Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, the method is applied to the field of vehicles, and the method comprises the steps that if it is detected that the vehicle falls into water, the current state of wheels in the vehicle is obtained; if the current state is the moving state, the wheels are controlled to be static, the water falling state of the vehicle is recognized, and the water falling state is used for representing the vehicle body posture when the vehicle falls into water; according to the water falling state, the position of a target air bag in the vehicle is determined; and controlling the target air bag to pop up, and inflating the target air bag. When the vehicle falls into water, the vehicle can be prevented from sinking into water, and the safety of users in the vehicle cabin is ensured.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a control method, a control device, a vehicle, and a storage medium for a vehicle in the field of vehicles. Background Art

[0002] Currently, people have higher and higher requirements for driving safety. In daily life, when a vehicle is driving in a water-near area, accidental vehicle drowning accidents are likely to occur. Therefore, when a vehicle has a drowning accident, how to prevent the vehicle from sinking into the water and ensure the safety of the users in the vehicle cabin is an urgent problem to be solved currently. Summary of the Invention

[0003] The present application provides a control method, a control device, a vehicle, and a storage medium for a vehicle, and this method can prevent the vehicle from sinking into the water and ensure the safety of the users in the vehicle cabin.

[0004] In a first aspect, a control method for a vehicle is provided. The control method includes:

[0005] If it is detected that the vehicle has fallen into the water, obtain the current state of the wheels in the vehicle;

[0006] If the current state is a moving state, control the wheels to be stationary and identify the drowning state of the vehicle, where the drowning state is used to represent the body posture of the vehicle when it falls into the water;

[0007] Determine the position of the target airbag in the vehicle according to the drowning state;

[0008] Control the target airbag to pop up and inflate the target airbag.

[0009] In an embodiment of the present application, when it is detected that the vehicle has fallen into the water, obtain the current state of the wheels in the vehicle; if the current state of the wheels is a moving state, control the wheels to be stationary and identify the drowning state of the vehicle; that is, when it is detected that the vehicle has fallen into the water, determine whether the wheels of the vehicle are in a rotating state; if the wheels are rotating, while controlling the wheels to stop rotating, obtain the drowning state of the vehicle; according to the obtained drowning state of the vehicle, determine the target airbag of the vehicle, control the target airbag to pop up and inflate the target airbag; because when the wheels are in a moving state, it will accelerate the sinking speed of the vehicle; therefore, in the solution of the present application, when it is detected that the wheels are in a moving state, control the wheels to be stationary, thereby reducing the sinking speed of the vehicle after falling into the water; in addition, controlling the target airbag of the vehicle to pop up and inflate the target airbag according to the drowning state of the vehicle can timely control the corresponding airbag to pop up when the vehicle is in different drowning states, so that the vehicle will not sink within a certain period of time, thereby preventing the vehicle from sinking into the water and ensuring the safety of the users in the vehicle cabin.

[0010] Combined with the first aspect, in certain implementations of the first aspect, controlling the target airbag to deploy and inflating the target airbag includes:

[0011] Controlling the air pump in the vehicle to turn on, so that the gas inhaled by the air pump enters the target airbag through the airbag pipeline, causing the target airbag to deploy;

[0012] Inflating the target airbag according to the air pressure value in the target airbag.

[0013] In an embodiment of the present application, when it is detected that the vehicle falls into water, the air pump of the vehicle is controlled to turn on, so that the gas inhaled by the air pump can enter the target airbag through the airbag pipeline, causing the target airbag to deploy; at the same time, the target airbag is inflated according to the air pressure value of the target airbag, so as to ensure that when it is detected that the vehicle falls into water, the target airbag can be controlled to deploy in time and the target airbag is inflated, ensuring that the vehicle has a certain buoyancy and will not sink quickly after the vehicle falls into water, and ensuring the safety of the users in the vehicle cabin.

[0014] Combined with the first aspect and the above implementation, in certain implementations of the first aspect, inflating the target airbag according to the air pressure value in the target airbag includes:

[0015] If the air pressure value of the target airbag is less than the preset air pressure threshold, controlling the electronic valve corresponding to the target airbag in the airbag pipeline to open to inflate the target airbag.

[0016] In an embodiment of the present application, after the target airbag deploys, if it is detected that the air pressure value of the target airbag is less than the preset air pressure threshold, the electronic valve of the target airbag is controlled to open to inflate the target airbag; since the vehicle judges whether there is enough buoyancy to make the vehicle float on the water surface after the airbag deploys by detecting the air pressure value of the target airbag, if the air pressure value of the target airbag is less than the preset air pressure threshold, it indicates that the gas volume after the target airbag deploys is not enough to make the vehicle float on the water surface, so the electronic valve of the target airbag is controlled to open to inflate the target airbag, ensuring that the target airbag of the vehicle can provide enough buoyancy to prevent the vehicle from sinking after falling into water.

[0017] Combined with the first aspect and the above implementation, in certain implementations of the first aspect, it further includes:

[0018] If it is detected that the pressure value of the target water pressure sensor is less than the preset pressure threshold, obtaining the current deflection direction of the vehicle;

[0019] Inflate the first airbag and / or the second airbag in the target airbag according to the current deflection direction to balance the vehicle; wherein, the position of the target water pressure sensor is obtained from the water entry state; if the water entry state is a forward water entry state or a reverse water entry state, the first airbag and the second airbag are located on both sides of the vehicle; if the water entry state is a lateral water entry state, the first airbag and the second airbag are located on the target side of the vehicle.

[0020] In an embodiment of the present application, when it is detected that the pressure value of the target water pressure sensor is less than the preset pressure threshold, it indicates that the buoyancy generated by the current target airbag of the vehicle enables the vehicle to float on the water surface; at this time, obtain the deflection direction of the vehicle, and according to the obtained deflection direction of the vehicle, inflate the first airbag and / or the second airbag in the target airbag; wherein, when the water entry state of the vehicle is a forward water entry state or a reverse water entry state, the first airbag and the second airbag can be understood as the left airbag or the right airbag of the vehicle target airbag; by controlling the inflation of the first side airbag and the second side airbag of the vehicle target airbag, the deflection angle of the vehicle is reduced until the left and right sides of the vehicle body are in a balanced state; when the water entry state of the vehicle is a lateral water entry state, the first airbag and the second airbag are the upper airbag and the lower airbag on the target side, and by controlling the inflation of the upper airbag and the lower airbag on the target side of the vehicle located below the water surface, when the vehicle enters the water laterally, the upper side and the lower side of the vehicle body are in a balanced state; prevent water from flowing into the passenger compartment due to the imbalance of the vehicle body.

[0021] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, it further includes:

[0022] Control the electronic valve in the air supply pipe to open so that gas is input into the driver's cab of the vehicle through the air supply pipe; wherein, the air supply pipe is connected to the air pump.

[0023] In an embodiment of the present application, when it is detected that the vehicle enters the water, control the electronic valve of the air supply pipe to open so that gas is input into the driver's cab of the vehicle through the air supply pipe connected to the air pump; since the vehicle supplies gas to the driver's cab of the vehicle through the air supply pipe, it is ensured that water does not enter the passenger compartment after the vehicle enters the water and there is sufficient oxygen in the passenger compartment, thereby ensuring the safety of the personnel in the passenger compartment and increasing the probability of the personnel in the passenger compartment being rescued.

[0024] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, determining the position of the target airbag of the vehicle according to the water entry state includes:

[0025] If the water entry state is a forward water entry state, determine that the position of the target airbag of the vehicle is at the bottom of the side wall panels on both sides of the vehicle.

[0026] If the water entry state is a reverse water entry state, determine that the position of the target airbag of the vehicle is at the top of the side wall panels on both sides in the vehicle;

[0027] If the water entry state is a lateral water entry state, determine that the position of the target airbag of the vehicle is at the top and bottom of the side wall panel on the target side in the vehicle.

[0028] In an embodiment of the present application, when the water entry state of the vehicle is a forward water entry state, in order to prevent the vehicle from sinking in the body attitude when in the forward water entry state, determine that the position of the target airbag of the vehicle is at the bottom of the side wall panels on both sides in the vehicle. When the water entry state of the vehicle is a reverse water entry state, in order to prevent the vehicle from sinking in the body attitude when in the reverse water entry state, determine that the position of the target airbag of the vehicle is at the top of the side wall panels on both sides in the vehicle; when the water entry state of the vehicle is a lateral water entry state, determine that the target airbag of the vehicle is at the top and bottom of the side wall panel on one side in the vehicle; since the position of the target airbag of the vehicle is determined according to the water entry state of the vehicle, that is, when the body attitude of the vehicle when entering the water is different, the target airbag of the vehicle is also different; therefore, it is possible to ensure that the vehicle does not sink and guarantee the safety of the personnel in the cabin when the vehicle is in different water entry states.

[0029] Combined with the first aspect and the above implementation manners, in some implementation manners of the first aspect, the identifying the water entry state of the vehicle includes:

[0030] If it is detected that the vehicle enters the water, obtain the pressure value of at least one water pressure sensor in the vehicle;

[0031] Determine the target water pressure sensor among the at least one water pressure sensor whose pressure value is greater than a preset pressure threshold;

[0032] Determine the water entry state of the vehicle according to the position of the target water pressure sensor in the vehicle.

[0033] In an embodiment of the present application, when it is detected that the vehicle enters the water, obtain the pressure value of the water pressure sensor in the vehicle, determine the position of the water pressure sensor whose pressure value is greater than the preset pressure threshold, and determine the water entry state of the vehicle according to the position of this water pressure sensor; since when the value of the water pressure sensor is greater than the preset pressure threshold, it indicates that the vehicle is in the water entry state, and the water entry state of the vehicle is determined according to the specific position of the water pressure sensor detecting that the vehicle is in the water entry state, it is possible to ensure that the water entry state of the vehicle is detected in time when the vehicle enters the water.

[0034] In a second aspect, a control device for a vehicle is provided, and the control device includes:

[0035] An acquisition module: used to obtain the current state of the wheels in the vehicle if it is detected that the vehicle enters the water;

[0036] The first control module: configured to, if the current state is a moving state, control the wheels to stop and identify the water entry state of the vehicle, where the water entry state is used to represent the body attitude of the vehicle when it enters the water;

[0037] The determination module: configured to determine the position of the target airbag in the vehicle according to the water entry state;

[0038] The second control module: configured to control the target airbag to pop up and inflate the target airbag.

[0039] In a third aspect, a vehicle is provided, including a memory and a processor; the memory is configured to store executable program code, and the processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation manner of the first aspect.

[0040] In a fourth aspect, a computer program product is provided, including: computer program code, when the computer program code runs on a computer, enabling the computer to execute the method in the first aspect or any possible implementation manner of the first aspect.

[0041] In a fifth aspect, a computer-readable storage medium is provided, storing computer program code, when the computer program code runs on a computer, enabling the computer to execute the method in the first aspect or any possible implementation manner of the first aspect. Description of the Drawings

[0042] Figure 1 is a schematic diagram of a scenario of a vehicle entering the water provided by an embodiment of the present application;

[0043] Figure 2 is a schematic diagram of the structure of a vehicle provided by an embodiment of the present application;

[0044] Figure 3 is a schematic diagram of a scenario of an airbag popping up after a vehicle enters the water provided by an embodiment of the present application;

[0045] Figure 4 is a schematic diagram of the system architecture of a vehicle provided by an embodiment of the present application;

[0046] Figure 5 is a schematic flowchart of a control method of a vehicle provided by an embodiment of the present application;

[0047] Figure 6 is a schematic flowchart of another control method of a vehicle provided by an embodiment of the present application;

[0048] Figure 7It is a schematic structural diagram of a control device for a vehicle provided by an embodiment of the present application;

[0049] Figure 8 It is a schematic structural diagram of another vehicle provided by an embodiment of the present application. Detailed implementation manners

[0050] Hereinafter, the technical solutions in the present application will be clearly and elaborately described with reference to the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B. The "and / or" in the text is only a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0051] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0052] Figure 1 It is a schematic diagram of a scenario where a vehicle falls into water provided by an embodiment of the present application.

[0053] Exemplarily, scenario 100 includes vehicle 110 and a water entry area 120.

[0054] Exemplarily, when the vehicle is traveling in a near-water area, if an accident occurs, such as a brake failure or a driver's incorrect driving operation, it is easy to cause vehicle 110 to fall into water. Scenario 100 shows two water entry states of the vehicle, which are respectively the vehicle's forward water entry state as shown in (a) in Figure 1 , the vehicle's reverse water entry state as shown in (b) in Figure 1 and the lateral water entry state as shown in (c) in Figure 1 ; if the vehicle does not have the ability to float, it will cause the vehicle to sink rapidly after falling into water, resulting in the drowning and casualties of the people in the vehicle and affecting the safety of vehicle driving.

[0055] In view of this, the present application provides a control method, a control device, a vehicle and a storage medium for a vehicle; through the embodiments of the present application, when the vehicle falls into water, the wheels can be controlled to be stationary, and the target airbag of the vehicle can be controlled to pop out according to the water entry state of the vehicle, so that the vehicle has a certain buoyancy, thereby preventing the vehicle from sinking into the water and ensuring the safety of the users in the vehicle cabin.

[0056] Next, the structure of the vehicle provided by the present application will be described in detail with reference to Figure 2 .

[0057] Figure 2 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

[0058] Exemplarily, as Figure 2 shown in (a) of [], vehicle 110 includes a top airbag 1101 located at the top of the side wall panel of vehicle 110, a front water pressure sensor 1102 of the top airbag, a rear water pressure sensor 1103 of the top airbag, a bottom airbag 1104 located at the bottom of the side wall panel of the vehicle, a front water pressure sensor 1105 of the bottom airbag, a rear water pressure sensor 1106 of the bottom airbag, a middle airbag 1107 of the vehicle, a front water pressure sensor 1108 of the middle airbag, a rear water pressure sensor 1109 of the middle airbag, an air pump 1110, and an air supply pipe 1111.

[0059] Exemplarily, as Figure 2 shown in the schematic diagram of the vehicle side wall assembly in (b) of [], the airbag 1100 in the vehicle includes a top airbag 1101 located at the top of the side wall panel, a bottom airbag 1104 located at the bottom of the side wall panel, and a middle airbag 1107 located in the middle groove of the vehicle.

[0060] It should be understood that Figure 2 there are 6 airbags provided in the schematically shown vehicle; for example, the top airbag 1101 includes a left airbag (first side airbag) in the vehicle top airbag and a right airbag (second side airbag) in the vehicle top airbag; the bottom airbag 1104 includes a left airbag in the vehicle bottom airbag and a right airbag in the vehicle bottom airbag, and the middle airbag 1108 includes a left airbag in the vehicle middle airbag and a right airbag in the middle airbag.

[0061] Based on the above embodiments, the 6 airbags provided in the vehicle are located at different positions of the vehicle support assembly. Along the length direction of the vehicle, the top airbag, the middle airbag and the bottom airbag cover the front, middle and rear parts of the support assembly; along the height direction of the vehicle, the top airbag, the middle airbag and the bottom airbag cover the top, middle and bottom parts of the support assembly. In this way, the 6 airbags provided in the vehicle can cover all parts of the vehicle support assembly in all directions, ensuring that the vehicle will not sink when falling into water and guaranteeing the safety of the users in the cabin.

[0062] It should be noted that the above takes the installation of 6 airbags in vehicle 110 as an example; the present application does not make any limitation on the specific number of airbags.

[0063] Exemplarily, when multiple water pressure sensors in vehicle 110 detect that the vehicle has fallen into water, the water pressure sensors send a water-falling signal to the vehicle control unit, which controls the vehicle's air pump 1110 to turn on. The gas sucked in by the air pump enters the airbag through the airbag pipeline to cause the airbag to pop out and inflate. The inflated airbag can enable the vehicle to float on water, thereby ensuring that the vehicle will not sink and ensuring the safety of users in the cabin. In addition, the air pump is connected to the air supply pipe 1111, and the gas enters the cabin through the air supply pipe, ensuring that there is sufficient oxygen in the cabin and increasing the probability of users in the cabin being rescued.

[0064] Figure 3 This is a schematic diagram of a scenario in which an airbag pops out after a vehicle falls into water, provided in an embodiment of the present application.

[0065] For example, scene 200 shows two scenes where the airbag is deployed after the vehicle falls into water, namely: Figure 3 The scene of the bottom airbag of the vehicle shown in (a) is deployed. Figure 3 The scene of the top airbag of the vehicle shown in (b) is similar to Figure 3 The scene in which the upper airbag and the lower airbag on the side of the vehicle falling into the water are ejected in (c); when the vehicle falls into the water Figure 3 In the forward water-falling state shown in (a) of the figure, the bottom airbag of the vehicle is inflated, and the bottom airbag pops out to make the vehicle float on the water surface; when the vehicle falls into the water, the bottom airbag ... is inflated, and the bottom airbag is inflated, and the bottom airbag is inflated to make the vehicle float on the water surface; when the vehicle falls into the water, the bottom airbag is inflated, and the bottom airbag is inflated, and the bottom airbag is inflated Figure 3 When the vehicle falls into the water in the reverse direction as shown in (b) of FIG. 1 , the top airbag of the vehicle is inflated, and the top airbag pops out so that the vehicle can float on the water surface; when the vehicle falls into the water Figure 3 In the side-falling water state shown in (c) in the figure, the upper airbag and the lower airbag on the side where the vehicle falls into the water are inflated so that the vehicle can float on the water.

[0066] Figure 4 It is a schematic diagram of a system architecture of a vehicle provided in an embodiment of the present application.

[0067] Exemplarily, the vehicle 110 includes a water pressure sensor 300 , a floating airbag control unit 301 , an air pump 302 , an electronic valve 303 , a vehicle body domain controller 304 , an air supply pipe 305 , a floating airbag 306 , and wheels 307 .

[0068] The water pressure sensor 300 includes: Figure 2 The front water pressure sensor 1102 of the top airbag, the rear water pressure sensor 1103 of the top airbag, the front water pressure sensor 1105 of the bottom airbag, the rear water pressure sensor 1106 of the bottom airbag, the front water pressure sensor 1108 of the middle airbag, the rear water pressure sensor 1109 of the middle airbag, the floating airbag 306 includes Figure 2 The top airbag 1101, the bottom airbag 1104, the middle airbag 1107, the air pump 302 andFigure 2 In Figure 2 , 1110 represents the same device, and the air supply pipe 305 is connected to Figure 2 In Figure 2 , 1111 represents the same device.

[0069] Exemplarily, the water pressure sensor 300 is used to detect the current water pressure; the floating water airbag control unit 301 is used to receive the pressure value detected by the water pressure sensor 300, send a signal to the vehicle body domain controller, and control the opening of the electronic valve 303 and the air pump 302 according to the detected pressure value; the air pump 302 is used to supply air into the vehicle cabin through the air supply pipe and inflate the floating water airbag; the electronic valve 303 is used to control parameters such as the direction, flow rate, speed, on / off, etc. of the gas; the vehicle body domain controller 304 is used to receive the signal sent by the floating water airbag control unit 301 and send a control instruction; the air supply pipe 305 is used to supply air into the vehicle cabin; the floating water airbag 306 is used to receive the signal of the floating water airbag control unit 210 and inflate and pop up to make the vehicle float; the wheels are used to receive the instruction of the vehicle body domain controller and stop rotating after the vehicle falls into the water.

[0070] Next, taking Figure 2 the vehicle structure shown in Figure 4 and Figure 5 the system architecture shown in Figure 6 as an example, the control method of the vehicle provided by the embodiments of the present application will be described in detail in combination with

[0071] Figure 5 FIG. is a schematic flowchart of a control method of a vehicle provided by the embodiments of the present application.

[0072] Exemplarily, Figure 5 the control method 400 shown in Figure 1 can be executed by the vehicle 110 shown in Figure 1 ; or can be executed by the on-vehicle terminal of the vehicle 110 shown in Figure 1 ; or can be executed by the processor or chip in the vehicle 110 shown in Figure 4 ; or can be executed by the vehicle body domain controller 304 in the vehicle 110 shown in

[0073] As shown in Figure 5 , the control method 400 includes S410 to S440, and S410 to S440 will be described in detail below.

[0074] S410, if it is detected that the vehicle has fallen into the water, obtain the current state of the wheels in the vehicle.

[0075] Wherein, the current state of the wheels in the vehicle refers to the state of the wheels when the vehicle falls into the water, including the moving state and the stationary state of the wheels.

[0076] Exemplarily, the vehicle can detect whether the vehicle has fallen into water through a water pressure sensor or an acceleration sensor in the vehicle; if it detects that the vehicle has fallen into water and obtains the current state of the wheels, the vehicle can obtain the current state of the wheels in the vehicle through the data of the Hall sensor; among them, the Hall sensor is a sensor component that can convert non-electric and non-magnetic physical quantities into electrical quantities for detection and control. Here, it specifically refers to converting physical quantities such as speed and rotational speed into electrical quantities that can be detected by the vehicle.

[0077] It should be understood that S410 can adopt any implementation method in the prior art to detect whether the vehicle has fallen into water. The above is for illustrative purposes; this application makes no limitations in this regard.

[0078] S420, if the current state is a moving state, control the wheels to stop and identify the water entry state of the vehicle.

[0079] Exemplarily, if the current state of the wheels is a moving state, that is, when the wheels are rotating when the vehicle falls into water, the rotation of the wheels will cause the vehicle to sink faster. Therefore, the vehicle sends a command to the body domain controller to control the wheels to stop; in addition, the vehicle identifies the water entry state of the vehicle while controlling the wheels to stop.

[0080] Among them, the water entry state is used to represent the body attitude of the vehicle when it falls into water; when the vehicle falls into water, the vehicle may fall into water with a forward body attitude, as shown in (a) of Figure 1 or, when the vehicle falls into water, the vehicle may fall into water with a reverse body attitude, as shown in (b) of Figure 1 or, when the vehicle falls into water, the vehicle may fall into water with a lateral body attitude, as shown in (c) of Figure 1

[0081] Next, an example description of the implementation method for determining the water entry state of the vehicle in the solution of this application will be given.

[0082] Exemplarily, determine the water entry state of the vehicle according to the pressure value of the water pressure sensor and the position of the water pressure sensor.

[0083] Optionally, in one implementation method, the above-mentioned if it is detected that the vehicle has fallen into water and determine the water entry state of the vehicle includes:

[0084] If it is detected that the vehicle has fallen into water, obtain the pressure value of at least one water pressure sensor in the vehicle;

[0085] Determine the target water pressure sensor whose pressure value in at least one water pressure sensor is greater than the preset pressure threshold;

[0086] Determine the water entry state of the vehicle according to the position of the target water pressure sensor in the vehicle.

[0087] ​Exemplarily, when the water pressure sensor in the vehicle detects that the pressure value is greater than the preset pressure threshold, it is determined that the vehicle has fallen into the water; the water entry state of the vehicle is determined according to the position of the water pressure sensor that detects that the pressure value is greater than the preset pressure threshold; the water entry state includes the forward water entry state, the reverse water entry state, and the lateral water entry state of the vehicle.

[0088] For example, the vehicle includes at least one water pressure sensor; the at least one water pressure sensor includes two bottom water pressure sensors (such as the front water pressure sensor 1105 of the bottom airbag and the rear water pressure sensor 1106 of the bottom airbag shown in (a) of Figure 2 ); if the pressure value detected by any one of the bottom water pressure sensors is greater than the preset pressure threshold, it indicates that the water entry state of the vehicle is the forward water entry state.

[0089] For example, the vehicle includes at least one water pressure sensor; the at least one water pressure sensor includes two top water pressure sensors (such as the front water pressure sensor 1102 of the top airbag and the rear water pressure sensor 1103 of the top airbag shown in (a) of Figure 2 ); if the pressure value detected by any one of the top water pressure sensors is greater than the preset pressure threshold, it indicates that the water entry state of the vehicle is the reverse water entry state.

[0090] For example, the vehicle includes at least one water pressure sensor; the at least one water pressure sensor includes the top and bottom of the side wall panel on one side of the vehicle (for example, the water pressure sensors at the top and bottom of the side wall panel on the left side of the vehicle body); if the pressure values of the water pressure sensors at the top and bottom of the side wall panel on one side of the vehicle are detected to be greater than the preset pressure threshold, and the water pressure sensors at the top and bottom of the side wall panel on the other side do not detect pressure values, it is determined that the water entry state of the vehicle is the lateral water entry state.

[0091] Exemplarily, as Figure 4 shown, the water pressure sensor 300 of the vehicle obtains the pressure value at the current position of the vehicle, sends the pressure value to the floating airbag control unit 301, the floating airbag control unit 301 sends a pressure value signal to the body domain controller 304 of the vehicle, and the body domain controller 304 of the vehicle determines the water entry state of the vehicle according to the pressure value of the water pressure sensor and the position of the water pressure sensor.

[0092] It should be understood that the number of water pressure sensors in the vehicle can be any number greater than two, and the present application does not make any limitation on the number of water pressure sensors.

[0093] For example, the preset pressure threshold is 30N. When the detected pressure value is 40N and the water pressure sensor that detects this pressure value is located at the top of the vehicle, it is determined that the water entry state of the vehicle is the reverse water entry state; when the water pressure sensor that detects the pressure value of 40N is located at the bottom of the vehicle, it is determined that the water entry state of the vehicle is the forward water entry state.

[0094] It should be noted that the above are examples of the preset pressure threshold, the pressure value, and the position of the water pressure sensor, and the present application does not make any limitations thereto.

[0095] In an embodiment of the present application, when it is detected that the vehicle falls into water, the pressure value of the water pressure sensor in the vehicle is obtained; the position of the water pressure sensor whose pressure value is greater than the preset pressure threshold is determined, and the water entry state of the vehicle is determined according to the position of the water pressure sensor; since when the pressure value of the water pressure sensor is greater than the preset pressure threshold, it proves that the vehicle is in a water entry state; determining the water entry state of the vehicle according to the specific position of the water pressure sensor detecting that the vehicle is in a water entry state can ensure that when the vehicle falls into water, the water entry state of the vehicle can be detected in time as a forward water entry state, a reverse water entry state, or a lateral water entry state.

[0096] S430. Determine the position of the target airbag in the vehicle according to the water entry state.

[0097] Among them, the target airbag includes a top airbag located at the top of the side wall panel of the vehicle (such as Figure 2 1101 in Figure 2 ) and a bottom airbag located at the bottom of the side wall panel of the vehicle (such as

[0098] Optionally, in one implementation manner, determining the position of the target airbag of the vehicle according to the water entry state includes:

[0099] If the water entry state is a forward water entry state, determine that the position of the target airbag of the vehicle is at the bottom of the side wall panels on both sides of the vehicle;

[0100] If the water entry state is a reverse water entry state, determine that the position of the target airbag of the vehicle is at the top of the side wall panels on both sides of the vehicle;

[0101] If the water entry state is a lateral water entry state, determine that the position of the target airbag of the vehicle is at the top and the bottom of the side wall panel on the target side of the vehicle.

[0102] Example 1:

[0103] Exemplarily, as shown in (a) of Figure 1 , when the water entry state of the vehicle is a forward water entry state, in order to prevent the vehicle from sinking, the target airbag of the vehicle is determined to be the bottom airbag; inflate the bottom airbag so that the vehicle can float and prevent the vehicle from sinking, as shown in (a) of Figure 3 ; among them, the bottom airbag is located at the bottom of the side wall panel of the vehicle, such as the bottom airbag 1104 shown in (a) of Figure 2 .

[0104] Example 2:

[0105] Exemplarily, asFigure 1 As shown in (b) thereof, when the vehicle's water entry state is a reverse water entry state, in order to prevent the vehicle from sinking, the target airbag of the vehicle is determined to be the top airbag; inflate the top airbag so that the vehicle can float and prevent the vehicle from sinking, as Figure 3 shown in (b) thereof; wherein, the top airbag is located at the top of the vehicle side panel as Figure 2 the top airbag 1101 shown in (a) thereof.

[0106] Example 3:

[0107] Exemplarily, as Figure 1 shown in (c) thereof, when the vehicle's water entry state is a lateral water entry state, in order to prevent the vehicle from sinking, the target airbags of the vehicle are determined to be the top of the side panel and the bottom airbag of the side panel on the side where the vehicle enters the water, as Figure 3 shown in (c) thereof.

[0108] For the above Examples 1, 2, and 3, since the position of the vehicle's target airbag is determined according to the vehicle's water entry state, that is, when the body posture of the vehicle when entering the water is different, the vehicle's target airbags are also different; therefore, it is possible to ensure that the vehicle does not sink quickly when the vehicle is in different water entry states, and ensure the safety of the personnel in the passenger compartment.

[0109] S440, control the target airbag to pop up and inflate the target airbag.

[0110] Optionally, in one implementation, controlling the target airbag to pop up and inflating the target airbag includes:

[0111] Control the air pump in the vehicle to turn on so that the gas inhaled by the air pump enters the target airbag through the airbag pipeline, causing the target airbag to pop up;

[0112] Inflate the target airbag according to the air pressure value in the target airbag.

[0113] Wherein, the air pump is arranged in the middle of the side panel along the height direction of the vehicle and at the rear of the side panel along the length direction of the vehicle (such as Figure 2 (1110) in (a)).

[0114] Exemplarily, when the vehicle enters the water, there is a risk of water entering the intake pipe of the vehicle; therefore, different control strategies are determined by detecting whether the intake pipe connecting the air pump in the vehicle is flooded, which will be described in detail below in combination with Examples 1, 2, and 3.

[0115] Example 1:

[0116] In a possible implementation, when the vehicle falls into water, it is detected whether there is water flowing into the intake pipe in the vehicle; if there is no water in the intake pipe, the air pump works normally, inhaling gas through the intake pipe, so that the gas enters the airbag through the airbag pipeline, ensuring that the airbag can pop up and inflate, and the vehicle will not sink quickly.

[0117] Example 2:

[0118] In a possible implementation, if it is detected that there is water flowing into the intake pipe, in order to prevent the water from entering the interior of the vehicle through the intake pipe, the electronic valve of the intake pipe is controlled to close; the air pump is connected to the intake pipe leading to the interior of the vehicle, and the airbag is inflated by inhaling the gas inside the vehicle; during the process of inflating the airbag, when it is detected that the intake pipe of the vehicle emerges from the water surface, the electronic valve of the intake pipe is controlled to open, and the vehicle inflates the airbag through the intake pipe. Thus, it is ensured that when there is water flowing into the intake pipe of the vehicle, it will not affect the interior of the vehicle, and the air pump of the vehicle can operate normally, and the vehicle will not sink quickly.

[0119] Example 3:

[0120] In a possible situation, a medium that can quickly generate gas is pre-stored in the vehicle; if it is detected that there is water flowing into the intake pipe and the air pump cannot inhale gas through the intake pipe, the electronic valve of the intake pipe is controlled to close; the medium for generating gas stored in the vehicle reacts automatically to generate gas, so that the air pump of the vehicle can inhale gas and inflate the airbag, ensuring that the airbag in the vehicle can pop up and inflate, and the vehicle will not sink quickly.

[0121] In the embodiment of the present application, when it is detected that the vehicle falls into water, the air pump of the vehicle is controlled to start, so that the gas inhaled by the air pump can enter the target airbag through the airbag pipeline, causing the target airbag to pop up, and at the same time, the target airbag is inflated according to the air pressure value of the target airbag. Thus, it is ensured that when it is detected that the vehicle falls into water, the target airbag can be controlled to pop up in time and the target airbag is inflated, ensuring that the vehicle has a certain buoyancy and will not sink quickly after the vehicle falls into water, ensuring the safety of the users in the vehicle cabin.

[0122] In a possible implementation, inflating the target airbag according to the air pressure value in the target airbag includes:

[0123] If the air pressure value of the target airbag is less than the preset air pressure threshold, the electronic valve corresponding to the target airbag in the airbag pipeline is controlled to open to inflate the target airbag.

[0124] Among them, the electronic valve, also known as the solenoid valve, is a basic automation component for controlling fluids; the electronic valve corresponding to the target airbag is located at the connection between the air pump and the airbag pipeline. When the electronic valve is in the open state, the gas inhaled by the air pump through the intake pipeline can enter the target airbag through the airbag pipeline; when the electronic valve is in the closed state, the gas cannot enter the target airbag.

[0125] Exemplarily, the preset air pressure threshold is the air pressure value corresponding to the rated inflation volume of the target airbag; when the air pressure value of the target airbag is less than the preset air pressure threshold, that is, the inflation volume of the target airbag has not reached the rated inflation volume, control the electronic valve corresponding to the target airbag to open and inflate the target airbag.

[0126] For example, the preset air pressure threshold is 130 kPa (kilopascal). When the target airbag pops out, the air pressure value of the target airbag is 90 kPa, which is less than the preset air pressure threshold, indicating that the inflation volume of the target airbag in the vehicle has not reached the rated inflation volume. Therefore, control the electronic valve corresponding to the target airbag to open and inflate the target airbag; when the target airbag pops out, the air pressure value of the target airbag is 140 kPa, which is greater than the preset air pressure threshold, indicating that the inflation volume of the target airbag in the vehicle has reached the rated inflation volume, and control the electronic valve of the target airbag to close.

[0127] It should be noted that the above is an example of the preset air pressure threshold and the air pressure value of the target airbag, and the present application does not make any limitation thereto.

[0128] In an embodiment of the present application, when the target airbag pops out, if it is detected that the air pressure value of the target airbag is less than the preset air pressure threshold, control the electronic valve of the target airbag to open to inflate the target airbag; since the vehicle judges whether there is sufficient buoyancy to make the vehicle float on the water surface after the airbag pops out by detecting the air pressure value of the target airbag, if the air pressure value of the target airbag is less than the preset air pressure threshold, it indicates that the gas volume after the target airbag pops out is not enough to make the vehicle float on the water surface. Therefore, control the electronic valve of the target airbag to open to inflate the target airbag to ensure that the target airbag of the vehicle can provide sufficient buoyancy so that the vehicle will not sink after falling into the water.

[0129] In a possible implementation manner, the above method further includes:

[0130] If it is detected that the pressure value of the target water pressure sensor is less than the preset pressure threshold, obtain the current deflection direction of the vehicle;

[0131] According to the current deflection direction, inflate the first airbag and / or the second airbag in the target airbag to make the vehicle in a balanced state; wherein, the position of the target water pressure sensor is obtained through the falling water state; if the falling water state is a forward falling water state or a reverse falling water state, the first airbag and the second airbag are located on both sides of the vehicle; if the falling water state is a lateral falling water state, the first airbag and the second airbag are located on the target side of the vehicle.

[0132] Wherein, the deflection direction of the vehicle includes the body deflecting to the left side or the right side of the body or deflecting to the upper side (such as the roof of the body) and the lower side (such as the bottom of the body) of the body.

[0133] Exemplarily, the vehicle obtains the current deflection direction of the vehicle through a gyroscope in the vehicle; according to the deflection direction, the vehicle is controlled to inflate the first airbag and / or the second airbag in the target airbag.

[0134] Case 1:

[0135] When the vehicle's water entry state is a forward water entry state and it is detected that the deflection direction of the vehicle is to deflect to the left side of the vehicle body, the vehicle is controlled to inflate the left airbag in the target airbag so that both sides of the vehicle body are in a balanced state.

[0136] Case 2:

[0137] When the vehicle's water entry state is a reverse water entry state and it is detected that the deflection direction of the vehicle is to deflect to the right side of the vehicle body, the vehicle is controlled to inflate the right airbag in the target airbag so that both sides of the vehicle are in a balanced state.

[0138] Case 3:

[0139] When the vehicle's water entry state is a lateral water entry state and it is detected that the deflection direction of the vehicle is to flip towards the roof or the bottom of the vehicle body, the vehicle is controlled to inflate the upper airbag or the lower airbag on one side of the target airbag.

[0140] Exemplarily, since the vehicle is in a water entry state, it is difficult for the vehicle body to reach a balanced state; in order to ensure that the water flow does not interfere with the deflection direction of the vehicle, an angle threshold and a duration threshold for the deflection of the vehicle body can be set. When the deflection angle is greater than the deflection angle threshold and the duration of maintaining this deflection angle is greater than the duration threshold, it is determined that the vehicle body is in a deflected state.

[0141] For example, the deflection angle threshold is 25° (degrees) and the duration threshold is 2 s (seconds); when it is detected that the deflection angle of the vehicle is 30° and the duration of maintaining this deflection angle is 3 s, it is determined that the vehicle body is in a deflected state, and the vehicle is controlled to inflate the first airbag and / or the second airbag in the target airbag so that the vehicle body is in a balanced state.

[0142] In an embodiment of the present application, when it is detected that the pressure value of the target water pressure sensor is less than the preset pressure threshold, it indicates that the buoyancy generated by the current target airbag of the vehicle enables the vehicle to float on the water surface; at this time, the deflection direction of the vehicle is obtained, and according to the obtained deflection direction of the vehicle, the first airbag and / or the second airbag in the target airbag is / are inflated; wherein, when the vehicle's falling into water state is the forward falling into water state or the reverse falling into water state, the first airbag and the second airbag can be understood as the left airbag or the right airbag of the vehicle's target airbag; by controlling the inflation of the first side airbag and the second side airbag of the vehicle's target airbag, the deflection angle of the vehicle is reduced until the left and right sides of the vehicle body are in a balanced state; when the vehicle's falling into water state is the lateral falling into water state, the first airbag and the second airbag are the upper airbag and the lower airbag on the target side, and by controlling the inflation of the upper airbag and the lower airbag on the target side located below the water surface in the vehicle, when the vehicle falls into water laterally, the upper side and the lower side of the vehicle body are in a balanced state; to prevent water from flowing into the vehicle cabin due to the imbalance of the vehicle body.

[0143] In a possible implementation manner, the above method further includes: controlling the opening of the electronic valve in the air supply pipe so that gas is input into the vehicle's cockpit through the air supply pipe; wherein, the air supply pipe is connected to an air pump.

[0144] Wherein, the electronic valve of the air supply pipe is located at the connection between the air pump and the air supply pipe; when the electronic valve of the air supply pipe is opened, the gas inhaled by the air pump through the intake pipe enters the vehicle's cockpit through the air supply pipe.

[0145] In an embodiment of the present application, when it is detected that the vehicle has fallen into water, the electronic valve of the air supply pipe is controlled to open so that gas is input into the vehicle's cockpit through the air supply pipe connected to the air pump; since the vehicle supplies gas to the vehicle's cockpit through the air supply pipe, it is ensured that water does not enter the vehicle cabin after the vehicle has fallen into water and there is sufficient oxygen in the vehicle cabin, thereby ensuring the safety of the personnel in the vehicle cabin and increasing the probability of the personnel in the vehicle cabin being rescued.

[0146] Exemplarily, when the sinking amplitude of the vehicle is relatively large, or the top airbag and the bottom airbag in the vehicle's target airbag cannot provide sufficient buoyancy to make the vehicle float on the water surface, it is necessary to control the middle airbag to open.

[0147] For example, when it is detected that the pressure value of the target water pressure sensor in the vehicle is greater than the warning threshold when the vehicle has fallen into water, it indicates that the sinking amplitude of the vehicle is relatively large; at this time, if the vehicle cannot quickly float on the water surface only through the top airbag or the bottom airbag of the vehicle; therefore, it is necessary to control the inflation of the middle airbag of the vehicle to increase the buoyancy of the vehicle and ensure that the vehicle can float on the water surface after falling into water, thereby ensuring the safety of the personnel in the vehicle cabin.

[0148] In a possible implementation, when it is detected that the vehicle has fallen into the water, a distress call instruction is sent to the intelligent in-vehicle terminal in the vehicle to cause the intelligent in-vehicle terminal to make an emergency call; if no voice data of the user in the cockpit is detected within a preset time after the emergency call is connected, a distress message is sent to the emergency contact or rescue agency of the vehicle through the intelligent in-vehicle terminal. The distress message includes the location where the vehicle has fallen into the water. Through the location information of the vehicle falling into the water, it can be ensured that the rescue can quickly locate the location information of the vehicle, thereby quickly realizing the rescue of the vehicle.

[0149] Among them, controlling the start of the emergency call includes: controlling to call the emergency contact of the vehicle; or, calling the emergency number; the number of the above calls can be one or more; for example, multiple calls can be made within a preset time period until the emergency call is in a connected state.

[0150] In the embodiments of the present application, a distress call instruction is sent through the intelligent in-vehicle terminal of the vehicle to cause the intelligent in-vehicle terminal to make an emergency call; since the distress call instruction is sent to the intelligent in-vehicle terminal, it is ensured that when it is detected that the vehicle has fallen into the water, it can call for help to the outside world, thereby increasing the probability of the people in the car cabin being rescued.

[0151] Through the above solution, since when the wheels are in a moving state, the sinking speed of the vehicle will be accelerated; therefore, in the solution of the present application, when it is detected that the wheels are in a moving state, the wheels are controlled to be stationary, thereby reducing the sinking speed of the vehicle after falling into the water; in addition, according to the water-falling state of the vehicle, the target airbag of the vehicle is controlled to pop up and the target airbag is inflated, which can timely control the corresponding airbag to pop up when the vehicle is in different water-falling states, so that the vehicle will not sink within a certain period of time, thereby preventing the vehicle from sinking into the water and ensuring the safety of the user in the car cabin.

[0152] Figure 6 It is a schematic flowchart of another vehicle control method provided by the embodiments of the present application.

[0153] Exemplarily, Figure 6 the control method 500 shown can be executed by Figure 1 the vehicle 110 shown; or can be executed by Figure 1 the in-vehicle terminal of the vehicle 110 shown; or can be executed by Figure 1 the processor or chip in the vehicle 110 shown; or can be executed by Figure 4 the body domain controller 304 in the vehicle 110 shown.

[0154] As Figure 6 shown, the control method 500 includes S501 to S522, and S501 to S522 will be described in detail below.

[0155] S501. If it is detected that the vehicle has fallen into water, obtain the current state of the wheels.

[0156] Exemplarily, the vehicle can detect the environmental information outside and inside the vehicle through a water pressure sensor, an acceleration sensor, or an in-vehicle camera in the vehicle, so as to determine whether the vehicle has fallen into water; in the case of detecting that the vehicle has fallen into water, the current state of the wheels is detected through a Hall sensor in the wheels, that is, it is detected whether the wheels are in a moving state or a stationary state.

[0157] In one implementation, in the case of detecting that the vehicle has fallen into water, obtain the current vehicle speed of the vehicle. If the current vehicle speed of the vehicle is zero, it indicates that the wheels of the vehicle are in a stationary state. If the current vehicle speed of the vehicle is not zero, it indicates that the wheels of the vehicle are in a moving state.

[0158] S502. Determine whether the current state of the wheels is a moving state; if so, execute S503, if not, execute S504.

[0159] Exemplarily, in the case of detecting that the vehicle has fallen into water, the current state of the wheels is detected by the body domain controller of the vehicle. When the current state of the wheels is a moving state, the wheels are controlled to be stationary, so as to reduce the sinking speed of the vehicle.

[0160] S503. Control the wheels to be stationary.

[0161] Exemplarily, if the wheels are in a moving state, that is, the rotation speed of the wheels is not zero when the vehicle has fallen into water; since when the wheels are in a moving state, it will accelerate the sinking of the vehicle and increase the drowning risk of the people in the cabin; therefore, the vehicle is controlled to perform an emergency brake so that the wheels are in a stationary state.

[0162] S504. Obtain the pressure values of the water pressure sensor at the top and the water pressure sensor at the bottom of the vehicle.

[0163] Exemplarily, the water pressure sensor at the top of the vehicle is located at the top of the side panels on both sides of the vehicle (such as Figure 2 the front water pressure sensor of the top airbag 1102 and the rear water pressure sensor of the top airbag 1103 shown in (a)), and the water pressure sensor at the bottom of the vehicle is located at the bottom of the side panels of the vehicle (such as Figure 2 the front water pressure sensor of the bottom airbag 1105 and the rear water pressure sensor of the bottom airbag 1106 shown in (a)), so as to ensure that the falling water state of the vehicle can be determined through the water pressure sensor at the top and the water pressure sensor at the bottom.

[0164] Optionally, multiple pressure sensors can be installed in the vehicle, and the multiple pressure sensors include a water pressure sensor at the top and a water pressure sensor at the bottom; S504 can be to obtain the pressure values of the multiple pressure sensors in the vehicle.

[0165] S505. If the pressure value of the bottom water pressure sensor is greater than the preset pressure threshold, determine that the falling water state is the forward falling water state.

[0166] Exemplarily, the preset pressure threshold is a pressure value preset for detecting whether the vehicle has fallen into water. The body domain controller of the vehicle determines whether the pressure value of the bottom water pressure sensor is greater than the preset pressure threshold according to the obtained pressure value of the bottom water pressure sensor; when it is detected that the pressure value is greater than the preset pressure threshold, it indicates that the vehicle is in a falling water state, and since the bottom water pressure sensor is located at the bottom of the side wall panel of the vehicle; therefore, determine that the falling water state of the vehicle is the forward falling water state.

[0167] Optionally, the implementation manner of S505 can refer to Figure 5 the relevant description of S420 in

[0168] S506. Control the bottom airbag of the vehicle to pop up.

[0169] Exemplarily, when the body domain controller of the vehicle determines that the falling water state of the vehicle is forward falling water, control the air pump of the vehicle to start. The air pump inhales gas through the intake pipe, and the gas enters the bottom airbag through the airbag pipeline of the bottom airbag, so that the bottom airbag pops up.

[0170] Optionally, after determining that the falling water state of the vehicle is forward falling water, control the electronic valve of the air supply pipe in the vehicle to open, so as to convey gas to the interior of the vehicle through the air supply pipe, thereby ensuring sufficient oxygen in the passenger compartment and increasing the rescue probability of the people in the passenger compartment.

[0171] S507. Judge whether the air pressure value of the bottom airbag is less than the preset air pressure threshold; if so, execute S508; if not, execute S509.

[0172] Exemplarily, the preset air pressure threshold is the air pressure value corresponding to the rated inflation volume of the preset airbag. After the bottom airbag pops up, there is a certain amount of gas inside the bottom airbag. At this time, the floating airbag control unit needs to judge the air pressure value in the bottom airbag, that is, to detect whether the gas volume in the airbag reaches the rated inflation volume after the bottom airbag pops up.

[0173] S508. Inflate the bottom airbag.

[0174] Exemplarily, when the air pressure value of the bottom airbag is less than the preset air pressure threshold, it indicates that after the bottom airbag pops up, the bottom airbag is not sufficient to make the vehicle float on the water surface; therefore, the floating airbag control unit controls the electronic valve corresponding to the bottom airbag to remain open and inflates the bottom airbag to increase the buoyancy of the bottom airbag so that the vehicle can float on the water surface.

[0175] S509. Control the electronic valve of the bottom airbag to close.

[0176] Exemplarily, when the air pressure value of the bottom airbag is greater than or equal to the preset air pressure threshold, it indicates that the inflation volume of the bottom airbag reaches the rated inflation volume; therefore, the electronic valve of the bottom airbag is controlled to close.

[0177] S510, if the pressure value of the top water pressure sensor is greater than the preset pressure threshold, it is determined that the water entry state is a reverse water entry state.

[0178] Exemplarily, the body domain controller of the vehicle determines whether the pressure value of the top water pressure sensor is greater than the preset pressure threshold according to the obtained pressure value of the top water pressure sensor; when it is detected that the pressure value is greater than the preset pressure threshold, it indicates that the vehicle is in a water entry state, and since the top water pressure sensor is located at the top of the side wall panel of the vehicle; therefore, it is determined that the water entry state of the vehicle is a reverse water entry state.

[0179] Optionally, the implementation method of S505 can refer to Figure 5 the relevant description of S420 in

[0180] S511, control the top airbag of the vehicle to pop out.

[0181] Exemplarily, when the body domain controller of the vehicle determines that the water entry state of the vehicle is a reverse water entry, it controls the air pump of the vehicle to start. The air pump inhales gas through the intake pipe, and the gas enters the top airbag through the airbag pipeline of the top airbag, so that the top airbag pops out.

[0182] S512, determine whether the air pressure value of the top airbag is less than the preset air pressure threshold; if so, execute S513; if not, execute S514.

[0183] Exemplarily, after the top airbag pops out, there is a certain amount of gas inside the top airbag. At this time, the floating airbag control unit needs to judge the air pressure value in the top airbag, that is, to detect whether the gas volume in the airbag after the top airbag pops out reaches the rated inflation volume.

[0184] S513, inflate the top airbag.

[0185] Exemplarily, when the air pressure value of the top airbag is less than the preset air pressure threshold, it indicates that after the top airbag pops out, the top airbag is not enough to make the vehicle float on the water surface; therefore, the floating airbag control unit controls the electronic valve corresponding to the top airbag to remain open and inflates the top airbag to increase the buoyancy of the top airbag so that the vehicle can float on the water surface.

[0186] S514, control the electronic valve of the top airbag to close.

[0187] Exemplarily, when the air pressure value of the top airbag is greater than or equal to the preset air pressure threshold, it indicates that the inflation volume of the top airbag reaches the rated inflation volume; therefore, the electronic valve of the top airbag is controlled to close.

[0188] S515. If the pressure values of the top and bottom water pressure sensors on one side of the vehicle are greater than a preset pressure threshold, determine that the water entry state is a lateral water entry state.

[0189] Exemplarily, the body domain controller of the vehicle determines whether the pressure values of the top and bottom on one side of the vehicle are greater than a preset pressure threshold (for example, the pressure sensor on the left side of the vehicle body) according to the obtained pressure value of the top water pressure sensor; when it is detected that the pressure value is greater than the preset pressure threshold, it indicates that the vehicle is in a water entry state; and since the water pressure sensor detecting the pressure value is located on one side of the vehicle body; therefore, it is determined that the water entry state of the vehicle is a lateral water entry state.

[0190] Optionally, the implementation of S505 can refer to Figure 5 the relevant description of S420 in

[0191] S516. Control the top airbag and the bottom airbag on one side of the vehicle to pop out.

[0192] Exemplarily, when the body domain controller of the vehicle determines that the water entry state of the vehicle is a lateral water entry, control the air pump of the vehicle to start. The air pump inhales gas through the intake pipe, and the gas enters through the airbag pipelines of the top airbag and the bottom airbag on one side, so that the top airbag and the bottom airbag on one side pop out.

[0193] S517. Determine whether the air pressure values of the top and bottom airbags on one side of the vehicle are less than a preset air pressure threshold; if so, execute S518; if not, execute S519.

[0194] Exemplarily, after the top airbag and the bottom airbag on one side of the vehicle pop out, there is a certain amount of gas inside the top airbag and the bottom airbag. At this time, the floating airbag control unit needs to judge the air pressure value in the top airbag, that is, detect whether the amount of gas in the airbag after the top airbag pops out reaches the rated inflation volume.

[0195] S518. Inflate the top airbag and the bottom airbag on one side of the vehicle.

[0196] Exemplarily, when the air pressure values of the top airbag and the bottom airbag on one side of the vehicle are less than a preset air pressure threshold, it indicates that after the airbags pop out, the top airbag and the bottom airbag on one side of the vehicle are not sufficient to make the vehicle float on the water surface; therefore, the floating airbag control unit controls the solenoid valves of the top airbag and the bottom airbag on one side of the vehicle to remain open, and inflates the top airbag to increase the buoyancy of the top airbag and the bottom airbag on one side of the vehicle so that the vehicle can float on the water surface.

[0197] S519. Control the solenoid valves of the top airbag and the bottom airbag on one side of the vehicle to close.

[0198] Exemplarily, when the air pressure values of the top airbag and the bottom airbag on one side of the vehicle are greater than or equal to the preset air pressure threshold, it indicates that the inflation amount of the air pressure values of the top airbag and the bottom airbag on one side of the vehicle reaches the rated inflation amount; therefore, the electronic valves of the top airbag and the bottom airbag on one side of the vehicle are controlled to close.

[0199] S520, if the pressure value of the water pressure sensor is less than the preset pressure threshold, obtain the data of the gyroscope.

[0200] Exemplarily, when the pressure value of the water pressure sensor is less than or equal to the preset pressure threshold, it indicates that the vehicle can float on the water surface; therefore, obtain the data of the gyroscope in the vehicle to determine whether the vehicle is in a balanced state.

[0201] Among them, the gyroscope, also known as the angular velocity sensor, is an inertial detection device used to measure and control the angular motion of an object in relative inertial space; it can be integrated into the air pump to ensure that the data of the gyroscope will not be interfered with after the vehicle falls into the water.

[0202] S521, determine the deflection direction of the vehicle according to the data of the gyroscope.

[0203] Exemplarily, the vehicle determines the deflection direction of the vehicle through the data of the gyroscope, specifically including that the vehicle deflects to the left side of the vehicle body, or to the right side of the vehicle body, or to the top / bottom of one side of the vehicle.

[0204] S522, adjust the inflation amount of the airbag according to the deflection direction to balance the vehicle.

[0205] Exemplarily, the vehicle inflates the left airbag and / or the right airbag of the bottom airbag or the top airbag according to the deflection direction of the vehicle, or inflates the top airbag and / or the bottom airbag on one side of the vehicle to adjust the inflation amount of the airbag so that the vehicle body is in a balanced state.

[0206] Exemplarily, if the vehicle's falling water state is the forward falling water state or the reverse falling water state, when the gyroscope detects that the vehicle body deflects to the left, the vehicle inflates the left airbag in the bottom airbag to make the left and right sides of the vehicle body in a balanced state. When the gyroscope detects that the vehicle body deflects to the right, the vehicle inflates the right airbag in the bottom airbag to make the left and right sides of the vehicle body in a balanced state. When the vehicle's detected falling water state is lateral falling water, when the gyroscope detects that the vehicle body deflects to the top, the vehicle inflates the top airbag on one side of the vehicle body; when the gyroscope detects that the vehicle body deflects to the bottom, the vehicle inflates the bottom airbag on one side of the vehicle body to make the top and bottom of the vehicle in a balanced state.

[0207] In an embodiment of the present application, when it is detected that the vehicle falls into water, the wheels of the vehicle are controlled to be in a stationary state, thereby reducing the sinking speed of the vehicle; the water entry state of the vehicle is determined by a water pressure sensor in the vehicle; according to whether the water entry state of the vehicle is a forward water entry state, a reverse water entry state or a lateral water entry state, a target airbag in the vehicle is controlled to pop up, and the target airbag is inflated through the air pressure value of the target airbag so that the vehicle can float on the water surface and will not sink rapidly, avoiding drowning accidents; wherein, the target airbag includes the top airbag, the bottom airbag of the vehicle, and the top airbag and the bottom airbag on one side of the vehicle. When the pressure value of the water pressure sensor is less than or equal to a preset threshold, it indicates that the vehicle is floating on the water surface; at this time, according to the deflection direction of the vehicle determined by the gyroscope, the bottom airbag, or the left airbag and / or the right airbag of the top airbag, or the top airbag and the bottom airbag on one side of the vehicle are controlled to be inflated; thereby ensuring that the vehicle is in a balanced state and avoiding water from flowing into the cabin due to the imbalance of the vehicle.

[0208] It should be understood that the above examples are for helping those skilled in the art to understand the embodiments of the present application, rather than limiting the embodiments of the present application to the specific numerical values or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes according to the above examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0209] As described above in conjunction with Figures 1 to 6 The control method of the vehicle provided by the embodiments of the present application is described in detail; below, the device embodiments of the present application will be described in detail in conjunction with Figures 7 to 8 It should be understood that the devices in the embodiments of the present application can execute various control methods of the foregoing embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the foregoing control method embodiments.

[0210] Figure 7 It is a schematic structural diagram of a control device for a vehicle provided by an embodiment of the present application.

[0211] Exemplarily, as Figure 6 shown, the control device 500 includes:

[0212] An acquisition module 610: configured to determine the water entry state of the vehicle if it is detected that the vehicle falls into water, and the water entry state is used to represent the body posture of the vehicle when it falls into water;

[0213] A first control module 620: configured to control the wheels to be stationary and identify the water entry state of the vehicle if the current state is a motion state, and the water entry state is used to represent the body posture of the vehicle when it falls into water;

[0214] A determination module 630: configured to determine the position of the target airbag in the vehicle according to the water entry state;

[0215] Second control module 640: used to control the deployment of the target airbag and inflate the target airbag.

[0216] Optionally, as an embodiment, the second control module 640 is specifically configured to:

[0217] Control the air pump in the vehicle to start, so that the gas inhaled by the air pump enters the target airbag through the airbag pipeline, causing the target airbag to deploy;

[0218] Inflate the target airbag according to the air pressure value in the target airbag.

[0219] Optionally, as an embodiment, the second control module 640 is specifically configured to:

[0220] If the air pressure value of the target airbag is less than the preset air pressure threshold, control the electronic valve corresponding to the target airbag in the airbag pipeline to open to inflate the target airbag.

[0221] Optionally, as an embodiment, the acquisition module 610 is further configured to: if it is detected that the pressure value of the target water pressure sensor is less than the preset pressure threshold, obtain the current deflection direction of the vehicle; the second control module 640 is further configured to:

[0222] Inflate the first airbag and / or the second airbag in the target airbag according to the current deflection direction to make the vehicle in a balanced state; wherein, the position of the target water pressure sensor is obtained through the falling water state; if the falling water state is a forward falling water state or a reverse falling water state, the first airbag and the second airbag are located on both sides of the vehicle; if the falling water state is a lateral falling water state, the first airbag and the second airbag are located on the target side of the vehicle.

[0223] Optionally, as an embodiment, the second control module 640 is further configured to:

[0224] Control the electronic valve in the air supply pipe to open, so that gas is input into the cockpit of the vehicle through the air supply pipe; wherein, the air supply pipe is connected to the air pump..

[0225] Optionally, as an embodiment, the determination module 630 is specifically configured to:

[0226] If the falling water state is a forward falling water state, determine that the position of the target airbag of the vehicle is at the bottom of the side wall panels on both sides of the vehicle;

[0227] If the falling water state is a reverse falling water state, determine that the position of the target airbag of the vehicle is at the top of the side wall panels on both sides of the vehicle;

[0228] If the falling water state is a lateral falling water state, determine that the position of the target airbag of the vehicle is at the top and bottom of the side wall panels on the target side of the vehicle.

[0229] Optionally, as an embodiment, the acquisition module 610 is specifically configured to:

[0230] If it is detected that the vehicle has fallen into water, obtain the pressure values of at least one water pressure sensor in the vehicle; specifically, the determination module 630 is configured to:

[0231] Determine the target water pressure sensors among the at least one water pressure sensor whose pressure values are greater than a preset pressure threshold;

[0232] Determine the water entry state of the vehicle according to the positions of the target water pressure sensors in the vehicle.

[0233] It should be noted that the above control device 600 is embodied in the form of functional units. The term "module" here can be implemented in software and / or hardware forms, and no specific limitation is made thereto.

[0234] For example, the "module" can be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group of processors, etc.) for executing one or more software or firmware programs, a memory, a merged logic circuit, and / or other suitable components that support the described functions.

[0235] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0236] Figure 8 It is a schematic structural diagram of another vehicle provided by an embodiment of the present application.

[0237] Exemplarily, the vehicle 700 includes: a processor 710, a memory 720, and an executable program code 730.

[0238] Exemplarily, the vehicle 700 is the same vehicle as Figure 2 the vehicle 110 in.

[0239] Exemplarily, vehicle 700 includes one or more processors 710, and the one or more processors 710 can support vehicle 700 to implement the control method of the vehicle in the method embodiments. The processor 710 can be a general-purpose processor or a dedicated processor. For example, the processor 710 can be a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0240] Exemplarily, the processor 710 can be used to control vehicle 700, execute software programs, and process the data of software programs. Vehicle 700 can also include a communication unit for implementing signal input (reception) and output (transmission).

[0241] Exemplarily, vehicle 700 can include one or more memories 720, on which there is executable program code 730. The executable program code 730 can be run by the processor 710 to generate instructions, so that the processor 710 executes the method described in the above method embodiments according to the instructions.

[0242] Optionally, data can also be stored in the memory 720. Optionally, the processor 710 can also read the data stored in the memory 720. This data can be stored at the same storage address as the executable program code 730, or it can be stored at a different storage address from the executable program code 730.

[0243] Exemplarily, the processor 710 and the memory 720 can be set separately or integrated together. For example, they can be integrated on a system on chip (SOC) of a terminal device.

[0244] Exemplarily, the memory 720 can be used to store the relevant programs of the control method of the vehicle provided in the embodiments of the present application. The processor 720 can be used to call the executable program code 730 stored in the memory 720 when controlling the vehicle to execute the control method of the vehicle in the embodiments of the present application. For example, if it is detected that the vehicle falls into water, obtain the current state of the wheels in the vehicle; if the current state is a moving state, control the wheels to stop and identify the water entry state of the vehicle. The water entry state is used to represent the body posture of the vehicle when it falls into water; according to the water entry state, determine the position of the target airbag in the vehicle; control the target airbag to pop up and inflate the target airbag.

[0245] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the control method of the vehicle in any of the foregoing embodiments are implemented.

[0246] Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, digital versatile disks (DVDs), compact disc read-only memories (CD-ROMs), microdrives, and magneto-optical disks, read-only memories (ROMs), random access memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), dynamic random access memories (DRAMs), video random access memories (VRAMs), flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0247] The present application also provides a computer program product. When the computer program product runs on a computer, the computer is caused to execute the above-related steps to implement a control method of a vehicle in the above embodiment.

[0248] In addition, the vehicle provided in the embodiment of the present application may specifically be a chip, a component or a module. The vehicle may include a processor and a memory connected thereto; wherein, the memory is used for storing instructions. When the vehicle runs, the processor may call and execute the instructions so that the chip executes a control method of a vehicle in the above embodiment.

[0249] Among them, the vehicle, the computer-readable storage medium, the computer program product or the chip provided in the present application are all used to execute the corresponding control method provided above; therefore, the beneficial effects that can be achieved by them can refer to the beneficial effects in the corresponding control method provided above, and will not be elaborated here.

[0250] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and conciseness of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be allocated to 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.

[0251] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0252] The above content is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for a vehicle, characterized in that, The control method includes: If it is detected that the vehicle falls into water, obtain the current state of the wheels in the vehicle; If the current state is a moving state, control the wheels to be stationary and identify the water entry state of the vehicle, where the water entry state is used to represent the body attitude of the vehicle when it falls into water; Determine the position of the target airbag in the vehicle according to the water entry state; Control the target airbag to pop up and inflate the target airbag.

2. The control method according to claim 1, characterized in that The controlling the target airbag to pop up and inflating the target airbag includes: Control the air pump in the vehicle to be turned on, so that the gas inhaled by the air pump enters the target airbag through the airbag pipeline, causing the target airbag to pop up; Inflate the target airbag according to the air pressure value in the target airbag.

3. The control method according to claim 2, wherein The inflating the target airbag according to the air pressure value in the target airbag includes: If the air pressure value of the target airbag is less than the preset air pressure threshold, control the electronic valve corresponding to the target airbag in the airbag pipeline to be opened to inflate the target airbag.

4. The control method according to any one of claims 1 to 3, characterized in that It also includes: If it is detected that the pressure value of the target water pressure sensor is less than the preset pressure threshold, obtain the current deflection direction of the vehicle; Inflate the first airbag and / or the second airbag in the target airbag according to the current deflection direction, so that the vehicle is in a balanced state; wherein, the position of the target water pressure sensor is obtained through the water entry state; if the water entry state is a forward water entry state or a reverse water entry state, the first airbag and the second airbag are located on both sides of the vehicle; if the water entry state is a lateral water entry state, the first airbag and the second airbag are located on the target side of the vehicle.

5. The control method according to claim 2 or 3, characterized in that It also includes: Control the electronic valve in the air supply pipe to be opened, so that gas is input into the driver's cab of the vehicle through the air supply pipe; wherein, the air supply pipe is connected to the air pump.

6. The control method according to any one of claims 1 to 3, characterized in that, The determining the position of the target airbag of the vehicle according to the water entry state includes: If the water entry state is a forward water entry state, determine that the position of the target airbag of the vehicle is at the bottom of the side wall panels on both sides of the vehicle; If the water entry state is a reverse water entry state, determine that the position of the target airbag of the vehicle is at the top of the side wall panels on both sides of the vehicle; If the water entry state is a lateral water entry state, determine that the position of the target airbag of the vehicle is at the top and bottom of the side wall panel on the target side of the vehicle.

7. The control method according to any one of claims 1 to 3, characterized in that The identifying the water entry state of the vehicle includes: If it is detected that the vehicle falls into water, obtain the pressure value of at least one water pressure sensor in the vehicle; Determine the target water pressure sensor among the at least one water pressure sensor whose pressure value is greater than the preset pressure threshold; Determine the water entry state of the vehicle according to the position of the target water pressure sensor in the vehicle.

8. A control device for a vehicle, characterized in that, The control device includes: An acquisition module: used to obtain the current state of the wheels in the vehicle if it is detected that the vehicle falls into water; A first control module: used to control the wheels to be stationary and identify the water entry state of the vehicle if the current state is a moving state, where the water entry state is used to represent the body attitude of the vehicle when it falls into water; Determination module: configured to determine the position of a target airbag in the vehicle according to the falling water state; Second control module: configured to control the deployment of the target airbag and inflate the target airbag.

9. A vehicle, characterized in that, The vehicle includes: A memory for storing executable program code; A processor for calling and running the executable program code from the memory, so that the vehicle executes the control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Instructions are stored in the computer-readable storage medium, and when the instructions run on the vehicle, the vehicle executes the control method according to any one of claims 1 to 7.

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