Vehicle control method, device and system based on wading detection function and vehicle

Abstract

The invention relates to a vehicle control method, device and system based on a wading detection function and a vehicle. The method is applied to a domain controller of a vehicle and comprises the steps that after the vehicle enters a wading mode, the wading depth is obtained through a wading detection sensor, and the temperature and humidity of the environment where the vehicle is located and the running speed of the vehicle are obtained. According to the temperature and humidity, the driving speed and the fording depth, the fording risk level of the vehicle is determined, and the fording risk level is used for indicating the current fording safety degree of the vehicle. And controlling at least one actuator in the vehicle according to the wading risk level. The sensors and the actuators are directly connected with the domain controller for data acquisition and analysis, and the domain controller directly controls the actuators in the vehicle, so that delay caused by transmission between electronic control units is effectively avoided, quick response can be realized in a wading mode, the vehicle can be controlled, and the driving safety of the vehicle is improved. And the safety requirement under the wading condition is met.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and particularly to a vehicle control method, device, system and vehicle based on a wading detection function. Background Art

[0002] The vehicle wading depth detection technology is one of the core functions to ensure the safety of wading driving. Especially in the context of the rapid popularization of new energy vehicles and intelligent driving, its importance is further highlighted.

[0003] Currently, the wading detection of vehicles mainly uses any one of ultrasonic sensors, optical sensors or pressure sensors for detection. When using any one of these methods, the vehicle control system adopts a distributed electronic control unit architecture. The sensor transmits the detection result to the electronic control unit for wading detection, and then this electronic control unit processes the data detected by the sensor to obtain the wading detection result, and then transmits the result to other control units of the vehicle to perform logical judgment and control on different actuators.

[0004] However, under this distributed control architecture, the electronic control unit for wading detection itself cannot control other actuators of the vehicle. It is necessary to send the wading detection result to other control units, and the resulting time delay exceeds 200 ms, far exceeding the time required for active wading protection, and cannot meet the safety requirements of wading detection. Summary of the Invention

[0005] One of the purposes of the present invention is to provide a vehicle control method, device, system and vehicle based on a wading detection function, so as to at least solve the problem that the response duration of wading detection in the related technology is too long and it is difficult to meet the safety requirements of wading detection.

[0006] In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] In the first aspect, the present invention provides a vehicle control method based on a wading detection function, which is applied to the domain controller of the vehicle. The method includes:

[0008] After the vehicle enters the wading mode, obtain the wading depth through a wading detection sensor, and obtain the temperature and humidity of the environment where the vehicle is located, as well as the driving speed of the vehicle;

[0009] Determine the wading risk level of the vehicle according to the temperature and humidity, the driving speed, and the wading depth, where the wading risk level is used to indicate the degree of wading safety of the vehicle at present;

[0010] Control at least one actuator in the vehicle according to the wading risk level.

[0011] In one embodiment, determining the wading risk level of the vehicle according to the temperature and humidity, the driving speed, and the wading depth includes:

[0012] Obtaining a first risk index according to the temperature and humidity;

[0013] Obtaining a second risk index according to the driving speed;

[0014] Obtaining a third risk index according to the wading depth;

[0015] Based on the preset weights corresponding to each risk index, the first risk index, the second risk index, and the third risk index, determining the wading risk level.

[0016] In one embodiment, the method further includes:

[0017] Obtaining the current pitch angle and / or suspension height of the vehicle;

[0018] According to the pitch angle and / or suspension height, correcting the wading depth to obtain a corrected wading depth;

[0019] Correspondingly, obtaining the third risk index according to the wading depth includes:

[0020] Obtaining the third risk index according to the corrected wading depth.

[0021] In one embodiment, if the wading detection sensor is an ultrasonic ranging sensor, then obtaining the wading depth through the wading detection sensor includes:

[0022] Correcting the transmission speed of the ultrasonic wave according to the temperature and humidity to obtain a corrected transmission speed;

[0023] According to the corrected transmission speed and the transmission time detected by the ultrasonic ranging sensor, calculating to obtain the wading depth.

[0024] In one embodiment, the method further includes:

[0025] Calculating the suspension safety height according to the safety depth of the vehicle's suspension, the safety margin, and the current suspension lift;

[0026] Correspondingly, obtaining the third risk index according to the corrected wading depth includes:

[0027] Obtaining the third risk index according to the corrected wading depth and the suspension safety height.

[0028] In one implementation, determining the wading risk level based on the weights corresponding to each preset risk index, the first risk index, the second risk index, and the third risk index includes:

[0029] Based on the weights corresponding to each preset risk index, perform a weighted sum of the first risk index, the second risk index, and the third risk index to obtain an overall risk index;

[0030] According to the overall risk index and the risk index ranges corresponding to different preset risk levels, determine the wading risk level, where the wading risk level includes: a first risk level, a second risk level, or a third risk level;

[0031] Among them, the risk index corresponding to the first risk level is less than the risk index corresponding to the second risk level, and the risk index corresponding to the second risk level is less than the index corresponding to the third risk level.

[0032] In one implementation, controlling at least one actuator in the vehicle according to the wading risk level includes:

[0033] If the wading risk level is the first risk level, push the wading depth through the vehicle's on-board computer;

[0034] If the wading risk level is the second risk level, push the wading depth through the vehicle's on-board computer and control the vehicle's suspension to rise;

[0035] If the wading risk level is the third risk level, perform at least one of the following operations: control the vehicle's suspension to rise to the highest level, control to turn off the range extender, control to open the sunroof, control to switch the air conditioner to the internal circulation mode, and send an emergency safety request to the security server.

[0036] In one implementation, the method further includes:

[0037] During the vehicle's driving, determine whether to enter the wading mode or exit the wading mode according to the state of the vehicle's rearview mirror, driving speed, and driving road slope.

[0038] In one implementation, determining whether to enter the wading mode according to the state of the vehicle's rearview mirror, driving speed, and driving road slope includes:

[0039] If the rearview mirror is in the unfolded state, the driving speed is less than the preset speed, and the driving road slope is less than the preset slope, determine to enter the wading mode.

[0040] In one embodiment, determining whether to exit the wading mode according to the rearview mirror state, driving speed, and driving road slope of the vehicle includes:

[0041] If the rearview mirror of the vehicle is in the folded state, or the driving speed is greater than a preset speed and lasts for a preset duration, control is performed to exit the wading mode.

[0042] In one embodiment, before obtaining the wading depth through the wading detection sensor, the method further includes:

[0043] In response to a preset wading detection function, by sending a PWM signal to the wading detection sensor, the wading detection sensor is awakened from the low-power state to the working state.

[0044] In a second aspect, the present invention provides a vehicle control device based on a wading detection function, including:

[0045] A data detection module, configured to obtain the wading depth through a wading detection sensor after the vehicle enters the wading mode, and obtain the temperature and humidity of the environment where the vehicle is located, as well as the driving speed of the vehicle;

[0046] A data processing module, configured to determine the wading risk level of the vehicle according to the temperature and humidity, the driving speed, and the wading depth, where the wading risk level is used to indicate the magnitude of the current wading safety degree of the vehicle;

[0047] A vehicle control module, configured to control at least one actuator in the vehicle according to the wading risk level.

[0048] In a third aspect, the present invention provides a domain controller, including: a memory, a processor, and an interaction interface;

[0049] The memory is used to store computer execution instructions;

[0050] The interaction interface is used to interact with various sensors or actuators of the vehicle;

[0051] The processor executes the computer execution instructions stored in the memory, so that the processor executes the vehicle control method based on the wading detection function provided in any one of the first aspects above.

[0052] In a fourth aspect, the present invention provides a wading detection system, including:

[0053] A domain controller, at least one actuator and a wading detection sensor electrically connected to the domain controller respectively;

[0054] Among them, the domain controller is used to execute the vehicle control method based on the wading detection function provided in any one of the above first aspects.

[0055] In a fifth aspect, the present invention provides a vehicle, including: a vehicle body and the wading detection system provided in the above fourth aspect.

[0056] The vehicle control method, device, system and vehicle based on the wading detection function provided by the present invention have the following beneficial effects:

[0057] First, this solution adopts a cross-domain integrated control architecture, that is, various operations and data acquisitions are all executed by the domain controller. For example: integrating the wading detection function and the actuator control function (such as raising the suspension) into a single domain controller, replacing the traditional distributed ECU architecture, which requires a long cycle for data synchronization during collaborative control, and reducing the response delay;

[0058] Second, by using the domain controller to replace the distributed ECU architecture, the layout of the communication wiring harness between ECUs and the controller housing are saved, effectively reducing the hardware cost;

[0059] Third, the wading risk level is dynamically determined based on the multi-parameter fusion method, considering various indicators such as wading depth, driving speed, temperature and humidity to determine the wading risk level, reducing the error risk brought by using the distance collected by a single sensor to quantify the wading level in the traditional grading mode;

[0060] Fourth, by fusing the wading depth data of the sensor with the vehicle motion state (vehicle speed, suspension height, etc.), the temperature and humidity compensation effectively improves the accuracy of ranging. Description of the Drawings

[0061] Figure 1 It is a schematic diagram of the integrated hardware architecture of a domain controller provided by the present invention;

[0062] Figure 2 It is a schematic diagram of the architecture of the internal software module of a domain controller provided by the present invention;

[0063] Figure 3 It is a schematic diagram of the flow of a vehicle control method based on the wading detection function provided by the present invention;

[0064] Figure 4 It is a schematic diagram of the operation of a wading depth provided by the present invention;

[0065] Figure 5 It is a schematic diagram of the operation of a wading risk level provided by the present invention;

[0066] Figure 6 It is a schematic diagram of a wading function detection method provided by the present invention;

[0067] Figure 7 Schematic diagram of a sensor power supply and environment detection method provided by the present invention;

[0068] Figure 8 Schematic diagram of a sensor wake-up process provided by the present invention;

[0069] Figure 9 Schematic diagram of the structure of a vehicle control device based on a wading detection function provided by the present invention;

[0070] Figure 10 Schematic diagram of the structure of another vehicle control device based on a wading detection function provided by the present invention;

[0071] Figure 11 Schematic diagram of the hardware structure of the domain controller provided by the present invention. Detailed implementation manners

[0072] The following will describe the implementation manners of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, rather than for limiting the protection scope of the present invention.

[0073] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0074] In the current wading detection and control solutions, it mainly relies on the distributed electronic control unit architecture. The sensor transmits the detection results to the electronic control unit for wading detection, and then this electronic control unit processes the data detected by the sensor to obtain the wading detection result, and then transmits the result to other control units of the vehicle to perform logical judgment and control on different actuators. The following is a brief introduction in combination with related technologies:

[0075] In the related art, ultrasonic sensors, optical sensors, pressure sensors or other sensors are mainly used to detect wading data, and a distributed electronic control unit (ECU) architecture is adopted to perform wading detection on the data collected by the sensors, and then the results are transmitted to other control units of the vehicle to perform logical judgment and control on different actuators. This distributed architecture is prone to obvious deficiencies in cross-domain collaboration capabilities: in the traditional architecture, the wading detection ECU communicates with the air-conditioning controller, suspension controller, engine controller, and body domain controller through the Controller Area Network (CAN) bus (maximum rate 1 Mbps). For example, for a certain vehicle model, it is necessary to transmit the data of 2 sensors (10 bytes / frame for each sensor), and the data update period is 100 ms. The bus load rate has reached 50%, and it cannot support real-time control instructions (such as the suspension adjustment requires a response at the 20-ms level). In addition, the wading detection ECU needs to collaborate with the power, chassis, and cloud in the whole link, and the latency of the traditional architecture (>200 ms) cannot meet the requirements. For example, the active suspension needs to complete the raising action within 20 ms after detecting the water level, otherwise the vehicle may enter the water because it is too late to respond. On the other hand, a fixed threshold is adopted for wading detection in the related art, without considering dynamic factors such as the environment where the vehicle is located and the vehicle speed, lacking environmental adaptability, and prone to large errors.

[0076] In other words, the current vehicle wading depth detection technology mainly has the following problems: 1) High response latency, the cross-domain control latency under the distributed ECU architecture exceeds 200 ms, and it cannot meet the real-time protection requirements; 2) Lack of dynamic adaptability, without combining dynamic factors such as the environment where the vehicle is located and the vehicle speed, and the misjudgment rate of the static threshold model is high; 3) The distributed ECU architecture needs to be implemented by multiple ECUs together, which pushes up the hardware cost; 4) Insufficient detection accuracy, the blind area of the solution of adding a single sensor under the vehicle bottom is large, and the error rate is relatively high due to environmental interference. The above defects seriously restrict the safety and reliability of intelligent vehicles in wading scenarios.

[0077] In view of this, an embodiment of the present invention provides a technical solution that can effectively reduce the response delay of wading detection. After the vehicle enters the wading mode, the wading depth is obtained through a wading detection sensor, and the temperature and humidity of the vehicle's environment, as well as the vehicle's driving speed, are obtained. Then, according to the temperature and humidity, driving speed, and wading depth, the wading risk level of the vehicle is determined, where the wading risk level is used to indicate the degree of wading safety of the vehicle at present. Then, at least one actuator in the vehicle is controlled according to the wading risk level. In this process, through domain controller integration, that is, the wading detection sensor, actuator, and domain controller are connected, and the domain controller directly interacts with the wading detection sensor and actuator, replacing the distributed ECU architecture that processes the data detected by the sensor and then transmits the result to other control units of the vehicle to control different actuators, greatly reducing the excessively high response delay. At the same time, by combining the temperature and humidity, driving speed, and wading depth of the vehicle's environment, the wading risk level of the vehicle is determined to achieve coordinated control of the vehicle's actuators (such as suspension actuators, air conditioner actuators, etc.), thereby quantifying the error risk brought by the wading risk level and improving the wading safety of the vehicle.

[0078] Please refer to Figure 1 , Figure 1 which is a schematic diagram of the hardware architecture of domain controller integration provided by the present invention. As Figure 1 shown, in the solution provided by the present invention, at least one actuator of the vehicle is directly connected to the domain controller, and two wading detection sensors SENSOR_L and SENSOR_R for wading detection are also directly connected to the domain controller. This integration method does not require interaction between electronic control units. For actuators, such as the suspension controller, range extender, in-vehicle computer, and air conditioner shown in the figure, in actual situations, according to vehicle configurations and models, there may be other actuators, or there may be no range extender or air conditioner actuators. This solution does not limit the types and quantities of specific actuators. The wading detection sensor can be various types of sensors such as optical sensors, ultrasonic sensors, or lidar, and this solution does not limit them either.

[0079] It should be understood that Figure 1 the hardware architecture shown can also be referred to as a wading detection system, including: a domain controller, at least one actuator and a wading detection sensor respectively electrically connected to the domain controller.

[0080] Based on Figure 1 the example shown, 6 IO interfaces, namely P01~P06, are designed in the functional system solution with integrated domain controller, which are respectively: P01: Vehicle communication CAN_H interface;

[0081] P02: Vehicle communication CAN_L interface;

[0082] P03: Wading radar power supply interface;

[0083] P04: Pulse Width Modulation (PWM) interface for data communication between the left wading radar and the domain controller. The domain controller controls the radar to enter the low-power mode through the PWM interface. The domain controller receives the original distance transmitted by the wading radar and the diagnosis of the radar is transmitted to the domain controller for storage by the domain controller.

[0084] P05: Wading radar ground interface;

[0085] P06: PWM interface for data communication between the right wading radar and the domain controller.

[0086] Figure 1 Only an exemplary connection method is given. During the specific vehicle configuration process, other interface connection methods can be selected, and this solution is not limited.

[0087] Based on the above architecture, in this solution, when specifically applied to the process of vehicle wading detection, the domain controller needs to perform at least the following several types of processing: data fusion calculation, wading risk level calculation, actuator control, sensor power supply and wake-up, configuration word reading and writing. Correspondingly, these several types of processing need to design corresponding software modules to implement. Figure 2 Schematic diagram of the architecture of the internal software module of a domain controller provided by the present invention, as Figure 2 shown, the domain controller includes:

[0088] F01 - Data fusion calculation module: The function of this functional module is to accurately calculate and compensate the wading depth by receiving at least one of the environmental temperature and humidity, vehicle pitch angle, vehicle body attitude, vehicle speed, etc., so as to improve the accuracy of detection. Optionally, it can also receive cloud meteorological data to fuse regional rainfall prediction, fuse the water accumulation points provided by the high-precision map, turn on the wading mode in advance, and give an early warning at the vehicle end.

[0089] F02 - Wading risk level calculation module: The function of this functional module is to calculate the wading level risk. Through multi-dimensional parameter fusion and dynamic threshold adjustment, multi-modal sensing data fusion: combining ultrasonic radar, Inertial Measurement Unit (IMU), wheel speed sensor and cloud data to eliminate the error of single wading radar detection. Through the Dynamic Risk Index (DRI) model: quantifying the comprehensive influence of water depth, vehicle attitude, and environmental parameters, and quantifying the vehicle wading risk into three levels (safe / warning / dangerous).

[0090] F03 - Actuator Control Module: The function of this functional module is to control relevant controllers to perform actions in the wading mode according to the wading risk level. When the wading level is the safe level (i.e., the first risk level in the following text): only the central control screen prompts, and there is no change in the vehicle state; when it is the warning level (i.e., the second risk level in the following text): the continuously variable damping control (CDC) domain raises the suspension; when it is the dangerous level (i.e., the third risk level in the following text): the domain control restricts the suspension to be raised to the highest, switches the air conditioning mode to the internal circulation, turns off the vehicle range extender and switches to the electric vehicle (EV) mode, sends a distress signal through the telematics box (TBox), and the domain control opens the sunroof.

[0091] F04 - Sensor Power Supply and Wake-up Module: The function of this functional module is that the domain controller can be woken up by an NM message or receive a hard-wired wake-up instruction to wake up the domain control. After waking up, the domain controller pulls up the wading detection sensor through the pulse width modulation (PWM) / general-purpose input / output (GPIO) interface. After the domain controller detects that the conditions for working in the wading mode are not met for 3 seconds, it controls the wading radar to enter the low-power mode; the domain control designs the power supply interface for the wading detection sensor. Since the wading mode needs to work in the OFF gear, the power supply interface can be KL30. It can be understood that KL30 is a power cord directly connected to the positive pole of the battery, usually not controlled by the ignition switch. Even when the vehicle is in the OFF gear, the device connected to KL30 can still obtain power.

[0092] F05 - Configuration Word Read / Write Module: The function of this functional module is to provide the configuration word read / write function and the current configuration word status read interface. The software module in the domain controller distinguishes whether there is a wading mode currently through the configuration word, so that the software can be applied to multiple projects and improve the software reusability.

[0093] Based on the above architecture, the vehicle control method provided by the present invention based on the wading detection function will be introduced below through specific method embodiments.

[0094] Please refer to Figure 3 , Figure 3 which is a schematic flow chart of a vehicle control method provided by the present invention based on the wading detection function, applied to the domain controller of the vehicle. The method includes steps S101 - S103.

[0095] Step S101, after the vehicle enters the wading mode, obtain the wading depth through the wading detection sensor, and obtain the temperature and humidity of the vehicle's environment, as well as the driving speed of the vehicle.

[0096] Optionally, the domain controller can control the vehicle to enter or exit the wading mode by detecting specific states of the vehicle, such as the driving state of the vehicle (such as driving gradient, vehicle speed) and vehicle states (such as folding of the rearview mirror), or specific environments of the vehicle (such as identifying whether there are potholes in the current road section according to the high-precision map). Alternatively, in a user interaction manner, the domain controller supports the user to read and write configuration words through an interaction interface. Specifically, the domain controller includes a configuration word reading and writing module, which provides a configuration word reading and writing function and a current configuration word status reading interface. Software modules in the domain controller distinguish whether to enter the wading mode currently through the configuration word.

[0097] Optionally, the wading detection sensor can be electrically connected to the domain controller. The domain controller controls the wading detection sensor to collect the wading depth and transmit the wading depth to the domain controller. It can be an ultrasonic ranging sensor (such as an ultrasonic radar) or other sensors, such as an optical sensor, etc.

[0098] In a wading scenario, dynamic factors such as the temperature, humidity, and vehicle speed in the environment where the vehicle is located can easily have a greater impact on the wading safety of the vehicle. For example, a lower temperature may cause the water to freeze, increasing the risk of vehicle skidding; high humidity is likely to cause a short circuit or failure of the vehicle's electrical system; or a higher vehicle speed will increase the impact force of the water on the vehicle chassis, making it easy for the vehicle to lose control, etc. Therefore, in this embodiment, when performing wading detection, the domain controller obtains information such as the temperature, humidity, and driving speed of the environment where the vehicle is located, and combines the wading depth in subsequent steps to jointly determine the wading risk level, so as to control the actuator and improve wading safety.

[0099] Step S102: Determine the wading risk level of the vehicle according to the temperature, humidity, driving speed, and wading depth, where the wading risk level is used to indicate the degree of wading safety of the vehicle currently.

[0100] In this embodiment, the temperature and humidity can be used as an overall index (which can refer to temperature alone, humidity alone, or both temperature and humidity), or can be used as independent indexes respectively, that is, including temperature and humidity. This embodiment does not make a special limitation on it. This embodiment takes the temperature and humidity as independent indexes as an example for illustration. The wading risk level is calculated by inputting the wading depth, driving speed, temperature, and humidity to output the wading risk level.

[0101] Exemplarily, corresponding weights are respectively assigned to temperature, humidity, driving speed (hereinafter referred to as speed or vehicle speed) and wading depth, and each index and weight are combined to calculate a comprehensive risk score (such as by means of mean calculation, etc.). Among them, the weights can be determined by those skilled in the art in combination with actual applications or prior data. In some examples, a corresponding risk index can also be calculated by combining indicators such as temperature, humidity, and driving speed, and then the wading risk level can be calculated by using the risk index and the corresponding weight. The specific process can be seen later.

[0102] Figure 4 It is a schematic diagram of the operation of the wading depth provided by the present invention, as Figure 4 shown. During the entire operation process, the influencing factors of multiple data such as the vehicle body pitch angle, vehicle body attitude, driving speed, temperature and humidity can be considered, and the wading depth is comprehensively calculated to further calculate the wading risk level.

[0103] Figure 5 It is a schematic diagram of the operation of the wading risk level provided by the present invention, as Figure 5 shown. During the entire operation process, the influencing factors of multiple dimensions such as temperature and humidity, driving speed and wading depth can be considered, and the wading risk level is comprehensively calculated.

[0104] In one implementation manner, to further improve the calculation accuracy of the wading risk level, the wading risk level is calculated by obtaining the risk index of each risk index and combining the corresponding weights. Specifically, step S102 of determining the wading risk level of the vehicle according to the temperature and humidity, the driving speed, and the wading depth includes:

[0105] Obtain a first risk index according to the temperature and humidity;

[0106] Obtain a second risk index according to the driving speed;

[0107] Obtain a third risk index according to the wading depth;

[0108] Based on the preset weights corresponding to each risk index, the first risk index, the second risk index, and the third risk index, determine the wading risk level.

[0109] On the basis of the above content, the wading risk level can be determined by calculating the overall risk index and the risk index ranges corresponding to different risk levels, so as to accurately divide different wading levels and further quantify the wading risk. Specifically, the above-mentioned determining the wading risk level based on the preset weights corresponding to each risk index, the first risk index, the second risk index, and the third risk index can adopt the following steps:

[0110] Based on the weights corresponding to each preset risk index, perform a weighted sum on the first risk index, the second risk index, and the third risk index to obtain an overall risk index;

[0111] According to the overall risk index and the preset risk index ranges corresponding to different risk levels, determine the wading risk level, where the wading risk level includes: a first risk level, a second risk level, or a third risk level;

[0112] Among them, the risk index corresponding to the first risk level is less than the risk index corresponding to the second risk level, and the risk index corresponding to the second risk level is less than the risk index corresponding to the third risk level.

[0113] In summary, the overall risk index can be calculated through each risk index and its corresponding weight, and the wading risk level can be determined using this overall risk index. Specifically, according to the overall risk index, it can be compared with the preset risk level range to determine the wading risk level. Among them, the risk level is usually divided into a first risk level, indicating low risk, and the vehicle can pass through the wading area relatively safely; the second risk level can indicate medium risk, and lower-level safety measures (such as raising the suspension to a certain height, where the first height is lower than the maximum height) need to be taken to reduce the wading risk; the third risk level can indicate high risk, and higher-level safety measures (such as raising the suspension to the maximum height) need to be taken, and so on.

[0114] During the calculation process of the wading risk level, in order to reduce the wading risk level error caused by key factors such as the vehicle's environment and speed. In this embodiment, a dynamic risk index (DRI) model is combined to achieve dynamic grading of the wading risk level. In a specific implementation manner of this solution, the first risk indicator refers to the risk index obtained based on external environmental factors, where the external environment mainly refers to the temperature and / or humidity of the environment. In actual implementation, only one of the temperature and humidity can be considered, or both can be considered. The following is an example of considering both factors for illustration.

[0115] Exemplarily, the domain controller can calculate the first risk index adjusted by weights (in this embodiment, including the weighted temperature risk index DRI t and the weighted humidity risk index DRI rh ) by receiving the environmental temperature and humidity values, where β and ε are the weight coefficients corresponding to the risks of temperature and humidity respectively, the environmental temperature change rate V t , the safety threshold V t_threshold of the temperature change rate, the humidity change rate V rh , and the safety threshold V rh_threshold, introduce the time parameter (Δt), introduce the error function (erf(Δt)), and characterize the progressive cumulative effect of humidity risk, then DRI t and DRI rh are expressed as follows:

[0116]

[0117]

[0118] In this embodiment, the first risk index is and / or . In some embodiments, the first risk index (similarly for the second risk index and the third risk index hereinafter) can be the value before multiplying by the weight, or can be the index after multiplying by the weight. This embodiment does not specifically limit whether it is before or after weighting, and the calculation results are the same.

[0119] Exemplarily, the domain controller can calculate the DRI value according to the following formula by receiving the current vehicle speed, where γ is the weight coefficient of DRI, V v (current vehicle speed), V v (safety threshold of the maximum vehicle speed), the sgn function represents the vehicle speed sign function, +1 for forward and -1 for reverse. Then DRI vehicle (current vehicle speed), V max (safety threshold of the maximum vehicle speed), the sgn function represents the vehicle speed sign function, +1 for forward and -1 for reverse. Then DRI v is expressed as follows:

[0120]

[0121] In this embodiment, the second risk index is , DRI v is the second risk index weighted by the weight γ.

[0122] Exemplarily, the domain controller can calculate the DRI value according to the following formula by receiving the real-time wading depth, where α is the weight coefficient corresponding to the risk of the wading depth H. H in the following formula represents the wading depth, H H (current vehicle speed), V safe represents the safety threshold of the maximum height. Introduce the time parameter (Δt), KH represents the water depth time coefficient (default 0.01 / s), which characterizes the non-linear growth of the risk with the soaking time. Introduce the time parameter (Δt); then DRI H is expressed as follows:

[0123]

[0124] In this embodiment, the third risk index is , DRI H is the third risk index weighted by α.

[0125] Exemplarily, the overall risk index DRI is analyzed in combination with the above-mentioned first risk index, second risk index, and third risk index, and the wading level is output based on the overall risk index DRI. The calculation formula of DRI can be as follows:

[0126]

[0127] In some embodiments, in addition to calculating the above-mentioned various risk indexes and the overall risk index based on the above formula, other calculation methods can also be adopted. For example, time parameters and other parameters with less influence can be not considered during the calculation process. For example, the calculation formula of DRI can also be as follows:

[0128]

[0129] where α + β + γ + ε = 1. Optionally, α accounts for 0.8, β accounts for 0.1, γ accounts for 0.05, and ε accounts for 0.05, and the proportions can be updated by calibration. In an example, when specifically dividing the wading risk level based on DRI, the following rules can be followed: DRI < 0.4 can indicate safety, 0.4 ≤ DRI < 0.7 can indicate early warning, and DRI ≥ 0.7 can indicate danger. The DRI values for the wading level classification can be updated by in-vehicle calibration. Here, less than 0.4 is the risk index range corresponding to the above-mentioned first risk level, between 0.4 and 0.7 is the risk index range corresponding to the second risk level, and greater than or equal to 0.7 is the third risk index range.

[0130] In some embodiments, during the above process of finally calculating the wading risk level, the detected wading depth H needs to be applied. Considering that during the wading depth detection process, large errors may occur in the wading depth due to changes in the vehicle body attitude. Therefore, after calculating the wading depth based on the data detected by the sensor, in order to reduce this error, the method provided in this embodiment may further include the following steps:

[0131] Obtain the current pitch angle and / or suspension height of the vehicle;

[0132] According to the pitch angle and / or suspension height, correct the wading depth to obtain the corrected wading depth;

[0133] Correspondingly, the step of obtaining the third risk index according to the wading depth includes:

[0134] Obtain the third risk index according to the corrected wading depth.

[0135] During vehicle driving, pitch angles may be generated due to acceleration, deceleration, or terrain changes. The change in pitch angle will affect the heights of the front and rear parts of the vehicle, thereby affecting the actual wading depth. For example, when the vehicle pitches forward (the pitch angle increases), the wading depth at the front of the vehicle will decrease, while the wading depth at the rear may increase. Therefore, different corrections need to be made to the front and rear wading depths according to the change in pitch angle. In this embodiment, the pitch angle (i.e., the longitudinal tilt angle of the vehicle) can be fused in real time to correct the depth measurement error of the sensor and dynamically update the safe wading threshold, so as to solve the misjudgment problem caused by the change in vehicle body posture.

[0136] In addition, vehicles are usually equipped with an adjustable suspension system, which can adjust the chassis height of the vehicle according to road conditions or driving modes. The change in suspension height directly affects the distance between the vehicle chassis and the ground, thereby affecting the wading depth. Increasing the suspension height can increase the wading depth, while decreasing the suspension height will reduce the wading depth. Therefore, in this embodiment, the wading depth can be corrected by obtaining the suspension height (dynamic adjustment of ground clearance), and the accuracy of the wading depth value can be improved.

[0137] In one example, a wading detection sensor such as an ultrasonic probe is fixedly installed at an angle on the rearview mirror. When the pitch angle of the vehicle body is θ, the actual water depth H real (i.e., the corrected wading depth) and the measured value H measured (i.e., the wading depth) are related as follows: .

[0138] In another example, using the suspension height to correct the wading depth can be based on the difference between the current suspension height and the reference height, and using this difference to correct the wading depth. For example, if the current suspension height is higher than the reference height, the wading depth can be subtracted by this difference to improve the accuracy of the wading depth.

[0139] In some examples, the current pitch angle and suspension height can also be combined to jointly correct the wading depth, and no more detailed description will be given here.

[0140] Through the above technical solutions, the wading depth error caused by factors such as pitch angle and suspension height can be effectively solved, and the detection accuracy of the wading depth can be improved.

[0141] In some embodiments, the suspension safety height is considered when calculating the third risk index corresponding to the wading depth to further improve the accuracy of the third risk index. Specifically, the method may further include the following steps:

[0142] Calculate the suspension safety height according to the safe depth, safety margin of the suspension of the vehicle, and the current suspension lift amount;

[0143] Correspondingly, in the above steps, the third risk index is obtained according to the corrected wading depth, specifically: the third risk index is obtained according to the corrected wading depth and the suspension safety height.

[0144] Exemplarily, the suspension safety height H can be calculated through the suspension lift amount input in real time, the safe depth of the suspension, and the safety margin. safe , and the following formula can be used: . In the formula, H base represents the safe depth under the standard height of the suspension (such as 30 cm); △H suspension represents the suspension lift amount (for example, the maximum adjustable amount of the air suspension is 50 mm); H margin represents the safety margin (the default is 5 cm), and the safety height of the suspension changes dynamically based on the current lift amount of the suspension. It can be understood that the calculation process of the third risk index in the above embodiments already considers the safety height of the suspension, and the relevant formulas have been described in the above embodiments. In some embodiments, the third risk index can also be calculated only through the wading depth.

[0145] In the specific implementation of the embodiments provided by the present invention, the vehicle may be equipped with different wading detection sensors, such as optical sensors or ultrasonic sensors, etc. For the detection results, corresponding calculation algorithms can be configured according to the sensor type to determine the initial wading depth detected by the sensor.

[0146] For example, in the detection scheme using an optical sensor (such as a camera / lidar), this type of scheme relies on a vision algorithm to segment the water and land areas, and combines SLAM (Simultaneous Localization and Mapping) technology to estimate the water level. The lidar needs to fit the water surface plane through a point cloud processing algorithm (such as the Random Sample Consensus (RANSAC) algorithm).

[0147] However, in some possible embodiments, when the wading detection sensor is an ultrasonic ranging sensor, the temperature and humidity in the environment may affect the transmission speed of ultrasonic waves. To further improve the detection accuracy of the wading depth, the transmission speed of ultrasonic waves is corrected in this embodiment. Specifically, in the above steps, the wading depth is obtained through the wading detection sensor, and the following method can be used:

[0148] Correct the transmission speed of ultrasonic waves according to the temperature and humidity to obtain the corrected transmission speed;

[0149] Calculate the wading depth according to the corrected transmission speed and the transmission time detected by the ultrasonic ranging sensor.

[0150] In this embodiment, the transmission speed of ultrasonic waves can be corrected by obtaining the temperature and humidity of the current environment. The relationship between the propagation speed ν of ultrasonic waves and the air temperature Τ (°C) is: , where v0 represents the propagation speed of ultrasonic waves at 0°C, and the unit is meters per second (m / s). For example, the initial transmission speed v of ultrasonic waves is 0= 331.4 m / s, and 0.6×T represents the correction term for the transmission speed. For example, when the temperature rises from 20°C to 40°C, the transmission speed of ultrasonic waves increases from 343.4 m / s to 355.4 m / s. At this time, the domain controller can calculate the real distance based on the input temperature information, and it can be obtained according to the following formula:

[0151]

[0152] In the formula, S represents the real distance (i.e., the wading depth H), and t represents the transmission time.

[0153] In some examples, in addition to temperature, the domain controller can also perform multi-parameter joint calibration and add humidity for temperature and humidity collaborative compensation. Generally, the influence of humidity (Relative Humidity, RH) on the sound speed is about 0.012% / (%RH). Therefore, in a humidity environment (such as RH>90%), a humidity correction term can be introduced, and the correction formula for the transmission speed can be as follows:

[0154]

[0155] In this way, by correcting the transmission speed of the ultrasonic ranging sensor through temperature and humidity, the detection accuracy of the wading depth can be effectively improved. In some embodiments, for scenarios where an ultrasonic ranging sensor is not used as the wading sensor, the transmission speed does not need to be corrected.

[0156] In some embodiments, in addition to the above wading depth detection and correction process, the wading depth can also be calculated by fusing configuration word information, vehicle pitch angle, vehicle body attitude, wheel speed, temperature and humidity, cloud meteorological data, and high-precision map data, as shown in Figure 3 to further improve the detection accuracy of the wading depth. Among them, the configuration word information is the configuration word information for whether to enable the wading mode.

[0157] Step S103, control at least one actuator in the vehicle according to the wading risk level.

[0158] Exemplarily, the actuator may include a suspension system, a braking system, an air conditioning system, and so on. In this embodiment, after determining the wading risk level, the domain controller directly controls the corresponding actuator according to the corresponding wading risk level. Compared with the related art where data synchronization is required for collaborative control in a distributed control architecture, which takes a relatively long cycle, the response delay is reduced.

[0159] Exemplarily, the controlling of at least one actuator in the vehicle according to the wading risk level may include the following steps:

[0160] If the wading risk level is the first risk level, the wading depth is pushed through the vehicle's in-vehicle computer.

[0161] If the wading risk level is the second risk level, the wading depth is pushed through the vehicle's in-vehicle computer, and the suspension of the vehicle is controlled to rise.

[0162] If the wading risk level is the third risk level, at least one of the following operations is performed: controlling the suspension of the vehicle to rise to the highest, controlling the range extender to be turned off, controlling the sunroof to be opened, controlling the air conditioner to be switched to the internal circulation mode, and sending an emergency safety request to the security server.

[0163] In this embodiment, the domain controller issues control instructions to the wading-related actuators based on the determined wading risk level. For example, in the first risk level, that is, wading is in a safe state or a low-risk state, the real-time wading depth is continuously sent to the in-vehicle computer, and a wading safety instruction is sent to the in-vehicle computer display screen. Or in the second risk level, that is, wading is in a medium-risk state, the real-time wading depth can be continuously sent to the in-vehicle computer, the wading depth is displayed in real time, a suspension lift instruction is sent, and the suspension lift state is monitored. Or in the third risk level, that is, wading is in a high-risk state, the suspension can be continuously controlled to be lifted to the highest, the air conditioner is controlled to be switched to the internal circulation instruction, the range extender is controlled to be turned off, the sunroof is controlled to be opened, and a background emergency call request is sent.

[0164] Specifically, the first risk level corresponds to low risk. The domain controller can push the current wading depth information to the driver through the in-vehicle infotainment system (IVI) so that the driver can understand the current water depth situation and stay vigilant. The second risk level can correspond to medium risk. The domain controller can push the current wading depth information through the IVI so that the driver can understand the water depth, and at the same time automatically control the suspension to rise, that is, the domain controller automatically controls the vehicle's suspension system to raise the vehicle body to increase the vehicle's ground clearance and reduce the risk of water entering the vehicle bottom or engine compartment. For the third risk level, due to the high risk level, multiple safety measures are taken to improve safety. For example, when the wading risk level is the third level, the suspension can be raised to the highest position to maximize the ground clearance; the range extender can also be turned off. If the vehicle is a hybrid or electric vehicle, turning off the range extender can effectively prevent water from entering and damaging; the sunroof can also be opened as an escape route, especially when the doors may not be able to be opened; the air conditioner can be switched to the internal circulation mode to prevent external moisture from entering the vehicle and keep the air quality inside the vehicle. In addition, an emergency safety request can be sent to notify the external safety service provider of the vehicle's current high-risk state by sending an emergency request to the safety server, so as to provide necessary support or rescue.

[0165] Through this hierarchical response mechanism, the vehicle can take appropriate measures under different wading risk conditions, which can effectively improve the safety and reliability of the vehicle and reduce the potential risks brought by vehicle wading.

[0166] The above solution only provides an example of specific actuator control. The most important thing in this solution is to control the suspension to rise. For any vehicle model, the suspension needs to be controlled when encountering the above risks. For other actuators in the vehicle, they can be selected according to the actual vehicle configuration. For example, if some vehicles are not equipped with a range extender, the range extender should not be controlled; if some vehicles do not have a sunroof, the sunroof does not need to be controlled. This solution does not limit how to specifically control based on different high and low risk levels. Those skilled in the art can make different settings according to the actual vehicle configuration and customer needs.

[0167] In summary, the vehicle control method based on the wading detection function provided by the present invention at least includes the following improvements and corresponding technical effects:

[0168] First, this solution adopts a cross-domain integrated control architecture, that is, various operations and data acquisitions are all executed by the domain controller. For example, wading detection, air conditioner control, power control, and suspension adjustment functions are integrated into a single domain controller, supporting 1000 Mbps Ethernet communication, replacing the traditional 2 independent ECUs (main wading ECU + slave wading ECU).

[0169] Real-time collaborative control, with a data synchronization cycle < 10 ms (traditional CAN architecture: 100 ms), enabling active suspension adjustment (lifting in 10 ms) and linkage with the air conditioning system and power system (the power-off response time is shortened from 200 ms to 50 ms).

[0170] The domain controller shares chip resources and runs a wading detection algorithm with less than 5% of the computing power of the existing hardware, saving the cost of independent chips.

[0171] Second, cost-performance balance. Specifically, by reusing the domain controller, two ECUs for wading master and slave radars, communication harnesses (CAN harnesses), and the controller housing are saved, and the overall cost reduction can reach more than 60%.

[0172] Third, it supports the update of the vehicle's wading strategy through a single domain controller, reducing the maintenance cost of OTA (Over-The-Air) upgrades for two independent ECU modules. The wading mode software is moved up to the domain controller, and compared with the traditional wading ECU that is hung under CAN / LIN, the domain controller is upgraded more efficiently through Ethernet.

[0173] Fourth, cross-domain data collaboration, integrating sensor data with the vehicle's motion state (vehicle speed, steering angle, suspension height), and temperature and humidity compensation to improve the accuracy of ranging.

[0174] Fifth, based on a multi-parameter fusion model, the wading risk level is dynamically adjusted, considering real-time updates of radar ranging, vehicle body attitude, vehicle speed sensors, and / or cloud data and high-precision map water accumulation data, reducing the error risk caused by quantifying the wading level using only the distance detected by a single wading radar in the traditional grading mode.

[0175] Generally speaking, the vehicle wading depth dynamic detection system based on the domain control integration architecture has breakthrough advantages of improving the detection accuracy by more than that of the traditional single-sensor detection scheme (error rate < 5%), reducing the response delay to the 10 ms level, and cutting the hardware cost by 60% through innovation.

[0176] In the above Figure 3 Based on the solution of the above-described embodiment, after the vehicle is started, if it is detected that the user has configured or subscribed to the wading detection function, these functions need to be started first in order to implement the above solution. Specifically, it at least includes waking up the domain controller, waking up the sensors, and detecting the wading mode configuration word to determine whether to enter the wading mode.

[0177] Figure 6 It is a schematic diagram of a wading function detection method provided by the present invention, as Figure 6As shown in the figure, in order to balance the vehicle driving function and the wading detection function, the domain controller determines the entry or exit of the wading mode according to the vehicle's rearview mirror state, driving speed, and the slope of the driving road. Specifically, the above method may further include the following steps: During the vehicle driving process, determine whether to enter or exit the wading mode according to the vehicle's rearview mirror state, driving speed, and the slope of the driving road.

[0178] In this embodiment, considering that when the vehicle's rearview mirror is in the folded state, the vehicle may be in a parked state, or the possibility of wading is relatively low when the slope of the driving road is large, or the possibility of wading is relatively low when the driving speed is high, the unnecessary loss of the wading detection function can be reduced by exiting the wading mode.

[0179] In one example, the above determination of whether to enter the wading mode according to the vehicle's rearview mirror state, driving speed, and the slope of the driving road is specifically: If the rearview mirror is in the unfolded state, the driving speed is less than the preset speed, and the slope of the driving road is less than the preset slope, it is determined to enter the wading mode.

[0180] It should be noted that those skilled in the art can adaptively set or adjust the above preset speed or preset slope in combination with actual applications or empirical values, and the present invention does not make special limitations on this. For example, when the vehicle speed < 10 Km / h, the slope < 10°, and the rearview mirror is unfolded, the domain controller determines that the vehicle can enter the wading mode.

[0181] In another example, the above determination of whether to exit the wading mode according to the vehicle's rearview mirror state, driving speed, and the slope of the driving road is specifically: If the vehicle's rearview mirror is in the folded state, or the driving speed is greater than the preset speed and lasts for the preset duration, then control to exit the wading mode.

[0182] For example, when the vehicle speed > 10 Km / h and lasts for 30 ms, or the rearview mirror is folded, or the switch is turned off, or when the slope > 10° and lasts for 30 ms, or the rearview mirror is folded, or the wading function switch is turned off, the domain controller controls to exit the wading mode.

[0183] In yet another example, as Figure 6 shown, the domain controller can divide into 5 states, namely: Self - Checking state, Standby state, OFF state, Active state, and Disable state. Among these five states, the Active state can correspond to entering the wading mode. The state transitions are described as follows:

[0184] 1) T1_S0_to_S1: The domain controller wakes up, and the wading system starts self - checking;

[0185] Under the self-check mechanism: When the switch is turned on (S0), the domain controller wakes up (T1) and enters the self-check state (S1) to ensure that there are no faults in the system itself and associated modules.

[0186] 2) T2_S5_to_S1: The switch is turned on and the rearview mirror is unfolded.

[0187] The switch being turned on and the rearview mirror being unfolded (T2) is one of the conditions for the domain controller to enter the self-check state (S1) from the off state (S5). For example, the user intends to use the wading system.

[0188] 3) T3_S2_to_S1: The system self-check is abnormal, or there is a fault in the associated module, and the system repeatedly toggles between the fault state (S2) and the self-check state (S1).

[0189] 4) T4_S1_to_S2: The system self-check is abnormal, or there is a fault in the associated module, and the system repeatedly toggles between the fault state (S2) and the self-check state (S1).

[0190] 5) T5_S3_to_S2: There is a fault in the associated module, and it is in the fault state (S2).

[0191] Regarding the above 3) - 5), when the self-check is abnormal or there is a fault in the associated module (T3 / T4 / T5), it enters the fault state (S2) and repeatedly toggles between the fault state (S2) and the self-check state (S1), preventing it from wrongly entering the wading mode in the fault state, thus ensuring the safety of the vehicle and personnel and avoiding misoperations or function failures caused by system faults.

[0192] 6) T6_S1_to_S4: The system self-check is normal.

[0193] When the system self-check is normal (T6), it enters the standby state (S4) to provide guarantee for whether to enter the wading mode subsequently.

[0194] 7) T7_S3_to_S4: Vehicle speed > 10 Km / h or slope > 10°;

[0195] 8) T8_S4_to_S3: Vehicle speed < 10 Km / h and slope < 10° and the rearview mirror is unfolded;

[0196] 9) T9_S4_to_S5: Vehicle speed > 10 Km / h and lasts for 30 ms or the rearview mirror is folded or the switch is turned off;

[0197] 10) T10_S3_to_S5: Vehicle speed > 10 Km / h and lasts for 30 ms or the rearview mirror is folded or the switch is turned off.

[0198] For the above 6) - 10), when the vehicle speed > 10 Km / h or the slope > 10° (T7) is used as one of the conditions for switching from the active state (S3) to the standby state (S4), and the vehicle speed < 10 Km / h, the slope < 10°, and the rearview mirror is unfolded (T8) are used as the conditions for switching back from the standby state (S4) to the active state (S3), the actual driving conditions of the vehicle are considered. When the vehicle speed is high or the slope is large, it may not be a wading scenario or the current driving state is not suitable for the continuous operation of the wading mode, and the domain controller can perform corresponding state switching. For example, when driving at high speed, the vehicle is unlikely to be in a wading state, and the system entering the standby state can reduce unnecessary energy consumption and system burden. When the rearview mirror is folded or the switch is turned off (T9, T10), the domain controller can exit the current working state (from the standby state (S4) or the active state (S3) to the off state (S5)) to be flexibly turned on and off according to the user's needs. For example, when parking, the user folds the rearview mirror, and unnecessary wading-related functions can be stopped to avoid resource waste. It can be understood that the switch-on in the above text refers to the activation of the wading detection function.

[0199] Figure 7 Schematic diagram of a sensor power supply and environment detection method provided by the present invention Figure 8 Schematic diagram of a sensor wake-up process provided by the present invention. As Figure 7 and 8 shown, in order to enable the vehicle to quickly respond to the wading environment when needed, while effectively managing energy consumption and equipment life, before obtaining the wading depth through the wading detection sensor in the above steps of this embodiment, the method may further include the following steps: in response to a preset wading detection function, by sending a Pulse Width Modulation (PWM) signal to the wading detection sensor, the wading detection sensor is awakened from the low-power state to the working state.

[0200] Exemplarily, it can be determined whether wading detection is required according to a preset wading detection function (such as the user terminal actively initiating wading detection, or the vehicle entering a known wading area or detecting rainfall, or whether the domain controller is awakened, or the domain controller detecting whether it enters the wading mode, etc.). By sending a PWM signal to the wading detection sensor to wake up the wading detection sensor. It can be understood that the PWM signal is a digital signal that controls the device state by changing the pulse width. By sending a PWM signal with a specific frequency and duty cycle to the wading detection sensor, it can be quickly awakened to the working state.

[0201] In the domain controller wake-up example, the domain controller can also enter the sleep state. It can be woken up by receiving a CAN network management (NM) message via the CAN line, or by receiving a hardwire wake-up instruction through the wake-up hardwire. After waking up, the domain controller can automatically activate the wading radar through the PWM / general-purpose input / output (GPIO) interface. After the domain controller detects that the conditions for operating in the wading mode are not met for 3 seconds, it controls the wading radar to enter the low-power mode. In some embodiments, the domain controller also designs a power supply interface for the ultrasonic radar. Since the wading mode needs to operate in the OFF gear, the power supply interface can be a KL30 interface, such as Figure 8 shown:

[0202] S201: Receive an instruction from the mobile phone / local reservation to start wading detection. If the domain controller is in the wake-up state at this time, the domain controller executes to enter the wading mode; if the domain controller is in the sleep state, it enters S202;

[0203] S202: The domain controller receives an NM message to wake up the domain controller or receives a hardwire instruction to wake up the domain controller. After waking up the domain controller, it enters S203;

[0204] S203: The domain controller activates the wading radar from the low-power state to the working state by sending a PWM signal;

[0205] S204: When the wading mode does not meet the working conditions and exits, the domain controller sends a sleep instruction, and the radar enters the low-power mode.

[0206] By the above method, the wading detection sensor can respond quickly when needed, reduce energy consumption, and extend the device life.

[0207] Figure 9 The following is a schematic structural diagram of a vehicle control device based on the wading detection function provided by the present invention, as Figure 9 shown. The vehicle control device 200 based on the wading detection function includes:

[0208] A data detection module 210, configured to obtain the wading depth through a wading detection sensor after the vehicle enters the wading mode, and obtain the temperature and humidity of the environment where the vehicle is located, as well as the driving speed of the vehicle;

[0209] A data processing module 220, configured to determine the wading risk level of the vehicle according to the temperature and humidity, the driving speed, and the wading depth, where the wading risk level is used to indicate the degree of wading safety of the vehicle at present;

[0210] The vehicle control module 230 is configured to control at least one actuator in the vehicle according to the wading risk level.

[0211] Further, the data processing module 220 is specifically configured to:

[0212] Obtain a first risk index according to the temperature and humidity;

[0213] Obtain a second risk index according to the driving speed;

[0214] Obtain a third risk index according to the wading depth;

[0215] Based on the preset weights corresponding to each risk index, the first risk index, the second risk index, and the third risk index, determine the wading risk level.

[0216] Optionally, the data detection module 210 is further configured to:

[0217] Obtain the current pitch angle and / or suspension height of the vehicle;

[0218] According to the pitch angle and / or suspension height, correct the wading depth to obtain a corrected wading depth;

[0219] Correspondingly, the data processing module 220 is specifically configured to:

[0220] Obtain the third risk index according to the corrected wading depth.

[0221] Optionally, if the wading detection sensor is an ultrasonic ranging sensor, the data detection module 210 is specifically configured to: correct the transmission speed of the ultrasonic wave according to the temperature and humidity to obtain a corrected transmission speed;

[0222] According to the corrected transmission speed and the transmission time detected by the ultrasonic ranging sensor, calculate the wading depth.

[0223] Optionally, the data detection module 210 is further configured to:

[0224] Calculate the suspension safety height according to the safety depth, safety margin of the vehicle's suspension, and the current suspension lift;

[0225] Correspondingly, the data processing module 220 is specifically configured to:

[0226] Obtain the third risk index according to the corrected wading depth and the suspension safety height.

[0227] Optionally, the data processing module 220 is specifically configured to:

[0228] Based on the weights corresponding to each preset risk index, perform a weighted sum of the first risk index, the second risk index, and the third risk index to obtain an overall risk index;

[0229] According to the overall risk index and the preset risk index ranges corresponding to different risk levels, determine the wading risk level, where the wading risk level includes: a first risk level, a second risk level, or a third risk level;

[0230] Among them, the risk index corresponding to the first risk level is less than the risk index corresponding to the second risk level, and the risk index corresponding to the second risk level is less than the index corresponding to the third risk level.

[0231] Optionally, the vehicle control module 230 is specifically configured to:

[0232] If the wading risk level is the first risk level, push the wading depth through the in-vehicle computer of the vehicle;

[0233] If the wading risk level is the second risk level, push the wading depth through the in-vehicle computer of the vehicle and control the suspension of the vehicle to rise;

[0234] If the wading risk level is the third risk level, perform at least one of the following operations: control the suspension of the vehicle to rise to the highest level, control to turn off the range extender, control to open the sunroof, control to switch the air conditioner to the internal circulation mode, and send an emergency safety request to the security server.

[0235] Figure 10 The following is a schematic structural diagram of another vehicle control device based on the wading detection function provided by the present invention, as Figure 10 shown, the vehicle control device 200 based on the wading detection function further includes:

[0236] A mode detection module 240, configured to determine whether to enter the wading mode or exit the wading mode during the driving of the vehicle according to the state of the rearview mirror of the vehicle, the driving speed, and the slope of the driving road.

[0237] Optionally, the mode detection module 240 is specifically configured to:

[0238] If the rearview mirror is in the unfolded state, the driving speed is less than the preset speed, and the slope of the driving road is less than the preset slope, determine to enter the wading mode.

[0239] Or,

[0240] If the rearview mirror of the vehicle is in a folded state, or the driving speed is greater than a preset speed and lasts for a preset duration, control exits the wading mode.

[0241] Optionally, the mode detection module 240 is further configured to, in response to a preset wading detection function, wake up the wading detection sensor from a low-power state to a working state by sending a PWM signal to the wading detection sensor.

[0242] The vehicle control device based on the wading detection function provided in the foregoing embodiments can execute the vehicle control method based on the wading detection function provided in the above method embodiments. The implementation principles and technical effects are similar, and will not be elaborated here in this embodiment.

[0243] Figure 11 It is a schematic hardware structure diagram of a domain controller provided by the present invention. As Figure 11 shown, the domain controller 300 includes: a memory 310, a processor 320, and an interaction interface 330;

[0244] The memory 310 is used to store computer execution instructions;

[0245] The interaction interface 330 is used to interact with various vehicle sensors or various actuators;

[0246] The processor 320 executes the computer execution instructions stored in the memory, so that the processor executes the vehicle control method based on the wading detection function provided in any of the above method embodiments.

[0247] In addition, the present invention further provides a vehicle, including: a vehicle body and the foregoing Figure 1 provided wading detection system.

[0248] The present invention further provides a computer-readable storage medium. Computer execution instructions are stored in the computer-readable storage medium. When the processor executes the computer execution instructions, the above method is implemented.

[0249] The above-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0250] An exemplary readable storage medium is coupled to a processor so that the processor can read information from and write information to the readable storage medium. Of course, the readable storage medium can also be part of the processor. The processor and the readable storage medium can be located in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in a device.

[0251] The division of 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 system, or some features can be ignored or not executed. Another point is that the couplings or direct couplings or communication connections shown or discussed between each other can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0252] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0253] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0254] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present invention. And the aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, Read-Only Memory (ROM), Random Access Memory (RAM), magnetic disks or optical discs that can store program codes.

[0255] Those of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including the above method embodiments. The foregoing storage medium includes: various media such as ROM, RAM, magnetic disk, or optical disc that can store program codes.

[0256] Finally, it should be noted that: after considering the specification and practicing the invention disclosed herein, those skilled in the art will readily think of other embodiments of the present invention. The present invention is intended to cover any variations, uses, or adaptations of the present invention, which follow the general principles of the present invention and include common general knowledge or conventional technical means in the technical field not disclosed by the present invention. It is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

[0257] The above embodiments are only preferred embodiments given to fully illustrate the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present invention are within the protection scope of the present invention.

Claims

1. A vehicle control method based on a wading detection function, characterized in that, Domain controller applied to a vehicle, the method comprising: After the vehicle enters the wading mode, obtain the wading depth through a wading detection sensor, and obtain the temperature and humidity of the environment where the vehicle is located, as well as the driving speed of the vehicle; Determine the wading risk level of the vehicle according to the temperature and humidity, the driving speed, and the wading depth, wherein the wading risk level is used to indicate the degree of wading safety of the vehicle at present; Control at least one actuator in the vehicle according to the wading risk level.

2. The method according to claim 1, wherein The determining the wading risk level of the vehicle according to the temperature and humidity, the driving speed, and the wading depth includes: Obtain a first risk index according to the temperature and humidity; Obtain a second risk index according to the driving speed; Obtain a third risk index according to the wading depth; Based on the preset weights corresponding to each risk index, the first risk index, the second risk index, and the third risk index, determine the wading risk level.

3. The method according to claim 2, wherein The method further includes: Obtain the current pitch angle and / or suspension height of the vehicle; Correct the wading depth according to the pitch angle and / or suspension height to obtain a corrected wading depth; Correspondingly, the obtaining the third risk index according to the wading depth includes: Obtain the third risk index according to the corrected wading depth.

4. The method according to any one of claims 1 to 3, characterized in that If the wading detection sensor is an ultrasonic ranging sensor, then the obtaining the wading depth through the wading detection sensor includes: Correct the transmission speed of the ultrasonic wave according to the temperature and humidity to obtain a corrected transmission speed; Calculate the wading depth according to the corrected transmission speed and the transmission time detected by the ultrasonic ranging sensor.

5. The method according to claim 3, characterized in that, The method further includes: Calculate the suspension safety height according to the safety depth of the vehicle's suspension, the safety margin, and the current suspension lift amount; Correspondingly, the obtaining the third risk index according to the corrected wading depth includes: Obtain the third risk index according to the corrected wading depth and the suspension safety height.

6. The method according to claim 2 or 3, characterized in that, The determining the wading risk level based on the preset weights corresponding to each risk index, the first risk index, the second risk index, and the third risk index includes: Perform weighted summation on the first risk index, the second risk index, and the third risk index based on the preset weights corresponding to each risk index to obtain an overall risk index; Determine the wading risk level according to the overall risk index and the preset risk index ranges corresponding to different risk levels. The wading risk levels include: a first risk level, a second risk level, or a third risk level; Wherein, the risk index corresponding to the first risk level is less than the risk index corresponding to the second risk level, and the risk index corresponding to the second risk level is less than the index corresponding to the third risk level.

7. The method according to claim 6, characterized in that The controlling at least one actuator in the vehicle according to the wading risk level includes: If the wading risk level is the first risk level, the wading depth is pushed through the in-vehicle computer of the vehicle. If the wading risk level is the second risk level, the wading depth is pushed through the in-vehicle computer of the vehicle, and the suspension of the vehicle is controlled to rise. If the wading risk level is the third risk level, at least one of the following operations is performed: controlling the suspension of the vehicle to rise to the highest level, controlling to turn off the range extender, controlling to open the sunroof, controlling to switch the air conditioner to the internal circulation mode, and sending an emergency safety request to the security server.

8. The method according to any one of claims 1 to 3, characterized in that, The method further includes: During the driving of the vehicle, according to the state of the rearview mirror of the vehicle, the driving speed, and the slope of the driving road, it is determined whether to enter the wading mode or exit the wading mode.

9. The method according to claim 8, characterized in that Determining whether to enter the wading mode according to the state of the rearview mirror of the vehicle, the driving speed, and the slope of the driving road includes: If the rearview mirror is in the unfolded state, the driving speed is less than the preset speed, and the slope of the driving road is less than the preset slope, it is determined to enter the wading mode.

10. The method according to claim 8, wherein Determining whether to exit the wading mode according to the state of the rearview mirror of the vehicle, the driving speed, and the slope of the driving road includes: If the rearview mirror of the vehicle is in the folded state, or the driving speed is greater than the preset speed and lasts for the preset duration, the wading mode is controlled to exit.

11. The method according to any one of claims 1 to 3, characterized in that Before obtaining the wading depth through the wading detection sensor, the method further includes: In response to a preset wading detection function, the wading detection sensor is awakened from the low-power state to the working state by sending a PWM signal to the wading detection sensor.

12. A vehicle control device based on a wading detection function, characterized in that, Including: A data detection module, configured to obtain the wading depth through a wading detection sensor after the vehicle enters the wading mode, and obtain the temperature and humidity of the environment where the vehicle is located, and the driving speed of the vehicle. A data processing module, configured to determine the wading risk level of the vehicle according to the temperature and humidity, the driving speed, and the wading depth, where the wading risk level is used to indicate the degree of wading safety of the vehicle at present. A vehicle control module, configured to control at least one actuator in the vehicle according to the wading risk level.

13. A domain controller, characterized in that, Including: A memory, a processor, and an interaction interface; The memory is used to store computer execution instructions; The interaction interface is used to interact with various sensors or actuators of the vehicle; The processor executes the computer execution instructions stored in the memory, so that the processor executes the vehicle control method based on the wading detection function according to any one of claims 1-11.

14. A wading detection system, characterized in that, Including: A domain controller, at least one actuator and a wading detection sensor respectively electrically connected to the domain controller; Wherein, the domain controller is used to execute the vehicle control method based on the wading detection function according to any one of claims 1 to 11.

15. A vehicle, characterized in that, Including: A vehicle body and the wading detection system according to claim 14.

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