative of the slope. When the vehicle is in the uphill state and the wading depth of the vehicle is greater than the third preset depth, it is determined that the vehicle is at the risk of wading.

[0119] The third preset depth is less 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] On the basis of the above-mentioned embodiments, the adjusting the suspension height of the vehicle and controlling the silicon oil fan to reduce the rotating speed when it is determined that the vehicle is at the risk of wading comprises: controlling the front air suspension of the vehicle to be raised and controlling the silicon oil fan to reduce the rotating speed when it is determined that the vehicle is at the risk of wading.

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

[0123] Figure 3 A flow chart of a vehicle control method provided by the embodiments of the present disclosure is shown in FIG. 1. Figure 3 As shown in the above-mentioned embodiments, when the vehicle is in an uphill state, the vehicle control method comprises the following steps:

[0124] S301, acquiring driving state information of the vehicle.

[0125] The driving state information of the vehicle at least comprises a vehicle inclination angle and a vehicle wading depth.

[0126] S302, determining whether the vehicle is in an uphill state according to the vehicle inclination angle.

[0127] S303, determining whether the vehicle wading depth is greater than a third preset depth. If yes, S304 is executed; if no, S301 is executed.

[0128] S304, controlling the front air suspension of the vehicle to be raised and controlling the silicon oil fan to reduce the rotating speed.

[0129] The embodiments of the present disclosure raise the front air suspension of the vehicle and reduce the rotating speed of the silicone oil fan when the water depth exceeds the threshold value when the vehicle is running on a flat road or is in an uphill state, so as to reduce the resistance of the silicone oil fan to the water and reduce the impact force of the water on the blades when the blades rotate, thereby reducing the risk of the silicone oil fan being broken and deformed due to the water.

[0130] In addition, the embodiments of the present disclosure set different water depth determination values for the vehicle in the uphill state, the flat road running state and the downhill state, so that the vehicle water determination is adapted to different working conditions, so that the vehicle water state can be accurately identified and corresponding measures can be taken in the uphill state, the flat road running state and the downhill state, thereby improving the flexibility and accuracy of the vehicle control method.

[0131] On the basis of the above-mentioned embodiments, when the slope is less than or equal to the preset slope threshold value, and the water depth is greater than the second preset depth, after adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotating speed, the method further comprises: when the driving speed of the vehicle is less than a preset speed threshold value, obtaining the water temperature of the engine; when the water temperature is higher than a preset temperature threshold value, determining a silicone oil flow increase amount according to the difference between the water temperature and the preset temperature threshold value; and increasing the silicone oil flow of the silicone oil fan based on the silicone oil flow increase amount, so as to increase the rotating speed of the silicone oil fan.

[0132] The slope is less than or equal to the preset slope threshold value, and the water depth is greater than the second preset depth, which represents that the vehicle is currently running on a flat road and there is a risk of water, at this time, after adjusting the suspension and the rotating speed of the silicone oil fan, the rotating speed of the silicone oil fan is further increased based on the vehicle speed and the water temperature of the engine.

[0133] The vehicle control device monitors the driving speed of the vehicle, when the driving speed is greater than or equal to the preset speed threshold value, the vehicle speed is high, and the air intake amount is relatively large, so that part of the heat generated by the engine is taken away, even if the rotating speed of the silicone oil fan is low, the heat dissipation demand of the vehicle can still be met, at this time, the rotating speed of the silicone oil fan is still reduced; when the driving speed is less than the preset speed threshold value, the vehicle speed is low, and the air intake amount is relatively small, the effect of taking away the heat generated by the engine is limited, at this time, the rotating speed of the silicone oil fan is still reduced, which may not meet the heat dissipation demand of the vehicle, and the rotating speed of the silicone oil fan is increased according to the difference between the water temperature of the engine and the preset temperature threshold value, so as to meet the heat dissipation demand of the vehicle.

[0134] Specifically, when the water temperature of the engine is higher than the preset temperature threshold value, the greater the difference between the water temperature of the engine and the preset temperature threshold value, the greater the silicone oil flow increase amount, so that the rotating speed of the silicone oil fan is higher.

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

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

[0137] wherein, P is the silicon oil flow rate increase amount, a is a preset coefficient, T1 is the water temperature of the engine, and T0 is a preset temperature threshold.

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

[0139] Figure 4 A flow chart of a vehicle control method provided by the embodiment of the present disclosure is shown in FIG. 1. Figure 4 As shown in the above embodiment, when the vehicle is in a flat road driving state, the vehicle control method comprises the following steps:

[0140] S401, obtaining the driving state information of the vehicle.

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

[0142] S402, determining that the vehicle is in a flat road driving state according to the vehicle inclination angle.

[0143] S403, judging whether the vehicle wading depth is greater than a third preset depth. If yes, executing S404; if no, executing S401.

[0144] S404, controlling the front air suspension of the vehicle to be raised, and controlling the silicon oil fan to be reduced in speed.

[0145] S405, detecting the driving speed of the vehicle.

[0146] S406, judging whether the driving speed of the vehicle is less than a preset speed threshold. If yes, executing S407; if no, executing S401.

[0147] S407, obtaining the water temperature of the engine.

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

[0149] S409, determining the silicon oil flow rate increase amount according to the difference between the water temperature and the preset temperature threshold, and increasing the silicon oil flow rate of the silicon oil fan based on the silicon oil flow rate increase amount, so as to increase the speed of the silicon oil fan.

[0150] The embodiment of the present disclosure adjusts the suspension state and reduces the rotation speed of the silicone oil fan when the vehicle is running on a flat road and is in a wading state, monitors the engine water temperature, appropriately increases the silicone oil flow to increase the rotation speed of the silicone oil fan when the engine water temperature is too high, and tries to keep the silicone oil fan in a low rotation speed state, thereby meeting the heat dissipation demand of the vehicle and reducing the possibility of damage of the silicone oil fan blades, and improving the stability and flexibility of the vehicle control method.

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

[0152] Step 1, the vehicle is in an engine starting state.

[0153] Step 2, the vehicle control device monitors the vehicle running state.

[0154] Step 3, the vehicle control device monitors the vehicle lateral and longitudinal acceleration sensor to determine the vehicle 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 running on a relatively flat road.

[0158] Step 6, the vehicle control device monitors the wading depth sensor of the rearview mirror 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 the wading depth L1 is less than or equal to N1.

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

[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 the original strategy, i.e. when the vehicle is not in a wading state, the strategy is not executed.

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

[0164] Step 12, if no, as in step 7, 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 be raised, so that the vehicle cabin is raised, and the silicone oil fan is lifted.

[0166] Step 14, the vehicle control device controls the electrically controlled silicone oil fan to no longer be controlled by the engine speed and the engine water temperature, etc., and the vehicle control device controls the silicone oil flow to realize the silicone oil fan speed to run at the minimum speed n1.

[0167] Step 15, the vehicle control device monitors the vehicle speed V1.

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

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

[0170] Step 17, if yes, maintain the strategy of steps 13-14 to drive until the water depth L1 is less than or equal to N1 or the vehicle is no longer in water.

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

[0172] Step 19, if no, the vehicle control device monitors the engine water temperature T1 according to step 16.

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

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

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

[0176] Step 22, if no, the vehicle control device controls the silicone oil flow to increase to realize the increase of the silicone oil fan speed according to step 20.

[0177] Taking the preset temperature threshold of 105℃ as an example, the silicone oil flow increase amount is calculated as follows:

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

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

[0180] Step 24, if no, and further determine that the vehicle is in an uphill state according to step 4.

[0181] Step 25, the vehicle control device monitors the water depth sensor of the rearview mirror on both sides of the vehicle body to determine the water depth L2 in combination with the slope.

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

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

[0184] Step 28, if yes, the vehicle is in the 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 the 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 be raised, and the silicon oil fan is raised.

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

[0188] Step 32, follow step 4, if no, and further determine that the vehicle is in a downhill state;

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

[0190] Step 34, the vehicle control device determines whether the vehicle will be in a wading off-road scene 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 sensor of the rearview mirror on both sides of the vehicle body, and determines the wading state and needs to combine the slope to determine the wading depth L3.

[0193] Step 37, the vehicle control device determines whether the vehicle is in a wading state and 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 be raised, and the silicon oil fan is raised.

[0196] Step 40, the vehicle control device controls the electrically controlled silicon oil fan to no longer be controlled by the engine speed and the engine water temperature, etc., and the vehicle control device controls the silicon oil flow to realize the silicon oil fan speed to run at the minimum speed n1.

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

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

[0199] Step 43, the vehicle control device controls the front air suspension of the vehicle to be raised, the rear air suspension to be lowered, and the silicon oil fan to be raised, and then step 40 is performed.

[0200] Step 44, if no, the vehicle is in the wading state and the wading depth L3 is greater than N3, then step 38 is performed.

[0201] Step 45, the vehicle control device controls the front air suspension of the vehicle to be raised, the rear air suspension to be raised, and the silicon oil fan to be raised, and then step 40 is performed.

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

[0203] N2 < N1 < N3

[0204] The embodiments of the present disclosure control the air suspension of the vehicle to be raised and lowered, and the electrically controlled silicon oil flow when the vehicle passes through the wading scene through the vehicle lateral and longitudinal acceleration sensors, the wading depth sensor, the vehicle-mounted camera, the engine water temperature, the vehicle speed signal, etc., so as to realize the raising of the chassis of the vehicle, reduce the silicon oil fan speed, and thus avoid the risk of water leakage of the radiator core caused by the deformation of the silicon oil fan caused by the wading fan blade rupture when the water flow hits the fan.

[0205] It can be understood that in any one of the above embodiments, the size, structure, type, power and other parameters of the components used are not specifically required; the calibration values are not specifically required, and the specific values are determined by calibration tests or expert experience; the vehicle control device is not specifically named, and any device that can achieve the control function can be used; the order of the steps in which the steps are carried out is not specifically required, and any order that can achieve the function of the vehicle can be used; the specific transmission path and signal name of the signals are not specifically required, and any signal that can achieve the corresponding function can be used; the arrangement position of the sensors is not specifically required, and the acquisition mode of the sensor data can be direct acquisition or indirect acquisition through calculation.

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

[0207] Optionally, the driving state information comprises a vehicle inclination angle; the determination module 52 comprises a first determination unit 521 and a second determination unit 522; the first determination unit 521 is configured to determine the slope of the road section where the vehicle is located and the uphill or downhill state of the vehicle according to the vehicle inclination angle; and the second determination unit 522 is configured to determine whether the vehicle has the risk of wading according to the environmental information when the slope is greater than a preset slope threshold and the vehicle is in the downhill state.

[0208] Optionally, the driving state information comprises a vehicle wading depth, and the environmental information comprises road condition information in the driving direction of the vehicle; the vehicle has the risk of wading includes that the vehicle is in a wading state or the vehicle is about to pass through a wading road section; and the second determination unit 522 is configured to determine that the vehicle is in the wading state according to the vehicle wading depth, or determine that the vehicle is about to pass through the wading road section according to the road condition information.

[0209] Optionally, the control module 53 comprises a first control unit 531, configured to control the front air suspension of the vehicle to be raised, the rear air suspension of the vehicle to be raised, and the silicone oil fan to reduce the rotating speed when the vehicle wading depth is greater than a first preset depth, or control the front air suspension of the vehicle to be raised and the silicone oil fan to reduce the rotating speed when the vehicle wading depth is less than or equal to the first preset depth.

[0210] Optionally, the control module 53 comprises a second control unit 532, configured to control the front air suspension of the vehicle to be raised, the rear air suspension of the vehicle to be lowered, and the silicone oil fan to reduce the rotating speed.

[0211] Optionally, the driving state information comprises a vehicle inclination angle and a vehicle wading depth; and the second determination unit 522 is further configured to determine that the vehicle has the 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 determine that the vehicle has the risk of wading 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.

[0212] Optionally, the control module 53 comprises a third control unit 533, configured to control the front air suspension of the vehicle to be raised and control the speed of the silicone oil fan to be reduced when it is determined that the vehicle has a risk of wading.

[0213] Optionally, the vehicle control device 50 further comprises a temperature monitoring module 54, and the temperature monitoring module 54 comprises an acquisition unit 541, a third determination unit 542 and a flow increasing unit 543. The acquisition unit 541 is configured 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 configured to determine a silicone oil flow increasing amount according to a difference between the water temperature and a preset temperature threshold when the water temperature is higher than the preset temperature threshold. The flow increasing unit 543 is configured to increase the silicone oil flow of the silicone oil fan based on the silicone oil flow increasing amount to increase the speed of the silicone oil fan.

[0214] Figure 5 The vehicle control device of the embodiment can be used to execute the technical solutions of the above-mentioned method embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0215] Figure 6 A structural schematic diagram of a vehicle is provided in the embodiment of the present disclosure. For example, as shown in the figure, Figure 6 As shown in the figure, the vehicle 600 comprises a memory 601 and a processor 602, wherein the memory 601 stores executable program code 6011, and the processor 602 is configured to call and execute the executable program code 6011 to execute a vehicle control method.

[0216] The embodiment can divide the functional modules of the vehicle according to the above-mentioned method examples. For example, each functional module can be provided, or two or more functions can be integrated in one processing module. The integrated module can be realized in the form of hardware. It should be noted that the division of the modules in the embodiment is illustrative, and is only a logical functional division. In actual implementation, another division mode can be used.

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

[0218] The acquisition module is configured to acquire driving state information and environmental information of the vehicle, and the vehicle is configured with a silicone oil fan. The determination module is 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 configured to adjust the suspension height of the vehicle and control the speed of the silicone oil fan to be reduced when it is determined that the vehicle has a risk of wading.

[0219] Optionally, the driving state information comprises a vehicle inclination angle; the determining module comprises a first determining unit and a second determining unit; the first determining unit is configured to determine a slope of a road segment where the vehicle is located and an uphill or downhill state of the vehicle according to the vehicle inclination angle; and the second determining unit is configured 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 the downhill state.

[0220] Optionally, the driving state information comprises a vehicle wading depth, and the environmental information comprises road condition information in a driving direction of the vehicle; the vehicle has the risk of wading comprises that the vehicle is in a wading state or the vehicle is about to pass through a wading road segment; and the second determining unit is configured to determine that the vehicle is in the wading state according to the vehicle wading depth, or determine that the vehicle is about to pass through the wading road segment when it is identified according to the road condition information that there is a waterlogged road segment in the driving direction of the vehicle.

[0221] Optionally, the control module comprises a first control unit configured to control the front air suspension of the vehicle to be raised and the silicon oil fan to be reduced in rotation speed when the vehicle wading depth is greater than a first preset depth, or control the front air suspension of the vehicle to be raised and the silicon oil fan to be reduced in rotation speed when the vehicle wading depth is less than or equal to the first preset depth.

[0222] Optionally, the control module comprises a second control unit configured to control the front air suspension of the vehicle to be raised, the rear air suspension of the vehicle to be lowered, and the silicon oil fan to be reduced in rotation speed.

[0223] Optionally, the driving state information comprises a vehicle inclination angle and a vehicle wading depth; and the second determining unit is further configured to determine that the vehicle has the 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 determine that the vehicle has the risk of wading 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.

[0224] Optionally, the control module comprises a third control unit configured to control the front air suspension of the vehicle to be raised and the silicon oil fan to be reduced in rotation speed when it is determined that the vehicle has the risk of wading.

[0225] Optionally, the vehicle control device further comprises a temperature monitoring module; the temperature monitoring module comprises an acquisition unit, a third determining unit and a flow increasing unit; the acquisition unit is configured to acquire a water temperature of an engine when a driving speed of the vehicle is less than a preset speed threshold; the third determining unit is configured to determine a silicon oil flow increasing amount according to a difference between the water temperature and a preset temperature threshold when the water temperature is higher than the preset temperature threshold; and the flow increasing unit is configured to increase a silicon oil flow of the silicon oil fan based on the silicon oil flow increasing amount to increase a rotation speed of the silicon oil fan.

[0226] Figure 7 A structural schematic diagram of an electronic device is provided in the embodiments of the present disclosure. The electronic device can be a vehicle control device as described in the above embodiments. The electronic device provided in the embodiments of the present disclosure can perform the processing procedure provided in the vehicle control method embodiments, as shown in Figure 7 The electronic device 70 includes a memory 71, a processor 72, a computer program, and a communication interface 73, as shown. The computer program is stored in the memory 71 and is configured to be executed by the processor 72 to perform the vehicle control method as described above.

[0227] The memory 71 can include a program storage area and a data storage area. The program storage area can store an operating system and application programs required by at least one function. The data storage area can store data created according to the use of the vehicle, and the like. In addition, the memory 71 can include a high-speed random access memory and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory 71 can optionally include a memory disposed remotely with respect to the processor 72, and these remote memories can be connected to the terminal device through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0228] The embodiments also provide a computer readable storage medium (including but not limited to a disk storage, a CD-ROM, an optical storage, etc.) having computer program codes stored therein, which, when executed on a computer, cause the computer to perform the above-mentioned related method steps to implement the vehicle control method provided in the above embodiments.

[0229] In addition, the embodiments of the present disclosure also provide a computer readable storage medium having a computer program stored thereon, which is executed by a processor to implement the vehicle control method described in the above embodiments.

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

[0231] In addition, the embodiments of the present disclosure also provide a computer program product including computer programs or instructions, which, when executed by a processor, implement the vehicle control method as described above.

[0232] For example, the computer program or instructions are executed by the processor to realize: obtaining driving state information and environment information of a vehicle, the vehicle being configured with a silicone oil fan; determining whether the vehicle has a water immersion risk according to the driving state information and the environment information; and adjusting a suspension height of the vehicle and controlling the silicone oil fan to reduce a rotating speed when it is determined that the vehicle has the water immersion risk.

[0233] The embodiment also provides a computer program product, which, when running on a computer, causes the computer to execute the related steps to realize the vehicle control method provided in the above embodiment.

[0234] For example, the computer program product, when running on a computer, causes the computer to execute: obtaining driving state information and environment information of a vehicle, the vehicle being configured with a silicone oil fan; determining whether the vehicle has a water immersion risk according to the driving state information and the environment information; and adjusting a suspension height of the vehicle and controlling the silicone oil fan to reduce a rotating speed when it is determined that the vehicle has the water immersion risk.

[0235] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is 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 the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0237] In the description of the present disclosure, it should be understood that, if the terms such as "upper", "lower", "front", "back", "left" and "right" indicate the positional or location relationship shown in the drawings, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated position or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure.

[0238] The above description merely illustrates the application of the preferred embodiments of the present disclosure and a principle of the applied technologies. It should be understood by those skilled in the art that the disclosed scope of the present disclosure is not limited to the technical solutions formed by the specific combinations of the technical features described above, and should also cover other technical solutions formed by the combinations of the technical features described above or their equivalent features without departing from the disclosed concept. For example, the technical solutions formed by the mutual replacement of the above-described features and the technical features with similar functions disclosed in the present disclosure (but not limited to) can be formed.

[0239] Furthermore, although operations are depicted in a particular, sequential order, this should not be understood as requiring or implying that the operations are performed in the order depicted or in sequential order, and that other operations were not intervening. It will be apparent to one of ordinary skill in the art that aspects of the disclosure, having been described in a particular context, can also be implemented in a context separate from that particular context. In some embodiments, certain features can be used alone, in combination, or in a subset with other features; and, that one or more features can be used in different embodiments, whether required or not. In addition, certain features can be interchanged with similar features that are other embodiments, either alone or in combination. Although specific architectural implementations are depicted, this should not be understood as requiring or implying that the scope of the present disclosure is limited to these particular implementations.

[0240] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

[0241] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functional processes, and operational processes, according to various embodiments of the present disclosure. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0242] It needs to be noted that, in the specification, relational terms such as first and second, and the like, can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. It also needs to be noted that the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0243] The above embodiments of the present disclosure are merely used for illustrating the present disclosure, but not for limiting the present disclosure. The present disclosure can have various modifications and changes for those skilled in the art. Any modifications, equivalent replacements, improvements, and the like within the spirit and principle of the present disclosure should be included in the scope of the claims of the present disclosure.

Claims

1. A vehicle control method characterized by, The method comprises: obtaining driving state information and environment information of a vehicle, the vehicle being configured with a silicone oil fan, the driving state information comprising a water wading depth of the vehicle; determining whether the vehicle is at risk of wading according to the driving state information and the environment 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 rotating speed, the vehicle being at risk of wading comprising the vehicle being in a wading state; wherein, when the vehicle being at risk of wading is the vehicle being in a wading state, the adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotating speed comprises: when the water wading depth of the vehicle is greater than a first preset depth, controlling the front air suspension of the vehicle to be raised, the rear air suspension of the vehicle to be raised, and the silicone oil fan to reduce the rotating speed; or when the water wading depth of the vehicle is less than or equal to the first preset depth, controlling the front air suspension of the vehicle to be raised, and the silicone oil fan to reduce the rotating speed.

2. The method of claim 1, wherein, The driving state information comprises a vehicle inclination angle; and the determining whether the vehicle is at risk of wading according to the driving state information and the environment information comprises: determining the slope of the road section where the vehicle is located and the uphill or downhill state of the vehicle according to the vehicle inclination 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 according to the environment information.

3. The method of claim 2, wherein, The environment information comprises road condition information in the driving direction of the vehicle; and the vehicle being at risk of wading comprises the vehicle being about to pass through a wading road section; when the slope of the road where the vehicle is located is greater than a preset slope threshold and the vehicle is in a downhill state, determining whether the vehicle is at risk of wading comprises: determining that the vehicle is in a wading state according to the water wading depth of the vehicle; or when it is identified according to the road condition information that there is a waterlogged road section in the driving direction of the vehicle, determining that the vehicle is about to pass through a wading road section. When it is identified according to the road condition information that there is a waterlogged road section in the driving direction of the vehicle, the adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotating speed comprises:

4. The method of claim 3, wherein, controlling the front air suspension of the vehicle to be raised, the rear air suspension of the vehicle to be lowered, and the silicone oil fan to reduce the rotating speed. The driving state information comprises a vehicle inclination angle and a water wading depth of the vehicle; and the determining whether the vehicle is at risk of wading according to the driving state information and the environment information comprises:

5. The method of claim 1, wherein, determining the slope of the road section where the vehicle is located and the uphill or downhill state of the vehicle according to the vehicle inclination angle; when the slope is less than or equal to a preset slope threshold and the water wading depth is greater than a second preset depth, determining that the vehicle is at risk of wading; or when the slope is greater than a preset slope threshold, the vehicle is in an uphill state, and the water wading depth is greater than a third preset depth, determining that the vehicle is at risk of wading. The adjusting the suspension height of the vehicle and controlling the silicone oil fan to reduce the rotating speed when it is determined that the vehicle is at risk of wading comprises:

6. The method of claim 5, wherein, when it is determined that the vehicle is at risk of wading, controlling the front air suspension of the vehicle to be raised and the silicone oil fan to reduce the rotating speed. ​ 7. The method of claim 5, wherein, 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 the suspension height of the vehicle is adjusted and the rotation speed of the silicone oil fan is controlled to be reduced, the method further comprises: When the driving speed of the vehicle is less than a preset speed threshold, the water temperature of the engine is obtained; When the water temperature is higher than a preset temperature threshold, a silicone oil flow increase amount is determined according to a difference between the water temperature and the preset temperature threshold; Based on the silicone oil flow increase amount, the silicone oil flow of the silicone oil fan is increased to increase the rotation speed of the silicone oil fan.

8. A vehicle control device characterized by comprising: Comprise: An acquisition module is configured to acquire driving state information and environmental information of a vehicle, wherein the vehicle is configured with a silicone oil fan, and the driving state information comprises a wading depth of the vehicle; A determination module is configured to determine whether the vehicle has a wading risk according to the driving state information and the environmental information; A control module is configured to adjust a suspension height of the vehicle and control the silicone oil fan to reduce a rotation speed when it is determined that the vehicle has a wading risk, wherein the vehicle has a wading risk includes that the vehicle is in a wading state; The control module comprises a first control unit, when the vehicle has a wading risk in the form of the vehicle being in a wading state, the first control unit is configured to control a front air suspension of the vehicle to be raised, a rear air suspension of the vehicle to be raised, and the silicone oil fan to reduce the rotation speed when the wading depth of the vehicle is greater than a first preset depth; or control the front air suspension of the vehicle to be raised, and control the silicone oil fan to reduce the rotation speed when the wading depth of the vehicle is less than or equal to the first preset depth.

9. A vehicle characterized by comprising: Comprise: A memory; A processor; Wherein the memory stores executable program codes, and the processor is configured to call and execute the executable program codes to execute the method according to any one of claims 1-7.

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