Vehicle wading control method and device, vehicle, equipment and medium

Abstract

The invention provides a vehicle wading control method and device, a vehicle, equipment and a storage medium. The vehicle is provided with a power assisting device; environment information of the vehicle is obtained, wherein the environment information comprises the fording depth and water area information of the position where the vehicle is located; under the condition that the fording depth is larger than a first preset threshold value, a control strategy for assisting the vehicle in driving away from the current position is generated according to the water area information of the vehicle; and controlling the power assisting device to work according to the control strategy. The power assisting device is installed on the vehicle, when it is judged that the wading depth of the vehicle is larger than the first preset threshold value, the control strategy is generated in combination with the water area information of the position where the vehicle is located, the vehicle is helped to better pass through the wading area through the auxiliary power provided by the power assisting device, and the trafficability of the vehicle passing through the wading area is improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a vehicle wading control method, device, vehicle, equipment and medium. Background Art

[0002] A vehicle's passability in various driving environments is an important criterion for measuring vehicle performance. When a vehicle encounters waterlogged areas, rivers, mountain torrents and other water sources, it must cross the water to enter a safe area under certain circumstances.

[0003] In the related art, when encountering a large water flow or a deep water area, it is difficult for a vehicle to drive normally in the water or the driving performance is poor. Summary of the Invention

[0004] Embodiments of the present invention provide a vehicle wading control method, device, vehicle, equipment and medium to solve the problem in the prior art that normal driving of a vehicle in water is difficult to achieve or the driving performance is poor.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle wading control method, wherein the vehicle is equipped with a power assist device, and the method includes:

[0006] Acquiring environmental information of the vehicle, the environmental information including wading depth and water area information of the vehicle;

[0007] When the wading depth is greater than a first preset threshold, generating a control strategy for assisting the vehicle to leave the current position according to the water area information of the vehicle;

[0008] The power assist device is controlled to operate according to the control strategy.

[0009] In a second aspect, an embodiment of the present invention provides a vehicle wading control device, wherein the vehicle is equipped with a power assist device, and the device includes:

[0010] An acquisition module is used to acquire environmental information of the vehicle, wherein the environmental information includes wading depth and water area information of the vehicle;

[0011] a strategy generating module, configured to generate a control strategy for assisting the vehicle in leaving the current position according to the water area information of the vehicle when the wading depth is greater than a first preset threshold;

[0012] A control module is used to control the operation of the power assist device according to the control strategy.

[0013] In a third aspect, an embodiment of the present invention provides a vehicle, comprising: a sensing module, a control unit, and a power assist device installed on the vehicle;

[0014] The perception module is used to obtain environmental information of the vehicle, wherein the environmental information includes wading depth and water area information of the vehicle;

[0015] The control unit is configured to generate a control strategy for assisting the vehicle in leaving the current position according to the water area information of the vehicle when the wading depth is greater than a first preset threshold;

[0016] The control unit is used to control the operation of the power assist device according to the control strategy.

[0017] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising: a processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0018] Memory for storing computer programs;

[0019] The processor is configured to implement the steps of the method described in the first aspect above when executing the program stored in the memory.

[0020] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect above.

[0021] Compared with the prior art, the present invention has the following advantages: In this application, a power-assisting device is installed at the bottom of the vehicle. The environmental information of the vehicle is obtained, and the environmental information includes the wading depth and the water area information of the vehicle's location; when the wading depth is greater than a first preset threshold, a control strategy for assisting the vehicle to leave the current location is generated based on the water area information of the vehicle; and the power-assisting device is controlled to operate according to the control strategy. This application installs a power-assisting device at the bottom of the vehicle. When it is determined that the wading depth of the vehicle is greater than a first preset threshold, a control strategy is generated based on the water area information of the vehicle's location. The auxiliary power provided by the power-assisting device helps the vehicle to better pass through the wading area, thereby improving the vehicle's passability through the wading area.

[0022] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for describing the embodiments.

[0024] Figure 1This is a diagram illustrating an implementation structure of a vehicle wading control method provided by an embodiment of the present invention;

[0025] Figure 2 A flowchart of a vehicle wading control method provided by an embodiment of the present invention;

[0026] Figure 3 This is a flowchart of another vehicle wading control method provided by an embodiment of the present invention;

[0027] Figure 4 is a structural diagram of the arrangement of the power assist device provided by an embodiment of the present invention at a first viewing angle;

[0028] Figure 5 is a diagram showing the arrangement of the power assist device at a second viewing angle provided by an embodiment of the present invention;

[0029] Figure 6 is a schematic diagram of the nozzle orientation of the power assist device at a second viewing angle provided by an embodiment of the present invention;

[0030] Figure 7 This is another schematic diagram of the arrangement of a power assist device provided by an embodiment of the present invention;

[0031] Figure 8 This is a top view of the installation of a power assist device provided by an embodiment of the present invention;

[0032] Figure 9 This is a structural diagram of the arrangement of a third power-assisting device provided by an embodiment of the present invention;

[0033] Figure 10 is a structural diagram of the fourth power-assisting device provided by an embodiment of the present invention;

[0034] Figure 11 This is a block diagram of a vehicle wading control device provided by an embodiment of the present invention;

[0035] Figure 12 is a block diagram of an electronic device provided by an embodiment of the present invention.

[0036] Reference numerals:

[0037] 11-universal joint; 12-drive shaft; 13-power assist device; 14-first connecting rod; 15-cylinder; 16-wheel; 17-wheel seat; 18-bogie; 19-suspension; 20-push rod; 21-rocker arm; 22-second connecting rod; 23-third connecting rod; 24-first motor; 25-second motor; 26-fifth connecting rod; 27-sixth connecting rod; 28-clutch; 29-first friction wheel; 30-second friction wheel; 31-third motor; 32-fourth connecting rod. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0039] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, the term "and / or" in the specification and claims is used to describe the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0040] Figure 1 This is an implementation diagram of a vehicle wading control method provided by an embodiment of the present invention. The method of this application can be used for Figure 1The power-assisted system for the vehicle to quickly escape from water includes: a water wading detection unit, a status display unit and a power control unit, wherein the water wading detection unit includes: a water depth detection unit, a 360-degree camera, a terrain analysis unit and a vehicle body posture detection unit. The water depth detection unit is installed in the front of the vehicle to detect the depth of wading, possible obstacles, etc. The water depth detection unit can be a sensor for detecting water depth. The 360-degree camera is installed in the front and rear of the vehicle and in the rearview mirrors on both sides of the vehicle, and can be used to collect environmental information in front and behind the vehicle. The terrain analysis unit is installed in the front of the vehicle to collect underwater terrain information and model the terrain, and provide it to the central processing unit for terrain analysis to plan the optimal route, and display the model and the optimal route on the central control screen for the driver to make the best judgment. The vehicle body posture detection unit is used to calculate the power direction and intensity required to adjust the vehicle body posture according to the current posture information of the vehicle body, combined with the optimal path and the driver's control signal, and adaptively adjust the vehicle body posture. The status display unit includes a central control display screen and other display devices used for display in the vehicle. It can display the environmental image of the current vehicle environment or the modeled image of the water area and the vehicle's driving route to assist the driver in making operational decisions. The power control system includes: direction adjustment, power intensity adjustment and signal analysis and processing units, which can adjust the power assist direction and power intensity of the power assist device, and can also collect accelerator pedal signals and steering wheel signals to adjust the power assist direction and power of the power assist device. The specific method of this application is as follows.

[0041] Figure 2 A vehicle wading control method provided by an embodiment of the present invention, wherein a power assist device is installed on the bottom of the vehicle, comprises steps 101 to 103:

[0042] Step 101: Acquire environmental information of the vehicle, where the environmental information includes wading depth and water area information where the vehicle is located.

[0043] In embodiments of the present invention, urban tunnels, low-lying roads, and off-road driving often involve flooded areas due to natural environmental factors such as terrain or heavy rainfall. When drivers are unable to accurately assess water conditions, vehicles can often flood, break down, and even threaten the safety of the driver and passengers. Therefore, this application utilizes sensors and cameras installed on the vehicle to collect environmental information about the vehicle, using this information to determine the vehicle's current location and the water-related conditions, thereby helping the vehicle to exit the flooded area more quickly.

[0044] Specifically, environmental information can include wading depth and the area of the vehicle's location. Wading depth can be obtained using devices such as depth sensors installed on the vehicle. Water area information can characterize the location, surface area, and underwater topography of the water area, and can be determined through intelligent analysis of images captured by cameras located at the vehicle's location. The current wading depth and water area information can be used to assess the vehicle's optimal driving path and provide it to the driver for decision-making assistance.

[0045] Step 102: When the wading depth is greater than a first preset threshold, a control strategy is generated according to the water area information of the vehicle to assist the vehicle in leaving the current position.

[0046] In an embodiment of the present invention, the first preset threshold may be a value used to determine whether the vehicle's engine may be flooded. If the wading depth exceeds the first preset threshold, it indicates that the vehicle's engine may be flooded. In this case, a control strategy can be generated based on the water area information of the vehicle's location to assist the vehicle in leaving the current location. The control strategy may include: vehicle route recommendations and power assist device control strategies.

[0047] Furthermore, the power-assisting device can be installed under the vehicle, for example, on the suspension, wheel support, etc., and can be connected to the vehicle's control unit to operate based on the control of the control unit. The power-assisting device can be a device such as a water jet that generates reverse thrust by spraying water, and can be composed of a water pump, a pipe, a suction port, and a nozzle. The working principle is to use the reaction force generated by the jet of water to drive the vehicle forward. Specifically, water is sucked in from the bottom of the vehicle by a water pump, passed through a pipe, and then discharged from the nozzle. The reaction force of the water is used to propel the vehicle, and the vehicle's posture can also be assisted by changing the direction of the water jet. The control strategy can include a control strategy for the power-assisting device, which provides the vehicle with an auxiliary power by controlling the power-assisting direction of the power-assisting device to help the vehicle leave its current position.

[0048] Optionally, step 102 includes:

[0049] Sub-step 1021 : generating a first control strategy when the water area information at the vehicle's location does not meet a preset condition.

[0050] In an embodiment of the present invention, the preset conditions may be preset safe passage conditions such as water depth and water accumulation area, used to determine whether a vehicle can safely pass through a wading area. If the water area information at the vehicle's location does not meet the preset conditions, the generated first control strategy may be a strategy for reversing to exit the current location, including a control strategy for the power assist device during reversing.

[0051] Optionally, step 102 includes:

[0052] Sub-step 1022: generating a second control strategy when the water area information at the vehicle's location meets a preset condition or in response to an operation instruction to continue moving forward.

[0053] In an embodiment of the present invention, when the water area information at the vehicle's location meets the preset conditions or the driver chooses to continue moving forward, the second control strategy generated may be a strategy of continuing to move forward along the route while controlling the power assist device to provide auxiliary assistance for moving forward, which may also include controlling the output power of the power assist device to better assist the vehicle in leaving.

[0054] Step 103: Control the power assist device to operate according to the control strategy.

[0055] Optionally, step 103 includes:

[0056] Sub-step 1031 , according to the first control strategy, controls the vehicle to perform a reverse action, and at the same time adjusts the power assisting direction of the power assisting device to be consistent with the reverse direction, so as to provide auxiliary power for the vehicle to move backward.

[0057] In an embodiment of the present invention, if it is determined based on the water area information that the water area information behind the current vehicle is better than the water area information in front, then the control strategy may be to suggest that the vehicle back up to leave the current water area. At this time, the vehicle performs a reversing action, and the power assist device should adjust the power assist direction to be consistent with the reversing direction. For the power assist device being a water jet propulsion device, the water spraying direction of the water jet propulsion device should be controlled to be in front of the vehicle to generate backward thrust, assist the vehicle in backing up, and drive away quickly.

[0058] Optionally, step 103 includes:

[0059] Sub-step 1032, according to the second control strategy, controls the vehicle to execute a forward motion, and at the same time adjusts the assisting direction of the assisting device to be consistent with the forward direction, so as to provide auxiliary power for the vehicle to move forward.

[0060] If it is judged based on the water area information that the water area information in front of the current vehicle is better than the water area information behind the vehicle, then the control strategy can be to suggest the vehicle to continue moving forward to leave the current water area. At this time, the vehicle performs a forward action, and the power assist device should adjust the power assist direction to be consistent with the forward direction. If the power assist device is a water jet propulsion device, the water spraying direction of the water jet propulsion device should be controlled to be behind the vehicle to generate forward thrust, assist the vehicle to move forward, and quickly drive away.

[0061] Optionally, when the wading depth is greater than a first preset threshold, the method further includes:

[0062] Step 104, obtaining the vehicle body posture deflection angle;

[0063] Step 105, when the vehicle body posture deflection angle is greater than a preset angle, determining a vehicle body posture adjustment strategy according to the vehicle body posture deflection angle, the current driving route, and the current driving state of the vehicle;

[0064] Step 106 : adjusting the output power and assist direction of the assist device according to the vehicle body posture adjustment strategy to adjust the vehicle body posture.

[0065] In an embodiment of the present invention, for steps 101 to 106, when the wading depth is greater than the first preset threshold, it indicates that the water depth at the current location of the vehicle is deep, the vehicle is in a floating state, and the vehicle body may be deflected due to different water flow gradients or turbulence, turbulence, etc. At this time, the current posture state of the vehicle can be detected by the posture detection unit of the vehicle. The posture of the vehicle can be reflected by the body posture deflection angle of the vehicle. When the body posture deflection angle is greater than the preset angle, it indicates that the current body posture deviates greatly from the normal state, which may affect the normal control of the vehicle and increase the difficulty of the vehicle leaving the current position. Therefore, when the body posture deflection angle is greater than the preset angle, the body posture adjustment strategy can be determined according to the body posture deflection angle, the current driving route and the current driving state of the vehicle.

[0066] Specifically, the driving state can represent the driver's current vehicle control signals. Based on the current vehicle posture deflection angle, the current driving route, and the current driving state, the vehicle posture adjustment strategy to be implemented to restore the vehicle posture deflection angle to a normal state can be calculated. The vehicle posture adjustment strategy may include the position of the power assist nozzle, the power assist output, and the driver's control suggestions.

[0067] According to the determined vehicle posture adjustment strategy, the nozzle position, output power, etc. of the power assist device can be adjusted to achieve adaptive adjustment of the vehicle posture, increase the vehicle's stability and controllability, and driving comfort.

[0068] Optionally, the method further includes:

[0069] Step 107, obtaining a start signal generated by the vehicle accelerator pedal;

[0070] Step 108: Control the output power of the power assist device according to the start signal.

[0071] In an embodiment of the present invention, the start signal may be a signal generated by an accelerator pedal. For steps 107 and 108, the accelerator pedal may be used to control the output power of the power assist device. During the operation of the power assist device, the start signal may be collected in real time, and the output power of the power assist device may be controlled based on the start signal. When the start signal changes, the output power of the power assist device changes, and the floating forward speed changes. For example, stepping on the accelerator pedal increases the output power of the power assist device, and releasing the accelerator pedal reduces the output power of the power assist device.

[0072] Optionally, after step 101, the method further includes:

[0073] Step 109: generating an environmental model and an optimal driving route based on the environmental information;

[0074] Step 110: Display the environment model and the optimal driving route on a user interface.

[0075] In an embodiment of the present invention, for step 109 and step 110, the environmental information also includes: underwater terrain information and water area information, wherein the water area information includes: water accumulation area and water accumulation area. The camera, water depth detection unit, terrain analysis unit, etc. installed on the vehicle body can collect and model the environmental information of the vehicle. Specifically, the water accumulation in front of the road can be detected according to the water depth detection unit and the 360-degree panoramic camera. The camera can determine the water accumulation area and water accumulation area. The water depth detection unit can determine the depth of water accumulation and possible obstacles in real time. The terrain analysis unit can collect underwater terrain information and, in combination with information such as water depth and water accumulation area, perform three-dimensional modeling of the road environment in front of or behind the vehicle, and provide the modeled model to the central processing unit. The central processing unit can plan the optimal route based on the water area information in front of or behind the vehicle and the underwater terrain information, and display the model and the optimal route on the user interface, such as the central control screen, for the driver to make the best judgment.

[0076] Optionally, when the wading depth is greater than a first preset threshold, the method further includes:

[0077] Step 111, control the engine to shut down and control the vehicle to enter pure electric mode.

[0078] In an embodiment of the present invention, when the wading depth is greater than a first preset threshold, it indicates that there is a risk of water entering the engine at the current water depth. Therefore, in order to ensure the safety of the engine, the engine can be controlled to be shut down to close the various air passages of the transmitter, and at the same time, the vehicle can be controlled to enter pure electric mode, with the power battery driving the wheels and controlling the power assist device to ensure vehicle safety.

[0079] Optionally, after step 101, the method further includes:

[0080] Step 112 , if the wading depth is greater than the second preset threshold and less than the first preset threshold, controlling a designated component of the vehicle to execute a water leakage prevention strategy;

[0081] Step 113: If the wading depth is less than a second preset threshold, control the vehicle to travel normally.

[0082] In an embodiment of the present invention, the designated components include: a vehicle door, an air conditioning drainage pipe, and an engine; and the water leakage prevention strategy includes: increasing the door air pressure, closing the air conditioning drainage pipe control valve, and shutting down the engine.

[0083] In an embodiment of the present invention, different driving modes can be set for different vehicle wading depths. For example, a first preset threshold can be set to the water depth that may cause water ingress into the engine, and a second preset threshold can be set to the water depth that may cause water ingress into the vehicle. If the wading depth is less than the second preset threshold, it is determined to be normal wading and the vehicle can be driven normally. If the wading depth is greater than the second preset threshold but less than the first preset threshold, it indicates that the current wading depth may cause water ingress into the vehicle. In this case, designated components of the vehicle are controlled to implement water leakage prevention strategies, such as sealing and pressurization. For example, the door air pressure can be increased to improve the door's sealing. The engine can be shut down according to actual conditions to prevent water from entering the air duct. For the air conditioning drain line, the control valve connected to it can be controlled to close to prevent water from entering the line, and other measures are taken to ensure the safety of various vehicle components. If the wading depth is greater than the first preset threshold, indicating that there is a risk of water ingress to the engine, the vehicle enters floating mode, and the power assist device is activated to provide auxiliary power to the vehicle. At this time, the engine air ducts can be sealed, the engine is shut down, and the vehicle enters pure electric mode, with the power battery driving the wheels and auxiliary power system. At the same time, the terrain analysis unit provides the terrain status of the water areas in front and behind the vehicle. If the water conditions in front are poor, a retreat plan will be provided for the driver to choose. At this time, the power assist device works at full power, and the reverse thrust generated by the water spray device assists the vehicle to reverse and return to the safe area. During the process of the power assist device being turned on, the vehicle's wading depth is judged in real time to determine whether the wading depth has decreased, and then the vehicle is controlled to adjust to different driving modes.

[0084] refer to Figure 3 , Figure 3 Another vehicle wading control method provided by an embodiment of the present application is shown.

[0085] include:

[0086] S1. The 360° camera monitors the environmental status in real time, transmits the data to the data processor for analysis, and displays the analysis results on the central control screen to obtain environmental status information.

[0087] S2, the signal processing unit, preliminarily determines whether there is a wading area ahead based on the 360° camera image data. If there is a wading area, it enters S3, otherwise it enters S1.

[0088] S3. When there is a wading area, the water depth sensor is awakened and the signal processing unit integrates the information of the camera and the water depth sensor to detect the wading area, depth, etc.

[0089] S4. When the water depth does not exceed threshold 1 (the depth that may cause water to enter the vehicle), enter S5; otherwise, enter S6.

[0090] S5, wading mode 1: The vehicle drives normally and monitors the wading depth in real time. When the water depth changes, it enters different modes according to the conditions.

[0091] S6. Continue to determine whether the water depth exceeds threshold 2 (the depth that may cause water to enter the engine). If so, proceed to S8; otherwise, proceed to S7.

[0092] S7, wading mode 2, the central control screen prompts the driver to slow down appropriately, pressurizes the sealing module to prevent water from entering the car, and monitors the vehicle's wading depth in real time. When the water depth changes, it enters different modes according to the conditions.

[0093] S8. Entering the floating mode, the vehicle seals all engines and air conditioning intake and exhaust channels, shuts down the engine, and enters the pure electric mode.

[0094] S9: The power assist device starts and enters the ready state.

[0095] S10: The terrain monitoring module starts, analyzes the terrain data in front of and behind the vehicle, and displays it on the central control screen.

[0096] S11: Analyze the front and rear environmental conditions based on terrain data, determine the optimal driving route, and display it on the central control screen. If the rear environment is favorable, proceed to S12; otherwise, proceed to S13.

[0097] S12. The central control screen reminds the driver whether to perform emergency rollback, and the driver makes the judgment. If it is detected that the driver enters R gear (reverse gear), the process enters S22, otherwise it enters S13.

[0098] S13, path planning, planning the optimal driving path based on the data obtained by the terrain analysis module and the image data of the camera.

[0099] S14. The vehicle body posture is monitored during driving, and the vehicle body posture sensor monitors the current vehicle body state.

[0100] S15. When it is detected that the vehicle body posture deflection angle is greater than the preset angle, enter S16; otherwise, enter S17.

[0101] S16, assisting in vehicle body posture correction, reading the vehicle body posture deflection angle, sending it to the analysis module for analysis, and inferring the thrust intensity signal and direction signal required by each power assist device, adjusting the nozzle direction and flow rate of the assist device, and correcting the vehicle body posture.

[0102] S17: When driving in a quiet state, the posture assistance function is not activated.

[0103] S18. When the accelerator pedal signal changes, the thrust generated by the power assist device changes, and the floating forward speed changes.

[0104] S19. When the steering wheel signal changes, the direction of the nozzle of the power assist device changes to assist the vehicle in steering.

[0105] S20: During the driving process, determine whether the vehicle is still in the deep water area. If so, proceed to S21; otherwise, proceed to S15.

[0106] S21: The power assist device is turned off, and the nozzle position and posture are reset. The wading depth is monitored in real time to enter different wading modes according to the environment.

[0107] S22. When the vehicle enters a shallow water area, the driver is informed of the current wading status based on the water depth.

[0108] S23: The power assist device enters the maximum power state, pushing the vehicle back to the shallow water area.

[0109] In summary, in this application, a power-assisting device is installed on the vehicle. The environmental information of the vehicle is obtained, and the environmental information includes the wading depth and the water area information of the vehicle's location; when the wading depth is greater than a first preset threshold, a control strategy for assisting the vehicle to leave the current location is generated based on the water area information of the vehicle; and the power-assisting device is controlled to operate according to the control strategy. This application installs a power-assisting device at the bottom of the vehicle. When it is determined that the wading depth of the vehicle is greater than a first preset threshold, a control strategy is generated in combination with the water area information of the vehicle's location. The auxiliary power provided by the power-assisting device helps the vehicle to better pass through the wading area, thereby improving the vehicle's passability through the wading area.

[0110] refer to Figure 4 A vehicle provided in an embodiment of the present application includes: a perception module, a control unit and a power assist device installed on the vehicle; the perception module is used to obtain environmental information of the vehicle, and the environmental information includes wading depth and water area information of the vehicle; the control unit is used to generate a control strategy for assisting the vehicle to leave the current position according to the water area information of the vehicle when the wading depth is greater than a first preset threshold; the control unit is used to control the operation of the power assist device according to the control strategy.

[0111] In the embodiment of the present invention, the perception module is a sensor and is used to obtain environmental information and vehicle posture information.

[0112] In an embodiment of the present invention, the control unit is a control system coupled to the steering wheel and accelerator pedal, which controls the direction and magnitude of power output in combination with the information input by the perception module and the driver's input.

[0113] In the embodiment of the present invention, the control unit may be a central processing unit, which is used to analyze the data collected by various sensors and cameras installed on the vehicle body, and at the same time, to control the vehicle driving and power assist device.

[0114] In an embodiment of the present invention, the power assist device is a set of mechanical bodies that executes instructions from the control unit.

[0115] Optionally, it further includes: a transmission device installed on the vehicle; the power assist device is connected to the transmission device, and the transmission device is used to provide transmission force to change the power assist direction of the power assist device.

[0116] In an embodiment of the present invention, the power assist device is a device for generating reverse thrust based on water spraying to assist in providing auxiliary power to the vehicle. The transmission device is a device for changing the posture of the power assist device to adjust the direction of the nozzle of the power assist device. The transmission device is connected to the power assist device. Under the action of the transmission device, the power assist device adjusts the direction of the nozzle to adapt to the provision of auxiliary power in various driving scenarios.

[0117] Optionally, refer to Figure 4 , also includes: a universal joint 11, a drive shaft 12, a wheel support 17, a wheel 16 and a bogie 18; the universal joint 11 connects the drive shaft 12 and the wheel 16, and is used to transmit wheel power and realize wheel steering; the two ends of the bogie 18 are respectively connected to the wheel supports 17 corresponding to the two wheels 16, and the wheel supports 17 are used to rotate under the drive of the bogie to realize vehicle steering; the transmission device and the power-assisting device 13 are arranged on the bogie 18 or the wheel support 17, and are used to make the power-assisting device 13 and the wheel steer synchronously under the drive of the bogie 18.

[0118] In the embodiment of the present invention, reference Figure 4 , Figure 4The diagram shows the layout of the power assist device from a first perspective. A universal joint 11 connects a drive shaft 12 and a wheel 16. The drive shaft is used to transmit power to the wheel, causing it to move forward or backward. The universal joint is used to achieve wheel steering. The ends of a bogie 18 are connected to the wheel supports 17 corresponding to each of the two wheels 16. The bogie 18 transmits steering wheel movement under steering wheel operation, controlling the synchronous steering of both wheels through the wheel supports 17. The wheel supports 17 are supported by suspension 19 and are located on the inner rim of the tire to support and drive the tire. The power assist device 13 can be located at the bogie 18 or wheel support 17, and is used to synchronize steering with the wheel under the bogie's drive. For example, if the wheel turns right, the power assist device's nozzle direction also turns right, ensuring that the power assist device provides maximum auxiliary power for vehicle driving.

[0119] Optionally, refer to Figure 4 、 Figure 5 , Figure 5 The layout structure diagram of the power assist device from a second perspective is shown, and the transmission device includes: a first cylinder 15, a push rod 20, a rocker arm 21 and a first connecting rod 14; one end of the push rod 20 is telescopically connected to the first cylinder 15, and the other end of the push rod 20 is connected to one end of the first connecting rod 14, and the other end of the first connecting rod 14 is connected to the rocker arm 21, and one end of the rocker arm 21 is connected to the wheel support 17, the power assist device 13 is fixedly connected to the rocker arm 21, and the first cylinder 15 is fixedly arranged on the wheel support 17; when the push rod 20 moves in the first cylinder 15, it drives the first connecting rod 14 to give thrust to the rocker arm 21, so that the power assist device performs a rotational motion driven by the rocker arm 21.

[0120] In the embodiment of the present invention, reference Figure 4 、 Figure 5 The transmission device can be a four-link structure, wherein the push rod 20 is telescopically connected to the cylinder 15 to transmit the thrust generated by the cylinder. The cylinder 15 can be fixedly mounted on the wheel support 17. When the push rod 20 moves forward in the cylinder 15 (extending the cylinder), the first link 14 pushes the rocker arm 21 to rotate under the push of the push rod 20. The rocker arm 21 is connected to the power assist device 13, wherein one end of the rocker arm 21 is fixedly mounted on the bogie 18, so that under the action of the first link 14, the rocker arm 21 can perform a rotational motion around a fixed fulcrum, while driving the power assist device to perform a rotational motion, that is, driving the nozzle direction of the power assist device 13 to move within a circumferential range. That is, in this application, the power assist device 13 can rotate within a certain range around the Z axis under the drive of the bogie 18, and can be flipped forward and backward under the drive of the transmission device. That is, the nozzle direction of the power assist device can move left and right following the steering of the vehicle, and can also be flipped forward and backward under the action of the transmission device, so that the power assist device can flexibly adapt to various driving conditions of the vehicle. Figure 6 , Figure 6 The schematic diagram of the nozzle direction of the power assist device provided by the embodiment of the present application at the second viewing angle is shown. Figure 5 , the assisting device 13 is driven by the transmission device to adjust the nozzle direction to Figure 5 In the opposite direction of the power assist device.

[0121] Optionally, refer to Figure 7 , Figure 8 , Figure 7 It shows another layout structure diagram of the power assist device of the present application. Figure 8 A bottom view of the installation of a power assist device provided in the present application is shown, and the transmission device includes: a first motor 24, a second motor 25, a second connecting rod 22 and a third connecting rod 23; the first motor 24 is fixedly arranged on the vehicle suspension 19, the first motor 24 and the second motor 25 are connected through the second connecting rod 22, and the second motor 25 and the power assist device 13 are connected through the third connecting rod 23; there is a preset angle between the second connecting rod 22 and the third connecting rod 23, the first motor 24 is used to drive the power assist device 13 to rotate in a first direction through the second connecting rod 22 and the third connecting rod 23, and the second motor 25 is used to drive the power assist device 13 to rotate in a second direction through the second connecting rod 23.

[0122] In the embodiment of the present invention, since the rear wheel may not have a steering mechanism such as a bogie, the power assist device of the rear wheel can be arranged by cooperating with two motors and a connecting rod to achieve the front and rear and left and right nozzle direction adjustment of the power assist device. Figure 7 The wheel support 17 is connected to the suspension 19 through the fifth link and the sixth link. The fifth link 26 and the sixth link 27 are used to provide a certain jumping range for the wheel. The transmission device can be fixedly arranged on the suspension 19, wherein the first motor 24 is fixedly arranged on the suspension, the first motor 24 and the second motor 25 are connected through the second link 22, and the second motor 25 and the power assist device 13 are connected through the second link 23. When the first motor 24 can provide auxiliary power and rotate around the Z axis, when the first motor 24 rotates, the second motor 25 rotates under the drive of the second link 22. At this time, the power assist device 13 is rotated under the synchronous drive of the third link 23, that is, the nozzle angle adjustment in the ZY plane is realized. When the second motor 25 rotates, it provides auxiliary power for rotation around the Y axis. At this time, the power assist device 13 is rotated around the Y axis under the drive of the third link 23, that is, front and back flipping is realized. This application also realizes the adjustment of the nozzle position of the power assist device in all angles and directions of the front, rear, left, and right directions through the cooperation of two motors and connecting rods for rear wheel power assistance without a steering rack, adapting to various driving conditions of the vehicle. Figure 8For the front wheels, the nozzle direction of the power assist device can be adjusted by a four-link structure, and for the rear wheels, the nozzle direction of the power assist device can be adjusted by the cooperation of two motors and connecting rods. That is, if the wheels are equipped with a bogie, the direction of the nozzle can be adjusted by Figure 8 The connecting rod structure shown in the middle front wheel realizes the control of the power assist device. If there is no bogie between the wheels, the Figure 8 The motor structure shown in the middle and rear wheels can adjust the nozzle direction of the power assist device. In addition, the connecting rod structure in the front wheel can also be used. Figure 9 or Figure 10 That is, the present application can be adapted for use in various vehicle types to achieve assisted escape from wading areas.

[0123] Optionally, refer to Figure 9 , Figure 9 The layout structure diagram of the third power-assisting device of the present application is shown, which also includes: a transmission shaft 12; the transmission device includes: a first friction wheel 29 and a second friction wheel 30; the power-assisting device 13 is arranged on the vehicle's bogie 18; the first friction wheel 29 is arranged on the transmission shaft 12, and is used to rotate with the transmission shaft 12; the power-assisting device 13 is connected to the second friction wheel 30 through a clutch 28; the wheel surface of the first friction wheel 29 is in contact with the wheel surface of the second friction wheel 30, and is used to transmit the rotational power to the second friction wheel 30, driving the power-assisting device 13 to rotate, and the clutch 28 is used to cut off the power transmission between the power-assisting device 13 and the second friction wheel 29.

[0124] In an embodiment of the present invention, Figure 5 、 Figure 6 The four-link transmission shown can be replaced by Figure 9 The first friction wheel 29 and the second friction wheel 30 cooperate in this way, wherein the first friction wheel 29 rotates under the drive shaft, and transmits power to the second friction wheel 30 through friction force. The rotation of the second friction wheel drives the power assist device 13 to achieve forward and backward flipping. The clutch can cut off the power transmission between the power assist device and the second friction wheel 29 after the power assist device is adjusted to a suitable angle. Since the power assist device 13 is set on the bogie, Figure 9 The design has also realized the nozzle position adjustment of each angle of front, back, left, and right of the power-assisting device 13. In addition, the friction wheel can be replaced by a gear.

[0125] Optionally, refer to Figure 10 , Figure 10 The layout structure diagram of the fourth power-assisting device of the present application is shown, and the transmission device includes: a third motor 31; the third motor 13 is arranged on the wheel support 17, and the third motor 13 is connected to the power-assisting device through a fourth connecting rod 32, which is used to drive the power-assisting device to rotate.

[0126] In an embodiment of the present invention, Figure 5 、 Figure 6 The four-link transmission shown can be replaced by Figure 10 In the driving mode of the third motor 31, the third motor 31 drives the fourth connecting rod 32 to directly realize the front and rear flipping of the power assist device 13. Figure 10 The design also enables the nozzle position adjustment of the power assist device 13 at various angles, front, back, left, and right.

[0127] In summary, in this application, a power-assisting device is installed at the bottom of the vehicle. The environmental information of the vehicle is obtained, and the environmental information includes the wading depth and the water area information of the vehicle's location; when the wading depth is greater than a first preset threshold, a control strategy for assisting the vehicle to leave the current location is generated based on the water area information of the vehicle; and the power-assisting device is controlled to operate according to the control strategy. This application installs a power-assisting device at the bottom of the vehicle. When it is determined that the wading depth of the vehicle is greater than a first preset threshold, a control strategy is generated based on the water area information of the vehicle's location. The auxiliary power provided by the power-assisting device helps the vehicle to better pass through the wading area, thereby improving the vehicle's passability through the wading area.

[0128] Figure 11 FIG2 is a schematic diagram of a vehicle wading control device 20 provided by an embodiment of the present invention. A power assist device is installed at the bottom of the vehicle, and the device includes:

[0129] An acquisition module 201 is configured to acquire environmental information of the vehicle, the environmental information including wading depth and water area information of the vehicle;

[0130] A strategy generating module 202 is configured to generate a control strategy for assisting the vehicle in leaving the current position according to the water area information of the vehicle when the wading depth is greater than a first preset threshold;

[0131] The control module 203 is used to control the operation of the power assist device according to the control strategy.

[0132] Optionally, the strategy generation module includes:

[0133] A first generating submodule is used to generate a first control strategy when the water area information at the vehicle location does not meet the preset conditions;

[0134] The control module includes:

[0135] The first control submodule controls the vehicle to perform a reverse action according to the first control strategy, and adjusts the power assist direction of the power assist device to be consistent with the reverse direction to provide auxiliary power for the vehicle to move backward.

[0136] Optionally, the strategy generation module includes:

[0137] A second generating submodule is configured to generate a second control strategy when the water area information at the vehicle's location meets a preset condition or in response to an operation instruction to continue moving forward;

[0138] The control module includes:

[0139] The second control submodule is used to control the vehicle to execute a forward action according to the second control strategy, and at the same time adjust the power assisting direction of the power assisting device to be consistent with the forward direction, so as to provide auxiliary power for the vehicle to move forward.

[0140] Optionally, when the wading depth is greater than a first preset threshold, the device further includes:

[0141] The posture acquisition module is used to obtain the vehicle's body posture deflection angle;

[0142] A posture judgment module is used to determine a body posture adjustment strategy according to the body posture deflection angle, the current driving route and the current driving state of the vehicle when the body posture deflection angle is greater than a preset angle;

[0143] The posture adjustment module is used to adjust the output power and the power-assisting direction of the power-assisting device according to the vehicle body posture adjustment strategy to adjust the vehicle body posture.

[0144] Optionally, the device further comprises:

[0145] A signal acquisition module, used to acquire a start signal generated by a vehicle accelerator pedal;

[0146] A power adjustment module is used to control the output power of the power assist device according to the start signal.

[0147] Optionally, after obtaining the environmental status information of the vehicle's location, the device further includes:

[0148] A modeling module, configured to generate an environmental model and an optimal driving route based on the environmental information;

[0149] A display module is used to display the environment model and the optimal driving route on a user interface.

[0150] Optionally, when the wading depth is greater than a first preset threshold, the device further includes:

[0151] The vehicle mode control module is used to control the engine shutdown and control the vehicle to enter pure electric mode.

[0152] Optionally, after obtaining the environmental status information of the vehicle's location, the device further includes:

[0153] a first mode adjustment module, configured to control a designated component of the vehicle to execute a water leakage prevention strategy if the wading depth is greater than a second preset threshold and less than a first preset threshold;

[0154] The second mode adjustment module is configured to control the vehicle to travel normally if the wading depth is less than a second preset threshold.

[0155] In summary, in this application, a power-assisting device is installed at the bottom of the vehicle. The environmental information of the vehicle is obtained, and the environmental information includes the wading depth and the water area information of the vehicle's location; when the wading depth is greater than a first preset threshold, a control strategy for assisting the vehicle to leave the current location is generated based on the water area information of the vehicle; and the power-assisting device is controlled to operate according to the control strategy. This application installs a power-assisting device at the bottom of the vehicle. When it is determined that the wading depth of the vehicle is greater than a first preset threshold, a control strategy is generated based on the water area information of the vehicle's location. The auxiliary power provided by the power-assisting device helps the vehicle to better pass through the wading area, thereby improving the vehicle's passability through the wading area.

[0156] As for the above-mentioned device embodiment, since it is basically similar to the tire looseness threshold self-learning method embodiment, the relevant parts can be referred to the partial description of the method embodiment.

[0157] The embodiment of the present invention further provides an electronic device, such as Figure 12 As shown, it includes a processor 801 , a communication interface 802 , a memory 803 and a communication bus 804 , wherein the processor 801 , the communication interface 802 and the memory 803 communicate with each other via the communication bus 804 .

[0158] The memory 803 is used to store computer programs.

[0159] When the processor 801 is used to execute the program stored in the memory 803, it implements the following steps:

[0160] Acquiring environmental information of the vehicle, the environmental information including wading depth and water area information of the vehicle;

[0161] When the wading depth is greater than a first preset threshold, generating a control strategy for assisting the vehicle to leave the current position according to the water area information of the vehicle;

[0162] The power assist device is controlled to operate according to the control strategy.

[0163] Among them, the processor 801 can also implement other steps in the above-mentioned vehicle wading control method, which will not be repeated here.

[0164] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0165] The communication interface is used for communication between the above electronic device and other devices.

[0166] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0167] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0168] In another embodiment provided by the present invention, a computer-readable storage medium is also provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the vehicle wading control method described in the above embodiment.

[0169] In another embodiment of the present invention, a computer program product including instructions is provided. When the computer program product is run on a computer, the computer is enabled to execute the vehicle wading control method described in the above embodiment.

[0170] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0171] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0172] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. The embodiments of the apparatus, electronic device, computer-readable storage medium, and computer program product containing instructions thereof are generally similar to the method embodiments, so their description is relatively simple. For related portions, reference can be made to the description of the method embodiments.

[0173] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the scope of protection of the present invention.

Claims

1. A vehicle wading control method, characterized in that: The vehicle is equipped with a power-assisting device, and the method includes: Acquiring environmental information of the vehicle, the environmental information including wading depth and water area information of the vehicle; When the wading depth is greater than a first preset threshold, generating a control strategy for assisting the vehicle to leave the current position according to the water area information of the vehicle; The power assist device is controlled to operate according to the control strategy.

2. The method according to claim 1, characterized in that The generating of a control strategy for assisting the vehicle to leave the current position according to the water area information of the vehicle includes: When the water area information at the vehicle location does not meet the preset conditions, generating a first control strategy; The controlling the operation of the power assist device according to the control strategy includes: According to the first control strategy, the vehicle is controlled to perform a reverse action, and the power assisting direction of the power assisting device is adjusted to be consistent with the reverse direction, so as to provide auxiliary power for the vehicle to move backward.

3. The method according to claim 1, characterized in that The generating of a control strategy for assisting the vehicle to leave the current position according to the water area information of the vehicle comprises: generating a second control strategy when the water area information at the vehicle's location meets a preset condition or in response to an operation instruction to continue moving forward; The controlling the operation of the power assist device according to the control strategy includes: According to the second control strategy, the vehicle is controlled to execute a forward motion, and at the same time, the assisting direction of the assisting device is adjusted to be consistent with the forward direction, so as to provide auxiliary power for the vehicle to move forward.

4. The method according to claim 1, wherein When the wading depth is greater than a first preset threshold, the method further includes: Obtain the vehicle's body posture deflection angle; When the vehicle body posture deflection angle is greater than a preset angle, determining a vehicle body posture adjustment strategy according to the vehicle body posture deflection angle, the current driving route, and the current driving state of the vehicle; The output power and assist direction of the assist device are adjusted according to the vehicle body posture adjustment strategy to adjust the vehicle body posture.

5. The method according to claim 1, characterized in that The method further comprises: Obtaining a start signal generated by a vehicle accelerator pedal; The output power of the power assist device is controlled according to the start signal.

6. The method according to claim 1, characterized in that After obtaining the vehicle's environmental information, the method further includes: generating an environmental model and an optimal driving route according to the environmental information; The environmental model and the optimal driving route are displayed on a user interface.

7. The method according to claim 1, characterized in that When the wading depth is greater than a first preset threshold, the method further includes: Control the engine to shut down and control the vehicle to enter pure electric mode.

8. The method according to claim 1, characterized in that After obtaining the vehicle's environmental information, the method further includes: If the wading depth is greater than a second preset threshold and less than a first preset threshold, controlling a designated component of the vehicle to execute a water leakage prevention strategy; If the wading depth is less than a second preset threshold, the vehicle is controlled to travel normally.

9. A vehicle, characterized in that: include: A sensing module, a control unit, and a power assist device installed in a vehicle; The perception module is used to obtain environmental information of the vehicle; The environmental information includes wading depth and water area information of the vehicle; The control unit is configured to generate a control strategy for assisting the vehicle in leaving the current position according to the water area information of the vehicle when the wading depth is greater than a first preset threshold; The control unit is used to control the operation of the power assist device according to the control strategy.

10. The vehicle according to claim 9, characterized in that Also includes: Transmissions installed on vehicles; The power assist device is connected to the transmission device, and the transmission device is used to provide transmission force to change the power assist direction of the power assist device.

11. The vehicle according to claim 10, characterized in that Also includes: universal joints, drive shafts, wheel supports, wheels and bogies; The universal joint connects the transmission shaft and the wheel to transmit wheel power; The bogie is connected to the wheel support, and the wheel support is used to rotate under the drive of the bogie to realize vehicle steering; The transmission device and the power-assisting device are arranged on the bogie or the wheel support, and are used to make the power-assisting device and the wheel turn synchronously under the drive of the bogie.

12. The vehicle according to claim 10, characterized in that The transmission device includes: a first cylinder, a push rod, a rocker rod and a first connecting rod; One end of the push rod is telescopically connected to the first cylinder, the other end of the push rod is connected to one end of the first connecting rod, the other end of the first connecting rod is connected to the rocker arm, one end of the rocker arm is connected to the wheel support, the power assist device is fixedly connected to the rocker arm, and the first cylinder is fixedly arranged on the wheel support; When the push rod moves in the first cylinder, it drives the first connecting rod to impart thrust to the rocker arm, so that the power assist device performs a rotary motion driven by the rocker arm.

13. The vehicle according to claim 10, characterized in that The transmission device includes: a first motor, a second motor, a second connecting rod and a third connecting rod; The first motor is fixedly arranged on the vehicle suspension, the first motor and the second motor are connected via the second connecting rod, and the second motor and the power assist device are connected via the third connecting rod; There is a preset angle between the second connecting rod and the third connecting rod, the first motor is used to drive the power assist device to rotate in the first direction through the second connecting rod and the third connecting rod, and the second motor is used to drive the power assist device to rotate in the second direction through the third connecting rod.

14. The vehicle according to claim 10, characterized in that Also includes: transmission shaft; The transmission device includes: a first friction wheel and a second friction wheel; The power assist device is provided on the bogie of the vehicle; The first friction wheel is arranged on the transmission shaft and is configured to rotate along with the transmission shaft; The power assist device is connected to the second friction wheel via a clutch; The wheel surface of the first friction wheel contacts the wheel surface of the second friction wheel, and is used to transmit the rotational power to the second friction wheel, driving the power assist device to rotate. The clutch is used to cut off the power transmission between the power assist device and the second friction wheel.

15. The vehicle according to claim 10, wherein The transmission device includes: a third motor; The third motor is arranged on the wheel support, and the third motor is connected to the power assist device through the fourth connecting rod, so as to drive the power assist device to rotate.

16. A vehicle wading control device, characterized in that: The vehicle is equipped with a power assist device, which includes: An acquisition module is used to acquire environmental information of the vehicle, wherein the environmental information includes wading depth and water area information of the vehicle; a strategy generating module, configured to generate a control strategy for assisting the vehicle in leaving the current position according to the water area information of the vehicle when the wading depth is greater than a first preset threshold; A control module is used to control the operation of the power assist device according to the control strategy.

17. An electronic device, characterized in that: include: A processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; Memory for storing computer programs; A processor, configured to implement the steps of the method according to any one of claims 1 to 8 when executing a program stored in a memory.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in the method according to any one of claims 1 to 8 are implemented.

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