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

Abstract

The application 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 the vehicle and comprises the following steps: after the vehicle enters a wading mode, a wading depth is acquired through a wading detection sensor, the temperature and humidity of an environment where the vehicle is located are acquired, and the driving speed of the vehicle is acquired. Then, according to the temperature and humidity, the driving speed and the wading depth, the wading risk level of the vehicle is determined, the wading risk level is used for indicating the size of the current wading safety degree of the vehicle. According to the wading risk level, at least one actuator in the vehicle is controlled. Through the direct connection of various sensors and actuators with the domain controller, data acquisition and analysis are carried out, and the actuators in the vehicle are directly controlled by the domain controller, so that the delay caused by the transmission between electronic control units is effectively avoided, the vehicle can be quickly responded to and controlled in the wading mode, and the safety demand under the wading condition is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, in particular to a vehicle control method, device, system and vehicle based on wading detection function. BACKGROUND

[0002] Vehicle wading depth detection technology is one of the core functions to ensure the safety of wading driving, especially under the background of rapid popularization of new energy vehicles and intelligent driving, its importance is further highlighted.

[0003] At present, the wading detection of the vehicle mainly uses any one of ultrasonic sensors, optical sensors or pressure sensors for detection. When any one of the above detection methods is used, 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 the 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 make 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, and needs to send the wading detection result to other control units, resulting in a time delay of more than 200ms, which is far beyond the requirement time of wading active protection, and cannot meet the safety requirements of wading detection. SUMMARY

[0005] One of the purposes of the present application is to provide a vehicle control method, device, system and vehicle based on wading detection function, so as to at least solve the problem that the response time of wading detection in the related art 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 scheme adopted by the present application is as follows:

[0007] In a first aspect, the present application provides a vehicle control method based on wading detection function, applied to a domain controller of a vehicle, the method comprising:

[0008] After the vehicle enters the wading mode, the wading depth is obtained by the wading detection sensor, and the temperature and humidity of the environment where the vehicle is located and the driving speed of the vehicle are obtained;

[0009] According to the temperature and humidity, the driving speed and the wading depth, the wading risk level of the vehicle is determined, wherein the wading risk level is used to indicate the size of the current wading safety degree of the vehicle;

[0010] According to the wading risk level, at least one actuator in the vehicle is controlled.

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

[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] determining the wading risk level based on a preset weight corresponding to each risk index, the first risk index, the second risk index, and the third risk index.

[0016] In an embodiment, the method further comprises:

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

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

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

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

[0021] In an embodiment, the wading detection sensor is an ultrasonic ranging sensor, and the obtaining the wading depth by the wading detection sensor comprises:

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

[0023] calculating the wading depth according to the corrected transmission speed and a transmission time detected by the ultrasonic ranging sensor.

[0024] In an embodiment, the method further comprises:

[0025] calculating a safe suspension height according to a safe depth, a safety margin, and a current suspension lift of a suspension of the vehicle;

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

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

[0028] In an embodiment, the determining the wading risk level based on the preset weight corresponding to each risk index, the first risk index, the second risk index and the third risk index comprises:

[0029] The first risk index, the second risk index and the third risk index are weighted and summed based on the preset weight corresponding to each risk index, to obtain a total risk index;

[0030] The wading risk level is determined according to the total risk index and a preset risk index range corresponding to different risk levels, and the wading risk level comprises a first risk level, a second risk level or a third risk level.

[0031] 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.

[0032] In an embodiment, the controlling at least one actuator in the vehicle according to the wading risk level comprises:

[0033] If the wading risk level is the first risk level, the wading depth is pushed through the car machine of the vehicle.

[0034] If the wading risk level is the second risk level, the wading depth is pushed through the car machine of the vehicle, and the suspension of the vehicle is controlled to be raised.

[0035] If the wading risk level is the third risk level, at least one of the following operations is performed: the suspension of the vehicle is controlled to be raised to the highest, the range extender is controlled to be closed, the sunroof is controlled to be opened, the air conditioner is controlled to be switched to an internal circulation mode, and an emergency safety request is sent to a safety server.

[0036] In an embodiment, the method further comprises:

[0037] In the process of driving the vehicle, it is determined whether to enter the wading mode or 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.

[0038] In an embodiment, the 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 comprises:

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

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

[0041] 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 time length, the wading mode is controlled to be exited.

[0042] In an embodiment, before the wading depth is acquired by the wading detection sensor, the method further comprises:

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

[0044] In a second aspect, the application provides a vehicle control device based on a wading detection function, comprising:

[0045] A data detection module is configured to acquire a wading depth by a wading detection sensor and acquire a temperature and humidity of an environment where the vehicle is located and a driving speed of the vehicle after the vehicle enters a wading mode;

[0046] A data processing module is configured to determine a 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 a size of a current wading safety degree of the vehicle;

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

[0048] In a third aspect, the application provides a domain controller, comprising a memory, a processor and an interactive interface;

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

[0050] The interactive interface is configured to interact with each sensor or each actuator 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 aspect.

[0052] In a fourth aspect, the application provides a wading detection system, comprising:

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

[0054] The domain controller is configured to execute the vehicle control method based on the wading detection function provided in any one of the first aspect.

[0055] In a fifth aspect, the application provides a vehicle, comprising a vehicle body and the wading detection system provided in the fourth aspect.

[0056] The vehicle control method, device, system and vehicle based on the wading detection function have the following advantages:

[0057] First, the cross-domain integrated control architecture is adopted, that is, various operations and data acquisition are performed by the domain controller. For example, the wading detection function and the actuator control function (such as raising the suspension) are integrated into a single domain controller, which replaces the long cycle of data synchronization in the traditional distributed ECU architecture cooperative control, and reduces the response time delay.

[0058] Second, the domain controller replaces the distributed ECU architecture, saving the communication harness arrangement between ECUs and the controller shell, effectively reducing the hardware cost.

[0059] Third, the wading risk level is dynamically determined based on the multi-parameter fusion mode, which considers multiple indicators such as wading depth, driving speed and temperature and humidity to determine the wading risk level, reducing the error risk caused by using a single sensor to collect distance to quantify the wading level in the traditional grading mode.

[0060] Fourth, the fusion of the wading depth data of the sensor and the vehicle motion state (vehicle speed, suspension height, etc.) and the temperature and humidity compensation effectively improve the accuracy of the ranging. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 A domain controller integrated hardware architecture diagram is provided for the application;

[0062] Figure 2 A domain controller internal software module architecture diagram is provided for the application;

[0063] Figure 3 A flowchart of a vehicle control method based on a wading detection function is provided for the application;

[0064] Figure 4 A wading depth operation diagram is provided for the application;

[0065] Figure 5 A wading risk level operation diagram is provided for the application;

[0066] Figure 6 A wading function detection method diagram is provided for the application;

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

[0068] Figure 8 A schematic diagram of a sensor wake-up process provided by the present application;

[0069] Figure 9 A schematic diagram of a vehicle control device based on the wading detection function provided by the present application;

[0070] Figure 10 A schematic diagram of another vehicle control device based on the wading detection function provided by the present application;

[0071] Figure 11 A schematic diagram of the hardware structure of a domain controller provided by the present application. DETAILED DESCRIPTION

[0072] Other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure of the present specification. The present application can also be implemented or applied by means of other different specific embodiments, and various modifications or changes can be made to the details in the present specification based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, and are not intended to limit the protection scope of the present application.

[0073] It should be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concept of the present application, and only show the components related to the present application in the diagrams, but are not drawn according to the number, shape and size of the components in actual implementation. The type, number and proportion of the components in actual implementation can be arbitrarily changed, and the layout type of the components can also be more complex.

[0074] In the current wading detection and control scheme, it mainly relies on a distributed electronic control unit architecture. The sensor transmits the detection result to the wading detection electronic control unit, and the 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 make logical judgment and control on different actuators. The related technology will be briefly introduced as follows:

[0075] In the related art, an ultrasonic sensor, an optical sensor, a pressure sensor or other sensors are mainly used to detect wading data, and a distributed electronic control unit (ECU) architecture is used to detect wading based on the data collected by the sensors, and then the results are transmitted to other control units of the vehicle to make logical judgments and control different actuators. Such a distributed architecture is prone to have a significant lack of cross-domain collaboration capability: in the traditional architecture, the wading detection ECU communicates with the air conditioner controller, the suspension controller, the engine controller and the body domain controller through the controller area network (CAN) bus (maximum rate 1 Mbps). For example, a certain vehicle model needs to transmit 2 sensor data (10 bytes / frame per sensor), and the data update period is 100 ms, so the bus load rate has reached 50%, which cannot support real-time control instructions (such as suspension adjustment requiring a response of 20 ms level). In addition, the wading detection ECU needs to be coordinated with the power, chassis and cloud full link, and the delay (>200 ms) of the traditional architecture cannot meet the demand. For example, the active suspension needs to complete the lifting action within 20 ms after detecting the water level, otherwise the vehicle may not be able to respond in time and may be flooded. On the other hand, the related art uses a fixed threshold for wading detection, without considering dynamic factors such as the environment and speed of the vehicle, and lacks environmental adaptability, which can cause large errors.

[0076] In other words, the current vehicle wading depth detection technology mainly has the following problems: 1) high response delay, the cross-domain control delay under the distributed ECU architecture is more than 200 ms, which cannot meet the real-time protection requirements; 2) lack of dynamic adaptability, without considering dynamic factors such as the environment and speed of the vehicle, the static threshold model has a high misjudgment rate; 3) the distributed ECU architecture requires multiple ECUs to work together, which increases the hardware cost; 4) insufficient detection accuracy, the single sensor solution increases the blind area of the vehicle bottom, and environmental interference leads to a high error rate. The above defects seriously restrict the safety and reliability of intelligent vehicles in wading scenarios.

[0077] In view of this, the embodiment of the present application provides a technical solution which can effectively reduce the water detection response time delay. After the vehicle enters the water mode, the water depth is obtained through the water detection sensor, the temperature and humidity of the environment where the vehicle is located are obtained, and the driving speed of the vehicle is obtained, and according to the temperature and humidity, the driving speed and the water depth, the water risk level of the vehicle is determined, wherein the water risk level is used to indicate the size of the current water safety degree of the vehicle, and then at least one actuator in the vehicle is controlled according to the water risk level. In this process, the domain controller is integrated, that is, the water detection sensor, the actuator and the domain controller are connected, the domain controller directly interacts with the water detection sensor and the actuator, instead of the distributed ECU architecture which processes the data detected by the sensor and then transmits the results to other control units of the vehicle to control different actuators, so that the response time delay is greatly reduced. At the same time, the temperature and humidity of the environment where the vehicle is located, the driving speed and the water depth are combined to determine the water risk level of the vehicle, so as to realize the cooperative control of the actuators (such as suspension actuators, air conditioner actuators and the like) of the vehicle, thereby quantifying the error risk caused by the water risk level and improving the water safety of the vehicle.

[0078] Please refer to Figure 1 , Figure 1 A domain controller integrated hardware architecture diagram is provided for the present application. As shown in Figure 1 , in the scheme provided by the present application, at least one actuator of the vehicle is directly connected with the domain controller, and two water detection sensors SENSOR_L and SENSOR_R for water detection are also directly connected with the domain controller. This integrated mode does not need to interact between electronic control units. For actuators, for example, the four kinds of suspension controller, range extender, car machine and air conditioner shown in the figure, in actual situations, according to vehicle configuration and vehicle type, there may be other actuators, or there may be no range extender or air conditioner, etc. The present scheme does not limit the type and number of specific actuators. The water detection sensor can be an optical sensor, an ultrasonic sensor or a laser radar, etc. The present scheme also does not make any limitation.

[0079] It should be understood that Figure 1 The hardware architecture shown in the figure can also be called a water detection system, which comprises a domain controller, at least one actuator and a water detection sensor which are electrically connected with the domain controller respectively.

[0080] Based on Figure 1 The example shown in the figure, the integrated domain controller in the functional system scheme designs 6 IO interfaces, namely P01~P06, which are respectively: P01: whole vehicle communication CAN_H interface;

[0081] P02: whole vehicle communication CAN_L interface;

[0082] P03: Wading radar power supply interface;

[0083] P04: PWM interface for data communication between left wading radar and domain control, the domain control controls the radar to enter low-power mode through the PWM interface, the domain control receives the original distance transmitted by the wading radar and the diagnosis of the radar is transmitted to the domain control for storage;

[0084] P05: Wading radar ground interface;

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

[0086] Figure 1 Only an exemplary connection mode is given, and other interface connection modes can be selected in the specific vehicle configuration process, and the present scheme is not limited.

[0087] On the basis of the above architecture, in the process of detecting wading of the vehicle, the domain controller at least needs to perform the following processing: data fusion calculation, wading risk level calculation, actuator control, sensor power supply and wake-up, and configuration word read-write. Correspondingly, these kinds of processing need to design corresponding software modules to realize. Figure 2 An internal software module architecture diagram of the domain controller provided by the present application is shown in Figure 2 The domain controller includes:

[0088] F01-Data fusion calculation module: The function module is used for accurately calculating and compensating the wading depth by receiving at least one factor of environmental temperature and humidity, vehicle pitch angle, vehicle body posture, vehicle speed, etc., and improving the detection accuracy. Optionally, the cloud weather data can be fused to predict regional rainfall, and the accumulated water points provided by the high-precision map can be fused to start the wading mode in advance and give a warning in advance at the vehicle end.

[0089] F02-Wading risk level calculation module: The function module is used for wading level risk calculation. Through multi-dimensional parameter fusion and dynamic threshold adjustment, multi-modal sensor data fusion: combined with ultrasonic radar, inertial measurement unit (IMU), wheel speed sensor and cloud data, the error of single wading radar detection is eliminated. Through the dynamic risk index (DRI) model: quantifying the comprehensive influence of water depth, vehicle posture and environmental parameters, the vehicle wading risk is quantified into three levels (safe / warning / danger).

[0090] F03-Actuator Control Module: This functional module is used to control the relevant controller to execute the action in the wading mode according to the wading risk level. In the safe level (i.e. the first risk level in the following), only the central control screen prompts, and there is no change in the vehicle state; in the warning level (i.e. the second risk level in the following), the Continuous Damping Control (CDC) domain is raised to raise the suspension; in the dangerous level (i.e. the third risk level in the following), the domain control limits the suspension to be raised to the highest, switches the air conditioning mode to the internal circulation, closes the vehicle range extender to switch to the Electric Vehicle (EV) mode, sends a help signal through the Telematics Box (TBox), and the domain control controls to open the sunroof.

[0091] F04-Sensor Power Supply and Wake-up Module: This functional module is used to wake up the domain controller by the NM message or to wake up the domain controller by receiving the hard-wire wake-up instruction, and after the wake-up, the domain controller pulls up the wading detection sensor through the Pulse Width Modulation (PWM) / General-purpose input / output (GPIO) interface. The domain controller detects that the conditions for the wading mode do not meet for 3s, and controls the wading radar to enter the low-power consumption mode; the domain control designs the power supply interface of the wading detection sensor, and since the wading mode needs to work in the OFF gear, the power supply interface can be KL30. It can be understood that the KL30 is a power line directly connected to the positive electrode of the battery, which is usually not controlled by the ignition switch, and even if the vehicle is in the OFF gear, the device connected to the KL30 can still obtain power.

[0092] F05-Configuration Word Read / Write Module: This functional module is used to provide the configuration word read / write function and the current configuration word state reading interface, and the software module in the domain controller distinguishes whether there is the wading mode through the configuration word, so that the software can be applied to multiple projects, and the software reusability is improved.

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

[0094] Please refer to Figure 3 , Figure 3 The flowchart of the vehicle control method based on the wading detection function provided by the application is applied to the domain controller of the vehicle, and the method comprises steps S101-S103.

[0095] Step S101: After the vehicle enters the wading mode, the wading depth is obtained through the wading detection sensor, the temperature and humidity of the environment where the vehicle is located are obtained, and the driving speed of the vehicle is obtained.

[0096] Optionally, the domain controller can control the vehicle to enter the wading mode or exit the wading mode by detecting specific states of the vehicle, such as vehicle driving states (such as driving slope, vehicle speed) and vehicle states (such as rearview mirror folding) and the like, or specific environment of the vehicle (such as identifying whether there is a pothole on the current section according to the high-precision map, etc.). Alternatively, the domain controller can support the user to read and write the configuration word through the interactive interface in a user interaction manner. Specifically, the domain controller includes a configuration word reading and writing module, provides a configuration word reading and writing function and a current configuration word state reading interface, and the software module in the domain controller distinguishes whether the vehicle currently enters the wading mode through the configuration word.

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

[0098] In the wading scene, the temperature and humidity of the environment where the vehicle is located and the dynamic factors such as the vehicle speed can easily have a great impact on the safety of the vehicle wading. For example, lower temperature can cause water to freeze, increasing the risk of vehicle skidding, high humidity can easily cause short circuit or failure of the vehicle electrical system, or higher vehicle speed can increase the impact force of water on the vehicle chassis, easily causing the vehicle to lose control, etc. Therefore, in the wading detection, the domain controller obtains the temperature and humidity of the environment where the vehicle is located and the driving speed of the vehicle and the like, and determines the wading risk level in the subsequent step in combination with the wading depth, so as to realize the control of the actuator and improve the wading safety.

[0099] In step S102, the wading risk level of the vehicle is determined according to the temperature and humidity, the driving speed and the wading depth, wherein the wading risk level is used to indicate the size of the current wading safety degree of the vehicle.

[0100] In the embodiment, the temperature and humidity can be used as a whole index (which can be temperature alone, humidity alone, or temperature and humidity), or can be used as independent indexes, i.e. containing temperature and humidity, which are not particularly limited in the embodiment. The embodiment is described by taking the temperature and humidity as independent indexes. The wading risk level is calculated by inputting the wading depth, the driving speed and the temperature and humidity, and the wading risk level is output.

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

[0102] Figure 4 An operation schematic diagram of the wading depth provided by the present application is shown in Figure 4 The influence factors of multiple data such as vehicle body pitch angle, vehicle posture, driving speed, temperature and humidity can be considered in the entire operation process, and the wading depth is calculated comprehensively to further calculate the wading risk level.

[0103] Figure 5 An operation schematic diagram of the wading risk level provided by the present application is shown in Figure 5 The influence factors of multiple dimensions such as temperature and humidity, driving speed and wading depth can be considered in the entire operation process, and the wading risk level is calculated comprehensively.

[0104] In one embodiment, 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 indicator and combining the corresponding weight. Specifically, the above step S102 determines the wading risk level of the vehicle according to the temperature and humidity, the driving speed and the wading depth, comprising:

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

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

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

[0108] determining the wading risk level based on the preset weight corresponding to each risk index, the first risk index, the second risk index and the third risk index.

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

[0110] weighting the first risk index, the second risk index and the third risk index based on the preset weight corresponding to each risk index to obtain a total risk index;

[0111] determining the wading risk level according to the total risk index and a preset risk index range corresponding to different risk levels, the wading risk level including a first risk level, a second risk level or a third risk level;

[0112] 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 risk index corresponding to the third risk level.

[0113] In summary, the total risk index can be calculated by each risk index and the weight corresponding thereto, and the wading risk level can be determined by the total risk index. Specifically, the wading risk level can be determined by comparing the total risk index with the preset risk level range, wherein the risk level is generally divided into the first risk level indicating low risk, the vehicle can pass the wading area safely; the second risk level indicating medium risk, the vehicle needs to take lower safety measures (e.g., raising the suspension to a first height lower than the maximum height) to reduce the wading risk; and the third risk level indicating high risk, the vehicle needs to take higher safety measures (e.g., raising the suspension to the maximum height), etc.

[0114] In the process of calculating the wading risk level, in order to reduce the error of the wading risk level caused by the key factors such as the environment where the vehicle is located and the vehicle speed, the embodiment combines the dynamic risk index (DRI) model to realize dynamic classification of the wading risk level. In one specific implementation manner of the present solution, the first risk index refers to the risk index obtained based on external environmental factors, and the external environment mainly refers to the temperature and / or humidity of the environment. In actual implementation, only one of the temperature and the humidity can be considered, or both of them can be considered, and the following example considering both factors is described.

[0115] Exemplarily, the domain controller can calculate the first risk index (in the present embodiment, including the weighted temperature risk index DRI t and the weighted humidity risk index DRI rh ) adjusted by the weight according to the following formula by receiving the environmental temperature and humidity values, wherein β and ε are the weight coefficients of the temperature corresponding risk and the weight coefficients of the humidity corresponding risk, V t is the temperature change rate, V t_threshold is the safety threshold of the temperature change rate, V rh is the humidity change rate, and V rh_threshold, introduce time parameter (Δt), introduce error function (erf(Δt)), represent the progressive cumulative effect of humidity risk, then DRI t and DRI rh As follows:

[0116]

[0117]

[0118] In this embodiment, the first risk index is and / or In some embodiments, the first risk index (hereinafter the second risk index, the third risk index, and the like) can be a value before being multiplied by the weight, or can be an index after being multiplied by the weight. The present embodiment does not particularly limit whether the index is before or after being weighted, and the calculation results are consistent.

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

[0120]

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

[0122] Exemplarily, the domain controller can calculate DRI H value according to the following formula by receiving real-time wading depth, where α is the weight coefficient of the risk corresponding to the wading depth H, H in the formula below represents the wading depth, H safe represents the safety threshold of the maximum height, time parameter (Δt) is introduced, KH represents the water depth time coefficient (default 0.01 / s), which represents the nonlinear growth of the risk with the soaking time, and time parameter (Δt) is introduced; then DRI H is represented as follows:

[0123]

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

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

[0126]

[0127] In some embodiments, in addition to the above-mentioned calculation of the risk indexes and the overall risk index, other calculation methods can also be used. For example, the time parameter and other less influential parameters can not be considered in the calculation process. For example, the calculation formula of DRI can also be as follows:

[0128]

[0129] wherein α+β+γ+ε=1, and 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 the wading risk level is divided based on DRI, the following rules can be followed: DRI<0.4 can represent safety, 0.4≤DRI<0.7 can represent early warning, and DRI≥0.7 can represent dangerous wading. The DRI value of the wading risk level can be updated by real vehicle calibration. Here, less than 0.4 is the risk index range corresponding to the first risk level, 0.4 to 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, in the process of finally calculating the wading risk level, the detected wading depth H needs to be applied. Considering that the wading depth detection process may cause a large error in the wading depth due to the change of the vehicle body posture, after the wading depth is calculated based on the sensor detection data, in order to reduce this error, the method provided in the embodiment can further include the following steps:

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

[0132] correcting the wading depth according to the pitch angle and / or suspension height to obtain a corrected wading depth;

[0133] Correspondingly, the third risk index is obtained according to the wading depth, including:

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

[0135] The vehicle may have a pitch angle during driving due to acceleration, deceleration or terrain changes, and the change in the pitch angle will affect the height of the front and rear of the vehicle, thereby affecting the actual wading depth. For example, when the vehicle is pitched forward (the pitch angle increases), the wading depth of the front of the vehicle will decrease, and the wading depth of the rear may increase. Therefore, different corrections need to be made to the front and rear wading depths according to the change in the pitch angle. In this embodiment, by fusing the pitch angle (i.e., the longitudinal inclination angle of the vehicle) in real time, correcting the sensor depth error and dynamically updating the safe wading threshold, the misjudgment problem caused by the change in the vehicle body posture can be solved.

[0136] In addition, the vehicle is usually equipped with an adjustable suspension system, which can adjust the ride height of the vehicle according to the road conditions or driving mode. The change in the 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, and decreasing the suspension height can decrease the wading depth. Therefore, in this embodiment, the suspension height (dynamic adjustment of the ground clearance) can be obtained, and the wading depth can be corrected according to the height to improve the accuracy of the wading depth value.

[0137] In an example, the wading detection sensor such as the ultrasonic probe is fixed at the rearview mirror, and when the vehicle body pitch angle is θ, the actual water depth H real The relationship between the corrected wading depth H measured and the measured value H .

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

[0139] In some examples, the current pitch angle and suspension height can also be used together to correct the wading depth, and the related description will not be repeated 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, so as to further improve the accuracy of the third risk index. Specifically, the method can further include the following steps:

[0142] According to the safe depth, the safety margin and the current suspension lift of the suspension of the vehicle, the suspension safety height is calculated;

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

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

[0145] In the specific implementation of the embodiments provided in the present application, the vehicle can be configured with different wading detection sensors, such as optical sensors or ultrasonic sensors, etc. For the detection result, a corresponding calculation algorithm 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 / laser radar), this kind of scheme relies on a visual algorithm to segment the water and land area, and estimates the water level in combination with a SLAM (Simultaneous Localization and Mapping) technology. The laser radar needs to fit the water surface plane through a point cloud processing algorithm (such as a random sample consensus algorithm (RANSAC)).

[0147] However, in some possible embodiments, the wading detection sensor is an ultrasonic ranging sensor, and the temperature and humidity in the environment can affect the transmission speed of the ultrasonic wave. In order to further improve the detection accuracy of the wading depth, the transmission speed of the ultrasonic wave is corrected in the present embodiment. Specifically, the wading depth is obtained by the wading detection sensor in the above step, which can be achieved in the following way:

[0148] The transmission speed of the ultrasonic wave is corrected according to the temperature and humidity to obtain a corrected transmission speed;

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

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

[0151]

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

[0153] In some examples, in addition to the temperature, the domain controller can also be calibrated in combination with multiple parameters, and humidity can be added for temperature and humidity compensation. Generally, the influence of humidity (Relative Humidity, RH) on the speed of sound is about 0.012% / (%RH), so in the humidity environment (such as RH>90%), a humidity correction term can be introduced, and the correction formula of 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 water depth can be effectively improved. In some embodiments, for scenarios that do not use an ultrasonic ranging sensor as a water depth sensor, the transmission speed does not need to be corrected.

[0156] In some embodiments, in addition to the above water depth detection and correction process, configuration word information, vehicle pitch angle, vehicle body posture, wheel speed, temperature and humidity, cloud weather data, and high-precision map data can be combined to calculate the water depth, as shown in Figure 3 , to further improve the detection accuracy of the water depth. Among them, the configuration word information is the configuration word information of whether to enable the water mode.

[0157] Step S103, according to the water risk level, at least one actuator in the vehicle is controlled.

[0158] Exemplarily, the actuators can include a suspension system, a braking system, an air conditioning system, and the like. In this embodiment, after determining the wading risk level, the domain controller directly controls the corresponding actuators according to the corresponding wading risk level. Compared with the long cycle required for data synchronization when the distributed control architecture is used for cooperative control in the related art, the response time delay is reduced.

[0159] Exemplarily, the above-mentioned controlling at least one actuator in the vehicle according to the wading risk level can include the following steps:

[0160] If the wading risk level is the first risk level, the wading depth is pushed through the car machine of the vehicle.

[0161] If the wading risk level is the second risk level, the wading depth is pushed through the car machine of the vehicle, and the suspension of the vehicle is controlled to be raised.

[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 be raised to the highest, controlling the range extender to be closed, controlling the sunroof to be opened, controlling the air conditioner to be switched to an internal circulation mode, and sending an emergency safety request to a safety 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, if the first risk level is a safe state or a low-risk state, the real-time wading depth is continuously sent to the car machine, and the wading safety instruction is sent to the car machine display screen. If the second risk level is a medium-risk state, the real-time wading depth can be continuously sent to the car machine, the wading depth can be displayed in real time, the suspension lifting instruction can be sent, and the suspension lifting state can be monitored. If the third risk level is a high-risk state, the control instruction for raising the suspension to the highest, the control instruction for switching the air conditioner to the internal circulation mode, the control instruction for closing the range extender, the control instruction for opening the sunroof, and the background emergency call request can be sent.

[0164] Specifically, the first risk level corresponds to low risk, and the domain controller can push the current wading depth information to the driver through the car machine (in-vehicle infotainment system) so that the driver can understand the current water depth condition and remain vigilant. The second risk level can correspond to medium risk, and the domain controller can push the current wading depth information to the driver through the car machine so that the driver can understand the water depth condition, and automatically control the suspension to be raised, that is, the domain controller automatically controls the suspension system of the vehicle to raise the vehicle body to increase the ground clearance of the vehicle and reduce the risk of water entering the bottom of the vehicle or the engine compartment. As for the third risk level, because the risk level is high, multiple safety measures are executed 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, which can effectively prevent water from entering and damaging if the vehicle is a hybrid or electric vehicle; 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 also be switched to an internal circulation mode to prevent external water from entering the vehicle and maintain the air quality inside the vehicle. In addition, an emergency safety request can also be sent to the safety server to send an emergency request to the safety server to notify the external safety service provider of the current high-risk state of the vehicle 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 wading.

[0166] The above scheme only provides an example of specific actuator control, and the most important thing in this scheme is to control the suspension to be raised, which needs to be controlled for any vehicle model when encountering the above risks. Other actuators in the vehicle can be selected according to the actual configuration of the vehicle, for example, some vehicles do not have a range extender, so the range extender does not need to be controlled, and some vehicles do not have a sunroof, so the sunroof does not need to be controlled. This scheme does not limit how to control based on different high and low risk levels, and 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 application at least includes the following improvements and corresponding technical effects:

[0168] First, this scheme adopts a cross-domain integrated control architecture, that is, various operations and data acquisition are performed by the domain controller. For example, the wading detection, air conditioning control, power control, and suspension adjustment functions are integrated into a single domain controller, which supports 1000Mbps Ethernet communication, replacing the traditional 2 independent ECUs (wading master ECU + wading slave ECU).

[0169] Real-time collaborative control, data synchronization period <10ms (traditional CAN architecture: 100ms), realize suspension active adjustment (lift 10ms) and air conditioning system, power system linkage (power-off response time from 200ms to 50ms).

[0170] Domain controller shares chip resources, runs wading detection algorithm by calling less than 5% of the existing hardware power, saves independent chip cost.

[0171] Second, cost-performance balance, specifically, reuse domain controller, save 2 wading master-slave radar ECUs, communication wire harness CAN wire harness, save controller shell, and the comprehensive cost reduction can reach more than 60%.

[0172] Third, support the implementation of vehicle wading strategy update through a single domain controller, reduce the maintenance cost of OTA (Over-The-Air, Over-The-Air) upgrade of 2 independent ECU modules. The wading mode software is moved to the domain control, compared with the traditional wading CAN / LIN wading ECU upgrade domain control, the upgrade efficiency is higher through Ethernet.

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

[0174] Fifth, dynamic adjustment of wading risk level based on multi-parameter fusion model, considering radar ranging, vehicle posture, speed sensor, and / or real-time update of cloud data, high-precision map water data, reducing the error risk caused by quantifying wading level only by single wading radar detection in traditional grading mode.

[0175] In summary, the vehicle wading depth dynamic detection system based on domain control integrated architecture realizes the breakthrough advantages of improving the detection accuracy of traditional single sensor detection scheme (error rate <5%), reducing the response delay to 10ms level, and reducing the hardware cost by 60%.

[0176] On the basis of the scheme of the above Figure 3 The vehicle starts, if it is detected that the user has configured the wading detection function or subscribed to the function, first need to start these functions, in order to be able to realize the above scheme. Specifically, at least including domain controller wake-up, sensor wake-up and wading mode configuration word detection, to determine whether to enter wading mode.

[0177] Figure 6 A schematic diagram of a wading function detection method provided by the present application is shown in Figure 6As shown, in order to balance the vehicle driving function and the water detection function, the domain controller determines the entry or exit of the water mode according to the rearview mirror state, the driving speed and the driving road slope of the vehicle. Specifically, the above method can further include the following steps: during the driving of the vehicle, it is determined whether to enter the water mode or exit the water mode according to the rearview mirror state, the driving speed and the driving road slope of the vehicle.

[0178] In this embodiment, considering that the vehicle may be in a parking state in the folded state of the rearview mirror, or the water detection possibility is low in the case of a large driving road slope, or the water detection possibility is low in the case of a large driving speed, the unnecessary consumption of the water detection function can be reduced by exiting the water mode.

[0179] In an example, the above-mentioned determination of whether to enter the water mode according to the rearview mirror state, the driving speed and the driving road slope of the vehicle is specifically: if the rearview mirror is in an unfolded state, and the driving speed is less than a preset speed, and the driving road slope is less than a preset slope, it is determined to enter the water mode.

[0180] It should be noted that those skilled in the art can adaptively set or adjust the above-mentioned preset speed or preset slope according to actual application or experience value, and the present application does not particularly limit this. For example, when the vehicle speed is <10Km / h and the slope is <10° and the rearview mirror is unfolded, the domain controller determines that the vehicle can enter the water mode.

[0181] In another example, the above-mentioned determination of whether to exit the water mode according to the rearview mirror state, the driving speed and the driving road slope of the vehicle is specifically: 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 time length, the domain controller controls to exit the water mode.

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

[0183] In yet another example, as shown, Figure 6 The domain controller can divide five states, namely: self-checking state (Self Checking), standby state (Standby), off state (OFF), active state (Active) and fault state (Disable), among which the active state can correspond to the entry of the water mode. The state transition is as follows:

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

[0185] Under self-check mechanism: when the switch is on (S0), the domain controller wakes up (T1), enters the self-check state (S1), and ensures that the system itself and the associated modules are not faulty.

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

[0187] The switch is on and the rearview mirror is unfolded (T2), which 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 has the intention to use the wading system.

[0188] 3) T3_S2_to_S1: the system self-check is abnormal, or the associated module is faulty, and the system repeatedly jumps between the fault state (S2) and the self-check state (S1).

[0189] 4) T4_S1_to_S2: the system self-check is abnormal, or the associated module is faulty, and the system repeatedly jumps between the fault state (S2) and the self-check state (S1).

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

[0191] For the above 3)~5), when the self-check is abnormal or the associated module is faulty (T3 / T4 / T5), enter the fault state (S2) and repeatedly jump between the fault state (S2) and the self-check state (S1), to prevent entering the wading mode in the fault state, thereby ensuring the safety of the vehicle and personnel, and avoiding misoperation or function failure due to system failure.

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

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

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

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

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

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

[0198] For the above 6) ~ 10), in the vehicle speed > 10Km / h or slope > 10° (T7) as one of the conditions for switching from the active state (S3) to the standby state (S4), and the vehicle speed < 10Km / h and the slope < 10° and the rearview mirror is unfolded (T8) as the condition for switching from the standby state (S4) to the active state (S3), the actual driving situation of the vehicle is considered. When the vehicle speed is high or the slope is large, it is possible that it is not a wading scene or the current driving state is not suitable for the continuous operation of the wading mode, and the domain controller can make the corresponding state switching. For example, when driving at high speed, the vehicle is less likely 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 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)) in order to flexibly turn 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 wasting resources. It can be understood that the switch on in the above refers to the wading detection function being turned on.

[0199] Figure 7 A schematic diagram of a sensor power supply and environment detection method provided by the present application, Figure 8 A sensor wake-up flowchart provided by the present application, as Figure 7 and 8 As shown in the above steps, in order to make the vehicle quickly respond to the wading environment when needed, while effectively managing energy consumption and equipment life, the method can further include the following steps before the wading depth is obtained by the wading detection sensor in the above steps: in response to the pre-set wading detection function, the wading detection sensor is awakened from the low-power state to the working state by sending a pulse width modulation (PWM) signal to the wading detection sensor.

[0200] Exemplarily, it can be judged whether wading detection is needed according to the pre-set 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 whether the domain controller detects that it enters the wading mode, etc.). The wading detection sensor is awakened by sending a PWM signal to the wading detection sensor. It can be understood that the PWM signal is a digital signal that controls the state of the device by changing the pulse width, and by sending a PWM signal with a specific frequency and duty cycle to the wading detection sensor, the wading detection sensor can be quickly awakened to enter the working state.

[0201] In the domain controller wake-up example, the domain controller can also enter the sleep state, which can be woken up by receiving a CAN network management (NM) message through the CAN line or receiving a hard-wire wake-up instruction through the wake-up hard line to wake up the domain control, and after being woken up, the domain control can automatically pull up the wading radar through the PWM / General-purpose input / output (GPIO) interface. The domain controller detects that the wading mode does not meet the working condition for 3s, and controls the wading radar to enter the low-power mode. In some embodiments, the domain control also designs a power supply interface for the ultrasonic radar. Since the wading mode needs to work in the OFF gear, the power supply interface can be a KL30 interface, as shown in Figure 8

[0202] S201: receiving an instruction of a mobile phone end / local pre-booking to start the wading detection, if the domain control is in a wake-up state at this time, the domain control executes to enter the wading mode; if the domain control is in a sleep state, S202 is entered;

[0203] S202: the domain control receives an NM message to wake up the domain control or receives a hard-wire instruction to wake up the domain control, and after the domain control is woken up, S203 is entered;

[0204] S203: the domain control pulls up the wading radar to enter the working state from the low-power state by sending a PWM signal;

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

[0206] Through the above manner, the wading detection sensor can quickly respond when needed, reduce energy consumption, and improve the service life of the equipment.

[0207] Figure 9 A structure diagram of a vehicle control device based on a wading detection function provided by the present application is shown in Figure 9 The vehicle control device based on the wading detection function 200 includes:

[0208] A data detection module 210 is configured to acquire a wading depth through a wading detection sensor after a vehicle enters a wading mode, acquire a temperature and humidity of an environment in which the vehicle is located, and acquire a driving speed of the vehicle.

[0209] A data processing module 220 is configured to determine a 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 a size of a current wading safety degree of the vehicle.

[0210] ​A 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] determine the wading risk level based on a preset weight corresponding to each risk index, the first risk index, the second risk index, and the third risk index.

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

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

[0218] correct the wading depth according to the pitch angle and / or the suspension height 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, the wading detection sensor is an ultrasonic ranging sensor, and the data detection module 210 is specifically configured to correct a transmission speed of an ultrasonic wave according to the temperature and humidity to obtain a corrected transmission speed.

[0222] obtain the wading depth according to the corrected transmission speed and a transmission time detected by the ultrasonic ranging sensor.

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

[0224] calculate a suspension safety height according to a safety depth, a safety margin, and a current suspension lift of a suspension of the vehicle;

[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 a preset weight corresponding to each risk index, performing weighted summation on the first risk index, the second risk index and the third risk index to obtain a total risk index;

[0229] based on the total risk index and a preset risk index range corresponding to different risk levels, determining the wading risk level, the wading risk level including a first risk level, a second risk level or a third risk level;

[0230] 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 risk 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, the wading depth is pushed through the vehicle machine of the vehicle;

[0233] if the wading risk level is the second risk level, the wading depth is pushed through the vehicle machine of the vehicle, and the suspension of the vehicle is controlled to be raised;

[0234] if the wading risk level is the third risk level, at least one of the following operations is performed: the suspension of the vehicle is controlled to be raised to the highest, the range extender is controlled to be closed, the sunroof is controlled to be opened, the air conditioner is controlled to be switched to the internal circulation mode, and an emergency safety request is sent to the safety server.

[0235] Figure 10 Another structure schematic diagram of the vehicle control device based on the wading detection function provided by the present application is shown in FIG. 2, which comprises: Figure 10 a vehicle control module 230, a mode detection module 240 and a wading detection module 210.

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

[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 a preset speed, and the driving road slope is less than a preset slope, it is determined that the wading mode is entered.

[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 time length, the 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 by the foregoing embodiments can perform the vehicle control method based on the wading detection function provided by the foregoing method embodiments, and has similar implementation principles and technical effects, which will not be described here again.

[0243] Figure 11 A hardware structure diagram of the domain controller provided by the present application is shown in FIG. 3. Figure 11 The domain controller 300 includes a memory 310, a processor 320, and an interactive interface 330.

[0244] The memory 310 is configured to store computer execution instructions.

[0245] The interactive interface 330 is configured to interact with various sensors or actuators of the vehicle.

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

[0247] In addition, the present application also provides a vehicle, which includes a vehicle body and the foregoing Figure 1 wading detection system.

[0248] The present application also provides a computer readable storage medium, which stores computer execution instructions, and when a processor executes the computer execution instructions, the foregoing method is implemented.

[0249] The 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, magnetic disk or 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 example readable storage medium is coupled to the processor such that the processor can read information from the readable storage medium and can write information to the readable storage medium. Of course, the readable storage medium can also be a part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0251] The division of units is only a logical functional division, and in actual implementation, there can be another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

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

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

[0254] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of 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 method of each embodiment of the present application. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0255] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. The program executes the steps of the above-mentioned method embodiments when executed. The foregoing storage medium includes various storage media that can store program codes, such as ROM, RAM, magnetic disk or optical disk.

[0256] Finally, it should be noted that other embodiments of the present application will readily occur to those skilled in the art upon consideration of the specification and practice of the present application disclosed herein. The present application is intended to include all such variations and modifications as fall within the scope of the present application, which is defined by the following claims, as well as the full scope of equivalents to which such claims are entitled. It is intended, therefore, that the present application be considered as including all possibilities falling within the scope of the application and their equivalents.

[0257] The above embodiments are only preferred embodiments of the present application for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent replacement or transformation of the present application made by those skilled in the art based on the present application is within the protection scope of the present application.

Claims

1. A vehicle control method based on a wading detection function, characterized in that: A domain controller applied to a vehicle, the domain controller being electrically connected to a water wading detection sensor and an actuator, respectively. The actuator includes at least one of a suspension controller, a range extender, a vehicle computer, and an air conditioner. The domain controller includes a pulse modulation (PWM) interface, and the domain controller is connected to the water wading detection sensor via the PWM interface. The method includes: After the vehicle enters the wading mode, the wading detection sensor is controlled to operate through the PWM interface to obtain the wading depth, the temperature and humidity of the environment in which the vehicle is located, and the driving speed of the vehicle; determining a water wading risk level of the vehicle based on the temperature and humidity, the driving speed, and the wading depth, wherein the water wading risk level is used to indicate a current water wading safety level of the vehicle, and the water wading risk level includes a first risk level, a second risk level, or a third risk level; According to the water wading risk level, at least one actuator in the vehicle is controlled; wherein, The controlling of at least one actuator in the vehicle according to the water wading risk level includes: If the water wading risk level is the first risk level, the water wading depth is pushed through the vehicle computer; If the wading risk level is the second risk level, the wading depth is pushed by the vehicle computer, and the suspension of the vehicle is controlled to rise by the suspension controller; If the water wading risk level is the third risk level, at least one of the following operations is performed: controlling the vehicle's suspension to be raised to the highest level, 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 service end.

2. The method according to claim 1, characterized in that The determining the water wading risk level of the vehicle according to the temperature and humidity, the driving speed, and the wading depth includes: obtaining a first risk index according to the temperature and humidity; obtaining a second risk index according to the driving speed; obtaining a third risk index according to the wading depth; The water-related risk level is determined based on the preset weight corresponding to each risk index, the first risk index, the second risk index, and the third risk index.

3. The method according to claim 2, characterized in that The method further comprises: Obtaining the current pitch angle and / or suspension height of the vehicle; Correcting the wading depth according to the pitch angle and / or suspension height to obtain a corrected wading depth; Accordingly, obtaining a third risk index according to the wading depth includes: The third risk index is obtained according to the corrected wading depth.

4. The method according to any one of claims 1 to 3, characterized in that The wading detection sensor is an ultrasonic ranging sensor, and obtaining the wading depth by using the wading detection sensor includes: Correcting the transmission speed of the ultrasonic wave according to the temperature and humidity to obtain a corrected transmission speed; The wading depth is calculated based on 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 comprises: Calculating a suspension safety height according to a suspension safety depth, a safety margin, and a current suspension lift of the vehicle; Accordingly, obtaining the third risk index according to the corrected wading depth includes: The third risk index is obtained 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 of the water-related risk level based on the preset weight corresponding to each risk index, the first risk index, the second risk index, and the third risk index includes: Based on the preset weight corresponding to each risk index, performing a weighted summation on the first risk index, the second risk index, and the third risk index to obtain an overall risk index; Determining the water-related risk level based on the overall risk index and the preset risk index ranges corresponding to different risk levels; Among them, the risk index corresponding to the first risk level is smaller than the risk index corresponding to the second risk level, and the risk index corresponding to the second risk level is smaller than the index corresponding to the third risk level.

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

8. The method according to claim 7, characterized in that Determining whether to enter the wading mode according to the state of the vehicle's rearview mirror, 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 a preset speed, and the driving road slope is less than a preset slope, it is determined to enter the wading mode.

9. The method according to claim 7, characterized in that Determining whether to exit the wading mode according to a rearview mirror status, a driving speed, and a driving road slope of the vehicle includes: If the rearview mirror of the vehicle is in a folded state, or the driving speed is greater than a preset speed and continues for a preset time, the control is to exit the wading mode.

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

11. A vehicle control device based on a wading detection function, characterized in that: A domain controller applied to a vehicle, the domain controller being electrically connected to a water wading detection sensor and an actuator, the actuator including at least one of a suspension controller, a range extender, a vehicle computer, and an air conditioner; the domain controller including a pulse modulation (PWM) interface, the domain controller being connected to the water wading detection sensor via the PWM interface, including: a data detection module, configured to control the wading detection sensor to operate through the PWM interface after the vehicle enters the wading mode, so as to obtain the wading depth, the temperature and humidity of the vehicle's environment, and the vehicle's driving speed; a data processing module, configured to determine a water wading risk level of the vehicle based on the temperature and humidity, the driving speed, and the wading depth, wherein the water wading risk level is used to indicate a current water wading safety level of the vehicle, and the water wading risk level includes a first risk level, a second risk level, or a third risk level; A vehicle control module is used to control at least one actuator in the vehicle according to the water risk level; wherein, The vehicle control module is specifically used to: If the water wading risk level is the first risk level, the water wading depth is pushed through the vehicle computer; If the wading risk level is the second risk level, the wading depth is pushed by the vehicle computer, and the suspension of the vehicle is controlled to rise by the suspension controller; If the water wading risk level is the third risk level, at least one of the following operations is performed: controlling the vehicle's suspension to be raised to the highest level, 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 service end.

12. A domain controller, characterized in that: include: A memory, a processor, and an interactive interface, wherein the interactive interface includes a PWM interface; The memory is used to store computer-executable instructions; The interactive interface is used to interact with various sensors or actuators of the vehicle; The processor executes the computer-executable instructions stored in the memory, so that the processor executes the vehicle control method based on the water wading detection function as described in any one of claims 1 to 10.

13. A water-wading detection system, characterized in that: include: A domain controller, at least one actuator and a water wading detection sensor electrically connected to the domain controller; the domain controller is electrically connected to the water wading detection sensor and at least one actuator, the domain controller includes a pulse modulation (PWM) interface, and the domain controller is connected to the water wading detection sensor via the PWM interface; Wherein, the domain controller is used to execute the vehicle control method based on the water wading detection function as described in any one of claims 1 to 10.

14. A vehicle, characterized in that: include: A vehicle body and the water wading detection system according to claim 13.

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