Vehicle control method and device for passing through ponding road section

Abstract

The invention discloses a vehicle control method and device for passing through a ponding road section, and belongs to the technical field of vehicles. A specific embodiment of the method comprises the steps of determining a first ponding depth of a ponding road section corresponding to a vehicle according to ponding map data and network public opinion data; identifying wading states of other vehicles corresponding to the ponding road section to determine a second ponding depth corresponding to the ponding road section; determining a target ponding depth according to the first ponding depth and the second ponding depth; and controlling the vehicle according to the target accumulated water depth and the wading warning height corresponding to the vehicle. According to the embodiment, the ponding depth is determined according to the ponding map data, the network public opinion data and the wading states of other vehicles, so that the estimation accuracy of the ponding depth is improved; in addition, the vehicle is operated according to a high-accuracy accumulated water depth estimation result, and wading loss of a vehicle user is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method and device for controlling a vehicle when passing through a flooded road section. Background Art

[0002] When vehicles pass through flooded sections, the vehicle engine is often damaged due to insufficient estimation of the depth of the water. Currently, the data used to estimate the depth of water is relatively simple, such as vehicle radar detection data, which results in low accuracy of the estimated depth of water, causing great losses to vehicle users who pass through flooded sections based on the estimated depth of water. Summary of the invention

[0003] In view of this, the present invention provides a vehicle control method and device for passing through a flooded section, which determines the first water depth of the flooded section corresponding to the vehicle according to the water map data and the network public opinion data; identifies the wading status of other vehicles corresponding to the flooded section to determine the second water depth corresponding to the flooded section; determines the target water depth according to the first water depth and the second water depth; and controls the vehicle according to the target water depth and the wading warning height corresponding to the vehicle. In this way, the water depth is determined according to the water map data, the network public opinion data, and the wading status of other vehicles, thereby improving the estimation accuracy of the water depth; in addition, the vehicle is operated according to the high-accuracy water depth estimation result, reducing the wading loss of the vehicle user.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides a vehicle control method for passing through a flooded road section, comprising: determining a first water depth of a flooded road section corresponding to the vehicle according to water map data and network public opinion data;

[0006] Identifying the wading status of other vehicles corresponding to the flooded road section to determine a second flood depth corresponding to the flooded road section;

[0007] Determining a target water accumulation depth according to the first water accumulation depth and the second water accumulation depth;

[0008] The vehicle is controlled according to the target water depth and the water wading warning height corresponding to the vehicle.

[0009] Optionally, controlling the vehicle according to the target water accumulation depth and a water wading warning height corresponding to the vehicle includes:

[0010] Acquire the vehicle model data of the vehicle, and determine the water wading warning height corresponding to the vehicle according to the vehicle model data;

[0011] Comparing the target water accumulation depth with the water wading warning height;

[0012] When the target water depth is greater than a first preset threshold corresponding to the water wading warning height, in response to a control instruction instructing the vehicle to enter the flooded road section, the automatic start-stop function of the vehicle is turned off.

[0013] Optionally, the method provided by the present invention also includes: in response to the vehicle turning off the automatic start-stop function, controlling the accident data recorder of the vehicle to record the water wading data of the vehicle; the water wading data includes any one or more of the following: the state of the automatic start-stop function of the vehicle within a preset time range before and after passing through the flooded section, the vehicle speed, engine shutdown, engine start and wading depth, the image data of the flooded section and the height of water waves caused by surrounding vehicles.

[0014] Optionally, determining a target water accumulation depth according to the first water accumulation depth and the second water accumulation depth includes:

[0015] Determining a percentage difference between the first ponding depth and the second ponding depth;

[0016] comparing the difference percentage with a second preset threshold;

[0017] When the difference percentage is less than the second preset threshold, the larger one of the first ponding depth and the second ponding depth is determined as the target ponding depth.

[0018] Optionally, the method provided by the present invention further includes: when the difference percentage is not less than the second preset threshold, prompting the first water depth and the second water depth on the vehicle;

[0019] receiving a first instruction input by a user according to the prompt;

[0020] The target water accumulation depth is determined according to the first instruction.

[0021] Optionally, controlling the vehicle according to the target water accumulation depth and a water wading warning height corresponding to the vehicle includes:

[0022] Identifying the road surface flatness and lateral gradient of the flooded road section;

[0023] Determining a target area corresponding to the flooded road section according to the road surface flatness and the lateral gradient; the road surface flatness corresponding to the target area is higher than a flatness threshold, and the lateral gradient is higher than the lateral gradient corresponding to the area where the vehicle is located;

[0024] According to the target water depth and the water wading warning height, the vehicle is controlled to pass through the flooded road section from the target area.

[0025] Optionally, determining the first water depth of the flooded road section corresponding to the vehicle according to the waterlogging map data and the network public opinion data includes:

[0026] Obtaining the waterlogging map data and the network public opinion data;

[0027] Determine the geographic location of the vehicle;

[0028] Determine the water depth of the flooded road section corresponding to the geographical location according to the geographical location and the waterlogging map data;

[0029] The larger one of the water depth of the flooded road section corresponding to the geographical location and the water depth corresponding to the network public opinion data is determined as the first water depth.

[0030] Optionally, controlling the vehicle according to the target water accumulation depth and a water wading warning height corresponding to the vehicle includes:

[0031] According to the target water depth and the water wading warning height, simulating the water wading state of the vehicle through a screen;

[0032] Displaying a picture showing the wading state on the vehicle;

[0033] receiving a second instruction input by a user according to the displayed wading state;

[0034] According to the second instruction, the vehicle is controlled to pass through the flooded section or stay away from the flooded section.

[0035] Optionally, the picture showing the wading state is displayed on the vehicle, including:

[0036] Determining a risk level of the flooded road section for the vehicle according to the target flooded depth and the water wading warning height;

[0037] A screen showing the risk level and the wading status is displayed on the vehicle.

[0038] Optionally, the identifying the wading status of other vehicles corresponding to the flooded road section to determine a second water depth corresponding to the flooded road section includes:

[0039] identifying the model of the other vehicle;

[0040] Acquire vehicle model data corresponding to the other vehicle according to the vehicle model;

[0041] The second water accumulation depth is determined according to the wading status and vehicle type data of the other vehicle.

[0042] Optionally, the method provided by the present invention further comprises:

[0043] Identifying the wading state of the vehicle to determine the current water depth corresponding to the area where the vehicle is located;

[0044] According to the current water depth, the water wading warning height and the first water depth, the vehicle is controlled to pass through the flooded section or stay away from the flooded section.

[0045] In a second aspect, an embodiment of the present invention provides a vehicle control device for passing through a flooded road section, comprising: a data acquisition module, an identification module, a processing module and a control module, wherein:

[0046] The data acquisition module is used to determine the first water depth of the flooded road section corresponding to the vehicle according to the waterlogging map data and the network public opinion data;

[0047] The identification module is used to identify the wading state of other vehicles corresponding to the flooded road section to determine the second flooding depth corresponding to the flooded road section;

[0048] The processing module is used to determine a target water accumulation depth according to the first water accumulation depth and the second water accumulation depth;

[0049] The control module is used to control the vehicle according to the target water accumulation depth and the water wading warning height corresponding to the vehicle.

[0050] In a third aspect, an embodiment of the present invention provides an electronic device for controlling a vehicle when passing through a flooded section of road, comprising: multiple processors; a storage device for storing multiple programs, wherein when the multiple programs are executed by the multiple processors, the multiple processors implement a method for controlling a vehicle when passing through a flooded section of road according to an embodiment of the present invention.

[0051] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a vehicle control method for passing through a flooded road section according to an embodiment of the present invention.

[0052] The technical solution of the above invention has the following advantages or beneficial effects: by determining the first water depth of the flooded road section corresponding to the vehicle according to the water map data and the network public opinion data; identifying the wading status of other vehicles corresponding to the flooded road section to determine the second water depth corresponding to the flooded road section; determining the target water depth according to the first water depth and the second water depth; controlling the vehicle according to the target water depth and the wading warning height corresponding to the vehicle. In this way, the water depth is determined according to the water map data, the network public opinion data and the wading status of other vehicles, thereby improving the estimation accuracy of the water depth; in addition, the vehicle is operated according to the high-accuracy water depth estimation result, reducing the wading loss of the vehicle user. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 is a schematic diagram of the main flow of a vehicle control method for passing through a flooded road section provided according to an embodiment of the present invention;

[0054] Figure 2 It is a schematic diagram of a main process of determining the depth of accumulated water based on Internet data provided according to an embodiment of the present invention;

[0055] Figure 3 is a schematic diagram of another vehicle wading state provided according to an embodiment of the present invention;

[0056] Figure 4 It is a schematic diagram of a main process of controlling a vehicle to turn off an automatic start-stop function according to an embodiment of the present invention;

[0057] Figure 5 It is a schematic diagram of a main process of controlling a vehicle to pass through a flooded road section based on road surface flatness and lateral gradient according to an embodiment of the present invention;

[0058] Figure 6a is a schematic diagram of a vehicle wading through a flooded road section according to an embodiment of the present invention;

[0059] Figure 6b is a schematic diagram of a vehicle wading through a flooded road section according to an embodiment of the present invention;

[0060] Figure 6c is a schematic diagram of a vehicle wading through a flooded road section according to an embodiment of the present invention;

[0061] Figure 6d is a schematic diagram of a vehicle wading through a flooded road section according to an embodiment of the present invention;

[0062] Figure 7is a schematic diagram of main modules of a vehicle control device for passing through a flooded road section according to an embodiment of the present invention;

[0063] Figure 8 is an exemplary system architecture diagram to which embodiments of the present invention may be applied;

[0064] Fig. 9 It is a schematic diagram of the structure of a computer system suitable for implementing the embodiment of the present invention. DETAILED DESCRIPTION

[0065] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0066] It should be pointed out that the embodiments of the present invention and the technical features therein may be combined with each other without conflict.

[0067] In addition, the terms "first", "second", "third", etc. included in the embodiments of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific number or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances. This is just a way of distinguishing objects with the same attributes when describing them in the embodiments of the present invention.

[0068] Furthermore, the vehicle involved in the embodiment of the present invention may be an internal combustion engine vehicle using an engine as a power source, a hybrid vehicle using an engine and an electric motor as a power source, an electric vehicle using an electric motor as a power source, or the like.

[0069] Figure 1 FIG. 1 is a schematic diagram of the main steps of a method for controlling a vehicle when passing through a flooded road section according to an embodiment of the present invention. Figure 1 As shown, a vehicle control method for passing through a flooded road section according to an embodiment of the present invention mainly includes the following steps S101, S102, S103 and S104:

[0070] Step S101: Determine the first water depth of the flooded road section corresponding to the vehicle based on the water map data and the online public opinion data. The executor of the vehicle control method of the embodiment of the present invention may be a control unit of the vehicle. The "vehicle" in the embodiment of the present invention is a vehicle equipped with an intelligent vehicle networking system. The intelligent vehicle networking system is a system that connects a vehicle to the Internet. It collects information about the vehicle's surroundings through on-board cameras, sensors, microphones and other equipment, and transmits this information to the cloud through the Internet for analysis and processing, thereby realizing functions such as information sharing between vehicles, communication between vehicles and infrastructure, and interaction between vehicles and the cloud.

[0071] In an optional embodiment of the present invention, the first water depth of the flooded road section corresponding to the vehicle is determined according to the waterlogging map data and the network public opinion data, including steps S201-S204, such as Figure 2 As shown:

[0072] Step S201: Acquire the waterlogging map data and the network public opinion data;

[0073] Step S202: determining the geographical location of the vehicle;

[0074] Step S203: determining the water depth of the flooded road section corresponding to the geographical location according to the geographical location and the waterlogging map data;

[0075] Step S204: The greater of the water depth of the flooded road section corresponding to the geographical location and the water depth corresponding to the network public opinion data is determined as the first water depth. When passing through the flooded road section, the vehicle obtains water map data through the intelligent vehicle networking system, such as the AutoNavi map that displays different water depths in different colors, such as red for water depths greater than 60 cm and orange for water depths between 40-60 cm, and then determines the geographical location of the vehicle through the vehicle's GPS positioning system, and combines the water map data with the vehicle's geographical location to determine the water depth of the flooded road section where the vehicle is located. In order to make the estimated water depth more reliable, the network public opinion data on various social platforms can also be obtained through the intelligent vehicle networking system and network crawler technology, and the water depth of the flooded road section where the vehicle is located is determined through the network public opinion data, and the water depth determined according to the water map data is compared with the water depth determined according to the network public opinion data. In order to consider the life and property safety of vehicle users, a conservative strategy is adopted when estimating the water depth, and the larger of the two water depths is used as the first water depth.

[0076] Step S102: Identify the wading status of other vehicles corresponding to the flooded road section to determine the second water depth corresponding to the flooded road section. In addition to using the vehicle's intelligent car networking system to obtain data to estimate the water depth, you can also use the identification device installed in the vehicle, such as laser radar, infrared imager, etc. to identify the wading status of the vehicle in front of the vehicle, such as whether the exhaust pipe of the front vehicle is flooded, whether the water level is higher than the height of the front and rear door thresholds, whether the vehicle interior is flooded, and / or whether the tire centerline is flooded. Figure 3 The figure shows a schematic diagram of the wading state of the vehicle in front, wherein vehicle A is the vehicle, vehicle B is another vehicle located in front of the vehicle, and the dotted line on vehicle B indicates the highest water level of the flooded section. The water depth of the flooded section in front is determined according to the vehicle type and wading state of the vehicle in front. In an optional embodiment of the present invention, the identification of the wading state of other vehicles corresponding to the flooded section to determine the second water depth corresponding to the flooded section includes: identifying the vehicle type of the other vehicle; obtaining the vehicle type data corresponding to the other vehicle according to the vehicle type; and determining the second water depth according to the wading state and vehicle type data of the other vehicle. The vehicle type of the vehicle in front is identified by an identification device, such as a laser radar, an infrared imager, etc., and the vehicle type data corresponding to the vehicle type is obtained by an intelligent vehicle networking system, such as the front and rear door sill heights, the tire centerline height, the exhaust pipe height from the ground, and / or the vehicle interior line height, etc. The second water depth of the flooded section in front is determined by the wading state and vehicle type data of the vehicle in front.

[0077] Step S103: Determine the target water depth according to the first water depth and the second water depth. Further, for the sake of the life and property safety of the vehicle user, a conservative strategy is adopted again, the first water depth and the second water depth are compared, and the larger one is used as the target water depth as a basis for controlling the vehicle or providing risk warnings to the vehicle user.

[0078] In an optional embodiment of the present invention, the target water depth is determined based on the first water depth and the second water depth, including: determining the difference percentage between the first water depth and the second water depth; comparing the difference percentage with a second preset threshold; and when the difference percentage is less than the second preset threshold, determining the larger of the first water depth and the second water depth as the target water depth. In order to prevent the loss of life and property of vehicle users due to data errors in the data source, the first water depth determined based on the water map and public opinion data is further compared with the second water depth determined based on the vehicle identification data. If the difference between the two is not large, that is, the difference percentage is less than a preset threshold, such as 50%, the larger of the two is used as the target water depth.

[0079] However, if the difference between the two is indeed large, that is, the difference percentage is greater than a preset threshold, such as 50%, then both the first water depth and the second water depth are reported to the vehicle user, so that the vehicle user can make a judgment and input a control instruction to the vehicle. For example, if the vehicle user selects the second water depth, then the control unit executing the method described in the embodiment of the present invention determines the target water depth according to the second water depth, and controls the vehicle according to the target water depth. Therefore, in an optional embodiment of the present invention, the method provided by the embodiment of the present invention also includes: when the difference percentage is not less than the second preset threshold, prompting the first water depth and the second water depth on the vehicle; receiving a first instruction input by the user according to the prompt; and determining the target water depth according to the first instruction.

[0080] Step S104: Control the vehicle according to the target water depth and the corresponding water warning height of the vehicle. In order to prevent the vehicle engine from being damaged by water, each vehicle corresponds to a water warning height, where the water warning height is related to the vehicle type, mainly to the height of the exhaust pipe of each vehicle type from the ground. In an optional embodiment of the present invention, the vehicle is controlled according to the target water depth and the corresponding water warning height of the vehicle, including steps S401-S403, such as Figure 4 As shown:

[0081] Step S401: obtaining the vehicle model data of the vehicle, and determining the water wading warning height corresponding to the vehicle according to the vehicle model data;

[0082] Step S402: comparing the target water depth with the water wading warning height;

[0083] Step S403: When the target water depth is greater than the first preset threshold corresponding to the water wading warning height, in response to the control instruction instructing the vehicle to enter the water-logged section, the automatic start-stop function of the vehicle is turned off. If it is determined that there is a risk of engine wading when the vehicle passes through the water-logged section according to the target water depth and the water wading warning height, but the vehicle user still instructs to enter the water-logged section, the automatic start-stop function of the vehicle is controlled to be turned off to prevent the vehicle from being restarted after being turned off in the water, causing the engine to be damaged by water wading.

[0084] In order to prevent the insurance company from refusing to pay compensation for vehicle damage not caused by water wading due to various circumstances after the vehicle wades, in an optional embodiment of the present invention, the method provided by the embodiment of the present invention also includes: in response to the automatic start-stop function of the vehicle being turned off, controlling the accident data recorder of the vehicle to record the water wading data of the vehicle; the water wading data includes any one or more of the following: the state of the automatic start-stop function of the vehicle within a preset time range before and after passing through the flooded section, the vehicle speed, engine shutdown, engine start and wading depth, the image data of the flooded section and the height of the water waves caused by surrounding vehicles. The accident data recorder installed on the vehicle itself is used to record the vehicle and the surrounding environment within a preset time range before entering the flooded section, in the flooded section and after passing through the flooded section, so as to serve as evidence for future claims, thereby further protecting the property safety of vehicle users.

[0085] In addition to being used to identify the type and wading status of other vehicles, vehicle identification devices, such as laser radars and infrared imagers, can also be used to identify whether there are depressions on the road surface of the flooded section ahead, such as deep pits, artificial wells, etc., and to identify the lateral gradient of the flooded section, that is, to identify which side of the flooded section has higher terrain and which side has lower terrain. In an optional embodiment of the present invention, the vehicle is controlled according to the target water depth and the wading warning height corresponding to the vehicle, including steps S501-S504, such as Figure 5 As shown:

[0086] Step S501: Identify the road surface flatness and lateral gradient of the flooded road section;

[0087] Step S502: determining a target area corresponding to the flooded road section according to the road surface flatness and the lateral gradient;

[0088] Step S503: The road surface flatness corresponding to the target area is higher than the flatness threshold, and the lateral gradient is higher than the lateral gradient corresponding to the area where the vehicle is located;

[0089] Step S504: According to the target water depth and the water wading warning height, control the vehicle to pass through the flooded road section from the target area. According to whether the road surface is sunken and the lateral gradient of the road determined by the recognition device, determine the target area for the vehicle to pass through the road section, and pass through the road section via the target area. The recognition device can also recognize that there is a deep pit or an artificial well in the flooded road section, and feed back the recognition result to the vehicle user to prompt the vehicle user that there is a deep pit or an artificial well ahead, and prompt the vehicle user to turn around.

[0090] When a vehicle is about to pass through a flooded section ahead, in addition to referring to the wading status of other vehicles, that is, the vehicle ahead, to determine whether to pass through the flooded section, the vehicle can also identify the wading status of the vehicle, such as whether the exhaust pipe is flooded, whether the water level is higher than the front and rear door thresholds, and / or whether it has flooded the vehicle interior, whether it has flooded the tire centerline, etc., to determine the depth of water in the area where the vehicle is located, and determine whether to pass through the flooded section. In an optional embodiment of the present invention, the method further includes: identifying the wading status of the vehicle to determine the current water depth corresponding to the area where the vehicle is located; according to the current water depth, the wading warning height, and the first water depth, control the vehicle to pass through the flooded section or stay away from the flooded section. Compare the water depth in the area where the vehicle is currently located with the water depth ahead, and at the same time compare the current water depth with the wading warning height of the vehicle, so as to determine whether the water depth ahead is safe for the vehicle. For example, if the current water depth has not reached the water wading warning height, and the water depth ahead is less than the current water depth, then it can be determined that the water depth ahead is relatively safe for the vehicle, so the vehicle can be controlled to pass through the flooded section. On the contrary, if the current water depth has reached or exceeded the water wading warning height, and the water depth ahead is greater than the current water depth, then it can be determined that the water depth ahead poses a greater risk of water wading for the vehicle, so the vehicle can be controlled to stay away from the flooded section.

[0091] In order to make the vehicle wading risk warning more effective, the relationship between the target water depth and the vehicle's wading warning height can be displayed more intuitively on the screen. For example, the screen of the vehicle entering the corresponding target water depth can be simulated to show whether the exhaust pipe is flooded after the vehicle enters the flooded section, whether the water level is higher than the height of the front and rear door thresholds, whether the vehicle interior is flooded, and / or whether the tire centerline is flooded, etc. Figure 6a As shown. In an optional embodiment of the present invention, the control of the vehicle according to the target water depth and the corresponding wading warning height of the vehicle includes: simulating the wading state of the vehicle through a screen according to the target water depth and the wading warning height; displaying a screen showing the wading state on the vehicle; receiving a second instruction input by a user according to the displayed wading state; and controlling the vehicle to pass through the flooded section or stay away from the flooded section according to the second instruction. The vehicle user determines whether to pass through the flooded section according to the wading state of the vehicle displayed on the screen, such as whether the exhaust pipe is flooded, whether the water level is higher than the front and rear door threshold heights, whether the vehicle interior is flooded, and / or whether the tire centerline is flooded.

[0092] When prompting the user through a screen, in addition to displaying the wading state of the vehicle, the risk level corresponding to the wading state can also be displayed. In an optional embodiment of the present invention, the screen that will display the wading state is displayed on the vehicle, including: determining the risk level of the flooded road section for the vehicle based on the target water depth and the wading warning height; and displaying the screen that will display the risk level and the wading state on the vehicle. In addition to displaying the wading state of the vehicle through a screen, the risk level is also displayed accordingly, such as Figure 6b-6d As shown in the figure, the lightning symbol indicates the risk level. One lightning symbol indicates a lower risk, and three lightning symbols indicate a higher risk. This can prevent inexperienced vehicle users from making wrong decisions due to not knowing the risk level corresponding to the wading state, thereby further protecting the life and property safety of vehicle users.

[0093] It is worth mentioning that the above embodiment provides a method for providing the user with the target for controlling the vehicle when passing through a flooded section, which is only an exemplary expression of the method for controlling the vehicle when passing through a flooded section of the present invention, and the embodiment of the present invention does not limit the method for indicating the risk level. In other words, the risk level corresponding to the flooded section can be displayed to the vehicle user in any way that the vehicle user can understand, such as color, text or symbol.

[0094] The following is a further exemplary description of the vehicle control method for passing through a flooded road section provided by an embodiment of the present invention. The vehicle control method for passing through a flooded road section provided by an embodiment of the present invention may include the following steps:

[0095] Determine the first water depth of the flooded road section corresponding to the vehicle based on the waterlogging map data and online public opinion data;

[0096] Identifying the wading status of other vehicles corresponding to the flooded road section to determine a second flood depth corresponding to the flooded road section;

[0097] Determining a percentage difference between the first ponding depth and the second ponding depth;

[0098] When the difference percentage is less than the second preset threshold, determining the larger of the first water accumulation depth and the second water accumulation depth as the target water accumulation depth;

[0099] Acquire the vehicle model data of the vehicle, and determine the water wading warning height corresponding to the vehicle according to the vehicle model data;

[0100] When the target water depth is greater than a first preset threshold corresponding to the water wading warning height, in response to a control instruction instructing the vehicle to enter the flooded road section, turning off the automatic start-stop function of the vehicle;

[0101] In response to the vehicle turning off the automatic start-stop function, controlling the accident data recorder of the vehicle to record the water wading data of the vehicle; the water wading data includes any one or more of the following: the state of the automatic start-stop function of the vehicle within a preset time range before and after passing through the flooded road section, the vehicle speed, engine shutdown, engine start and wading depth, image data of the flooded road section and the height of water waves caused by surrounding vehicles;

[0102] Identifying the road surface flatness and lateral gradient of the flooded road section;

[0103] Determining a target area corresponding to the flooded road section according to the road surface flatness and the lateral gradient; the road surface flatness corresponding to the target area is higher than a flatness threshold, and the lateral gradient is higher than the lateral gradient corresponding to the area where the vehicle is located;

[0104] According to the target water depth and the water wading warning height, the vehicle is controlled to pass through the flooded road section from the target area.

[0105] The introduction provided in the above steps is only used to help understand the method, structure and core idea of ​​the present invention. For ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also belong to the scope of protection of the claims of the present invention.

[0106] It can be seen from the vehicle control method for passing through a flooded section according to an embodiment of the present invention that the first water depth of the flooded section corresponding to the vehicle is determined based on the water map data and the network public opinion data; the wading state of other vehicles corresponding to the flooded section is identified to determine the second water depth corresponding to the flooded section; the target water depth is determined based on the first water depth and the second water depth; the vehicle is controlled based on the target water depth and the wading warning height corresponding to the vehicle. In this way, the water depth is determined based on the water map data, the network public opinion data, and the wading state of other vehicles, thereby improving the estimation accuracy of the water depth; in addition, the vehicle is operated based on the high-accuracy water depth estimation result, reducing the wading loss of the vehicle user.

[0107] Figure 7 Schematic diagram of the main modules of a vehicle control device for passing through a flooded road section according to an embodiment of the present invention. Figure 7 As shown, the vehicle control device 700 for passing through a flooded road section according to the embodiment of the present invention comprises: a data acquisition module 701, an identification module 702, a processing module 703 and a control module 704, wherein:

[0108] The data acquisition module 701 is used to determine the first water depth of the flooded road section corresponding to the vehicle according to the waterlogging map data and the network public opinion data;

[0109] The identification module 702 is used to identify the wading state of other vehicles corresponding to the flooded road section to determine the second flood depth corresponding to the flooded road section;

[0110] The processing module 703 is used to determine a target water accumulation depth according to the first water accumulation depth and the second water accumulation depth;

[0111] The control module 704 is used to control the vehicle according to the target water depth and the water wading warning height corresponding to the vehicle.

[0112] In an optional embodiment of the present invention, the control module 704 is further used to obtain the vehicle model data of the vehicle, and determine the water wading warning height corresponding to the vehicle according to the vehicle model data;

[0113] Comparing the target water accumulation depth with the water wading warning height;

[0114] When the target water depth is greater than a first preset threshold corresponding to the water wading warning height, in response to a control instruction instructing the vehicle to enter the flooded road section, the automatic start-stop function of the vehicle is turned off.

[0115] In an optional embodiment of the present invention, the control module 704 is also used to control the accident data recorder of the vehicle to record the water wading data of the vehicle in response to the vehicle turning off the automatic start-stop function; the water wading data includes any one or more of the following: the state of the automatic start-stop function of the vehicle within a preset time range before and after passing through the flooded section, the vehicle speed, engine shutdown, engine start and wading depth, the image data of the flooded section and the height of water waves caused by surrounding vehicles.

[0116] In an optional embodiment of the present invention, the processing module 703 is further used to determine a difference percentage between the first ponding depth and the second ponding depth;

[0117] comparing the difference percentage with a second preset threshold;

[0118] When the difference percentage is less than the second preset threshold, the larger one of the first ponding depth and the second ponding depth is determined as the target ponding depth.

[0119] In an optional embodiment of the present invention, the processing module 703 is further configured to prompt the first water depth and the second water depth on the vehicle if the difference percentage is not less than the second preset threshold value;

[0120] receiving a first instruction input by a user according to the prompt;

[0121] The target water accumulation depth is determined according to the first instruction.

[0122] In an optional embodiment of the present invention, the identification module 702 is further used to identify the road surface flatness and lateral gradient of the flooded road section;

[0123] The processing module 703 is further used to determine a target area corresponding to the flooded road section according to the road surface flatness and the lateral gradient; the road surface flatness corresponding to the target area is higher than a flatness threshold, and the lateral gradient is higher than the lateral gradient corresponding to the area where the vehicle is located;

[0124] The control module 704 is further configured to control the vehicle to pass through the flooded road section from the target area according to the target water depth and the water wading warning height.

[0125] In an optional embodiment of the present invention, the data acquisition module 702 is further used to acquire the waterlogging map data and the network public opinion data;

[0126] Determine the geographic location of the vehicle;

[0127] Determine the water depth of the flooded road section corresponding to the geographical location according to the geographical location and the waterlogging map data;

[0128] The larger one of the water depth of the flooded road section corresponding to the geographical location and the water depth corresponding to the network public opinion data is determined as the first water depth.

[0129] In an optional embodiment of the present invention, the control module 704 is further configured to simulate the wading state of the vehicle through a screen according to the target water accumulation depth and the wading warning height;

[0130] Displaying a picture showing the wading state on the vehicle;

[0131] receiving a second instruction input by a user according to the displayed wading state;

[0132] According to the second instruction, the vehicle is controlled to pass through the flooded section or stay away from the flooded section.

[0133] In an optional embodiment of the present invention, the control module 704 is further configured to determine a risk level of the flooded road section for the vehicle according to the target flooded depth and the water wading warning height;

[0134] A screen showing the risk level and the wading status is displayed on the vehicle.

[0135] In an optional embodiment of the present invention, the identification module 702 is further used to identify the model of the other vehicle;

[0136] Acquire vehicle model data corresponding to the other vehicle according to the vehicle model;

[0137] The second water accumulation depth is determined according to the wading status and vehicle type data of the other vehicle.

[0138] In an optional embodiment of the present invention, the identification module 704 is further used to identify the wading state of the vehicle to determine the current water depth corresponding to the area where the vehicle is located;

[0139] The control module 704 is further configured to control the vehicle to pass through the flooded section or stay away from the flooded section according to the current water depth, the water wading warning height and the first water depth.

[0140] According to a vehicle control device for passing through a flooded section according to an embodiment of the present invention, it can be seen that the first water depth of the flooded section corresponding to the vehicle is determined based on the water map data and the network public opinion data; the wading state of other vehicles corresponding to the flooded section is identified to determine the second water depth corresponding to the flooded section; the target water depth is determined based on the first water depth and the second water depth; the vehicle is controlled based on the target water depth and the wading warning height corresponding to the vehicle. In this way, the water depth is determined based on the water map data, the network public opinion data, and the wading state of other vehicles, thereby improving the estimation accuracy of the water depth; in addition, the vehicle is operated based on the high-accuracy water depth estimation result, reducing the wading loss of the vehicle user.

[0141] Figure 8 An exemplary system architecture 800 is shown to which a method for controlling a vehicle when passing through a flooded road section or a device for controlling a vehicle when passing through a flooded road section according to an embodiment of the present invention can be applied.

[0142] like Figure 8 As shown, the system architecture 800 may include cloud servers 801, 802, 803, networks 804, 806, a vehicle control server 805, and vehicle terminals 807, 808, 809. The networks 804, 806 are used to provide a medium for communication links between the cloud servers 801, 802, 803, the vehicle control server 805, and the vehicle terminals 807, 808, 809. The networks 804, 806 may include various connection types, such as wired, wireless communication links, or optical fiber cables, etc.

[0143] Cloud servers 801, 802, 803, vehicle terminals 807, 808, 809 interact with vehicle control server 805 through networks 804, 806 to receive or send messages, etc. Cloud servers 801, 802, 803 are electronic devices that store waterlogging map data, online public opinion data, and vehicle model data. Vehicle control server 805 obtains waterlogging map data and online public opinion data from cloud servers 801, 802, 803, and determines the target waterlogging depth based on them, and finally sends the vehicle wading prompt generated according to the target waterlogging depth to vehicle terminals 807, 808, 809.

[0144] The vehicle control server 805 may be a server that provides various services. For example, the vehicle control server 805 is a background management server that provides support for obtaining waterlogging map data, online public opinion data, and vehicle model data from the cloud servers 801, 802, and 803 and analyzing and processing the obtained data. The background management server may analyze and process the waterlogging map data, online public opinion data, and vehicle model data, and send the processing results, such as a screen including the vehicle wading status and risk level, to the vehicle terminals 807, 808, and 809.

[0145] It should be noted that the vehicle control method for passing through a flooded road section provided in the embodiment of the present invention is generally executed by the vehicle control server 805 , and accordingly, the vehicle control device for passing through a flooded road section is generally arranged in the vehicle control server 805 .

[0146] Reference below Fig. 9 , which shows a schematic diagram of the structure of a computer system 900 suitable for implementing an embodiment of the present invention. Fig. 9 The computer system shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0147] like Fig. 9 As shown, the computer system 900 includes a central processing unit (CPU) 901, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 902 or a program loaded from a storage part 908 into a random access memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the system 900 are also stored. The CPU 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0148] The following components are connected to the I / O interface 905: an input section 906 including a keyboard, a mouse, etc.; an output section 907 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN card, a modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the I / O interface 905 as needed. A removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 910 as needed, so that a computer program read therefrom is installed into the storage section 908 as needed.

[0149] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 909, and / or installed from the removable medium 911. When the computer program is executed by the central processing unit (CPU) 901, the above-mentioned functions defined in the system of the present invention are executed.

[0150] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with multiple wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0151] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of a code contains multiple executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two 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 box in the block diagram or flow chart, and the combination of the boxes in the block diagram 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.

[0152] The modules involved in the embodiments of the present invention may be implemented by software or hardware. The modules described may also be arranged in a processor, for example, they may be described as: a processor including a data acquisition module, an identification module, a processing module and a control module. The names of these modules do not constitute limitations on the modules themselves in certain cases, for example, the control module may also be described as "a module for controlling the vehicle according to the target water depth and the corresponding wading warning height of the vehicle".

[0153] As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device includes: determining the first water depth of the flooded section corresponding to the vehicle according to the water map data and the network public opinion data; identifying the wading state of other vehicles corresponding to the flooded section to determine the second water depth corresponding to the flooded section; determining the target water depth according to the first water depth and the second water depth; and controlling the vehicle according to the target water depth and the water wading warning height corresponding to the vehicle.

[0154] According to the technical solution of the embodiment of the present invention, the first water depth of the flooded road section corresponding to the vehicle is determined based on the water map data and the network public opinion data; the wading status of other vehicles corresponding to the flooded road section is identified to determine the second water depth corresponding to the flooded road section; the target water depth is determined based on the first water depth and the second water depth; the vehicle is controlled based on the target water depth and the wading warning height corresponding to the vehicle. In this way, the water depth is determined based on the water map data, the network public opinion data and the wading status of other vehicles, thereby improving the estimation accuracy of the water depth; in addition, the vehicle is operated based on the high-accuracy water depth estimation result, reducing the wading loss of the vehicle user.

[0155] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling a vehicle when passing through a flooded road section, It is characterized in that include: Determine the first water depth of the flooded road section corresponding to the vehicle based on the waterlogging map data and online public opinion data; Identifying the wading status of other vehicles corresponding to the flooded road section to determine a second flood depth corresponding to the flooded road section; Determining a target water accumulation depth according to the first water accumulation depth and the second water accumulation depth; The vehicle is controlled according to the target water depth and the water wading warning height corresponding to the vehicle.

2. The method according to claim 1, It is characterized in that The controlling the vehicle according to the target water depth and the water wading warning height corresponding to the vehicle includes: Acquire the vehicle model data of the vehicle, and determine the water wading warning height corresponding to the vehicle according to the vehicle model data; Comparing the target water accumulation depth with the water wading warning height; When the target water depth is greater than a first preset threshold corresponding to the water wading warning height, in response to a control instruction instructing the vehicle to enter the flooded road section, the automatic start-stop function of the vehicle is turned off.

3. The method according to claim 2, It is characterized in that Also includes: In response to the vehicle turning off the automatic start-stop function, the accident data recorder of the vehicle is controlled to record the water wading data of the vehicle; the water wading data includes any one or more of the following: the state of the automatic start-stop function of the vehicle within a preset time range before and after passing through the flooded section, the vehicle speed, engine shutdown, engine start and wading depth, image data of the flooded section and the height of water waves caused by surrounding vehicles.

4. The method according to claim 1, It is characterized in that The step of determining a target water accumulation depth according to the first water accumulation depth and the second water accumulation depth comprises: Determining a percentage difference between the first ponding depth and the second ponding depth; comparing the difference percentage with a second preset threshold; When the difference percentage is less than the second preset threshold, the larger one of the first ponding depth and the second ponding depth is determined as the target ponding depth.

5. The method according to claim 4, It is characterized in that Also includes: When the difference percentage is not less than the second preset threshold, prompting the first water depth and the second water depth on the vehicle; receiving a first instruction input by a user according to the prompt; The target water accumulation depth is determined according to the first instruction.

6. The method according to claim 1, It is characterized in that The controlling the vehicle according to the target water depth and the water wading warning height corresponding to the vehicle includes: Identifying the road surface flatness and lateral gradient of the flooded road section; Determining a target area corresponding to the flooded road section according to the road surface flatness and the lateral gradient; the road surface flatness corresponding to the target area is higher than a flatness threshold, and the lateral gradient is higher than the lateral gradient corresponding to the area where the vehicle is located; According to the target water depth and the water wading warning height, the vehicle is controlled to pass through the flooded road section from the target area.

7. The method according to claim 1, It is characterized in that Determining the first water depth of the flooded road section corresponding to the vehicle according to the waterlogging map data and the network public opinion data includes: Obtaining the waterlogging map data and the network public opinion data; Determine the geographic location of the vehicle; Determine the water depth of the flooded road section corresponding to the geographical location according to the geographical location and the waterlogging map data; The larger one of the water depth of the flooded road section corresponding to the geographical location and the water depth corresponding to the network public opinion data is determined as the first water depth.

8. The method according to claim 1, It is characterized in that The controlling the vehicle according to the target water depth and the water wading warning height corresponding to the vehicle includes: According to the target water depth and the water wading warning height, simulating the water wading state of the vehicle through a screen; Displaying a picture showing the wading state on the vehicle; receiving a second instruction input by a user according to the displayed wading state; According to the second instruction, the vehicle is controlled to pass through the flooded section or stay away from the flooded section.

9. The method according to claim 8, It is characterized in that The screen for displaying the wading state is displayed on the vehicle, including: Determining a risk level of the flooded road section for the vehicle according to the target flooded depth and the water wading warning height; A screen showing the risk level and the wading status is displayed on the vehicle.

10. The method according to claim 1, It is characterized in that The identifying the wading state of other vehicles corresponding to the flooded road section to determine the second flooding depth corresponding to the flooded road section includes: identifying the model of the other vehicle; Acquire vehicle model data corresponding to the other vehicle according to the vehicle model; The second water accumulation depth is determined according to the wading status and vehicle type data of the other vehicle.

11. The method according to claim 1, It is characterized in that Also includes: Identifying the wading state of the vehicle to determine the current water depth corresponding to the area where the vehicle is located; According to the current water depth, the water wading warning height and the first water depth, the vehicle is controlled to pass through the flooded section or stay away from the flooded section.

12. A vehicle control device for passing through a flooded road section, It is characterized in that include: Data acquisition module, identification module, processing module and control module, wherein: The data acquisition module is used to determine the first water depth of the flooded road section corresponding to the vehicle according to the waterlogging map data and the network public opinion data; The identification module is used to identify the wading state of other vehicles corresponding to the flooded road section to determine the second flooding depth corresponding to the flooded road section; The processing module is used to determine a target water accumulation depth according to the first water accumulation depth and the second water accumulation depth; The control module is used to control the vehicle according to the target water accumulation depth and the water wading warning height corresponding to the vehicle.

13. An electronic device for controlling a vehicle when passing through a flooded road section. It is characterized in that include: Multiple processors; A storage device for storing a plurality of programs, When the multiple programs are executed by the multiple processors, the multiple processors implement the method according to any one of claims 1 to 11.

14. A computer readable medium having a computer program stored thereon, It is characterized in that When the program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

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