Vehicle valve control method and system, vehicle and storage medium

Abstract

The embodiment of the invention provides a vehicle valve control method and system, a vehicle and a storage medium, and the method comprises the steps that a starting instruction for an underwater navigation function is responded, a target state where the vehicle is about to enter is determined, and the target state and the underwater navigation function have an incidence relation; in response to the fact that the target state is the preset state, multiple valves corresponding to the engine are diagnosed, multiple diagnosis results are obtained, the multiple valves comprise a valve in an air inlet system and a valve in an exhaust system of the engine, and the different diagnosis results are used for representing whether preset faults exist in different valves or not; in response to the fact that the multiple diagnosis results all represent that the corresponding valves do not have the preset faults, the multiple valves are controlled to be closed; and in response to successful closing of the multiple valves, the vehicle is controlled to be switched to the target state. The technical problem that in the prior art, when a vehicle runs in water, the vehicle is prone to being damaged is solved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a method, system, vehicle, and storage medium for controlling vehicle valves. Background Technology

[0002] As user demands for vehicle operation expand, vehicles with water navigation capabilities are becoming an emerging need, bringing new technological challenges. For vehicles with engines, the engine's intake and exhaust systems face significant risks when navigating or wading through deep water.

[0003] The engine's intake and exhaust systems are designed for land-based operation. When a vehicle travels in water, water can enter the engine's combustion chamber through the intake valves, causing serious engine malfunctions or damage. Simultaneously, the exhaust system is submerged underwater, causing corrosion of precious metals in the catalyst, and impurities in the water can clog the exhaust pipe, affecting engine performance and exhaust gas treatment efficiency. This makes vehicles susceptible to damage when traveling in water, as described in related technologies.

[0004] There is currently no good solution to the above problems. Summary of the Invention

[0005] This application provides a method, system, vehicle, and storage medium for controlling vehicle valves, in order to at least solve the technical problem that vehicles are easily damaged when traveling in water in related technologies.

[0006] According to one aspect of the embodiments of this application, a method for controlling vehicle valves is provided. The vehicle has an underwater navigation function and an engine. The method includes: responding to a start command for the underwater navigation function, determining a target state that the vehicle is to enter, wherein the target state is related to the underwater navigation function; responding to the target state being a preset state, diagnosing multiple valves corresponding to the engine to obtain multiple diagnostic results, wherein the multiple valves include valves in the engine's intake system and valves in the exhaust system, and different diagnostic results are used to characterize whether different valves have preset faults; responding to multiple diagnostic results all indicating that the corresponding valves do not have preset faults, controlling the multiple valves to close; and responding to the multiple valves successfully closing, controlling the vehicle to switch to the target state.

[0007] In the above embodiments of this application, the target state includes one of the following: first wading state, navigation state, beaching state, state to be detected, second wading state, and normal state; the preset state includes one of the following: first wading state, navigation state, beaching state, and state to be detected; wherein, the water level corresponding to the first wading state is greater than the water level corresponding to the second wading state.

[0008] In the above embodiments of this application, multiple valves corresponding to the engine are diagnosed to obtain multiple diagnostic results, including: sending communication commands to multiple valves through a local interconnect network and receiving communication responses returned by multiple valves, wherein the communication responses are used to characterize whether the corresponding valves have faults; and obtaining multiple diagnostic results based on the communication responses returned by multiple valves.

[0009] In the above embodiments of this application, multiple diagnostic results are obtained based on the communication responses returned by multiple valves, including: identifying a preset identifier in the communication response to obtain the field value of a target field, wherein the preset identifier is used to characterize the corresponding valve as having a fault; determining the fault type of the corresponding valve based on the field value; and determining the diagnostic result characterizing the corresponding valve as having a preset fault in response to the fault type being a preset type.

[0010] In the above embodiments of this application, the method further includes: shutting down the engine in response to multiple diagnostic results all indicating that the corresponding valve does not have a preset fault.

[0011] In the above embodiments of this application, the method further includes: responding to any diagnostic result indicating that the corresponding valve has a preset fault, outputting a first prompt message, and controlling the state of the vehicle to remain unchanged, wherein the first prompt message is used to indicate that the corresponding valve has a preset fault.

[0012] In the above embodiments of this application, the method further includes: controlling multiple valves to open in response to the target state not being a preset state; preferably, the method further includes: outputting a second prompt message in response to any valve failing to close or open, wherein the second prompt message is used to indicate that any valve has failed to close or open; preferably, the method further includes: performing a status detection on the vehicle and determining the target state in response to the vehicle being normal and the vehicle's communication network being normal.

[0013] According to another aspect of the embodiments of this application, a vehicle valve control system is also provided. The vehicle has an underwater navigation function and an engine. The system further includes: an interaction device for receiving a start command for the underwater navigation function; a power control module connected to the interaction device for determining a target state to be entered by the vehicle in response to the start command, wherein the target state is related to the underwater navigation function; an engine control module connected to the power control module and multiple valves for diagnosing multiple valves corresponding to the engine in response to the target state being a preset state, obtaining multiple diagnostic results, wherein the multiple valves include valves in the engine's intake system and valves in the exhaust system, and different diagnostic results are used to characterize whether different valves have preset faults; in response to multiple diagnostic results all indicating that the corresponding valves do not have preset faults, controlling multiple valves to close; the power control module is also used to control the vehicle to switch to the target state in response to the successful closure of multiple valves.

[0014] According to another aspect of the embodiments of this application, a vehicle is also provided, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of this application when it runs.

[0015] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of this application.

[0016] According to another aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of this application.

[0017] According to another aspect of the embodiments of this application, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program, which, when executed by a processor, implements the methods in various embodiments of this application.

[0018] According to another aspect of the embodiments of this application, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of this application.

[0019] In this embodiment, the applied vehicle has an underwater navigation function and an engine. First, in response to the start command for the underwater navigation function, the target state to be entered by the vehicle is determined, and the target state is related to the underwater navigation function. Next, in response to the target state being a preset state, multiple valves corresponding to the engine are diagnosed, resulting in multiple diagnostic results. These valves include valves in the engine's intake system and valves in the exhaust system. Different diagnostic results are used to characterize whether different valves have preset faults. Then, in response to multiple diagnostic results indicating that the corresponding valves do not have preset faults, the multiple valves are controlled to close. Finally, in response to the successful closure of the multiple valves, the vehicle is controlled to switch to the target state. This application can respond to the start command for the underwater navigation function, initiate the state switching process, and assess the health status of the engine's intake system valves and exhaust system valves through intelligent diagnosis. When no preset faults are detected in the corresponding valves, the corresponding valves are controlled to close. When the valves are detected to be fault-free and successfully closed, the vehicle can be switched to the target state, and the vehicle enters the corresponding underwater navigation mode. The valves in the engine intake and exhaust systems have pre-set fault elimination mechanisms to ensure their reliability and effectiveness. The successful closure of the valves forms a physical barrier, effectively isolating the engine from external water and preventing water from directly intruding into the engine compartment. This solves the problems of water ingress into the engine, catalyst damage, and exhaust blockage that traditional vehicles are prone to when driving in water. Furthermore, it addresses the technical issues that vehicles are easily damaged when driving in water in related technologies. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0021] Figure 1 This is a flowchart of a vehicle valve control method according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of a vehicle valve control system according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of an optional control interaction timing of a vehicle valve according to an embodiment of the present invention. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] According to an embodiment of this application, an embodiment of a method for controlling a vehicle valve is provided. The steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than that shown here.

[0027] This embodiment provides a method for controlling vehicle valves, wherein the vehicle has water navigation capabilities and an engine.

[0028] The aforementioned vehicles can refer to vehicles equipped with underwater navigation capabilities and engines, including new energy vehicles or hybrid vehicles, depending on actual needs. These vehicles can adapt to a wider range of driving environments, including navigation on water surfaces or in water, thus providing broader mobility and a unique experience. The vehicles can be designed with dedicated modes and control systems that allow for specific modes of operation in water, and may include special sealing or protective measures.

[0029] The aforementioned underwater navigation function can refer to the vehicle's ability to travel or wade through water, allowing the vehicle to travel on the water surface or in the water. The vehicle can have additional safety and control mechanisms to adapt to underwater driving conditions.

[0030] Figure 1 This is a flowchart of a vehicle valve control method according to an embodiment of this application, such as... Figure 1As shown, the process includes the following steps:

[0031] Step S102: In response to the activation command for the underwater navigation function, determine the target state that the vehicle is to enter.

[0032] Among them, the target status is related to the underwater navigation function.

[0033] The aforementioned activation command can refer to a signal or instruction issued by the vehicle's control unit or user interface, indicating that the vehicle should enter water navigation mode. It can be triggered when the user selects or activates the vehicle's water navigation function.

[0034] The aforementioned target state refers to the specific operating state that the vehicle should achieve after receiving the start command, and is closely related to its underwater navigation function. Determining the target state helps the vehicle adjust its hardware and software systems according to current operational needs to adapt to driving conditions on water or in specific wading environments.

[0035] As an optional implementation, when the vehicle's user interface triggers a start command for the underwater navigation function, the start command can be received by the vehicle's power control module. The power control module is responsible for coordinating and managing the vehicle's power system, including the operating strategies of the engine and electric motor. Upon receiving the start command, the power control module analyzes the current operating status of the vehicle, including but not limited to the vehicle's position, attitude, speed, battery charge, engine status, and external environmental factors such as water depth and water quality, to determine whether the target state the vehicle is about to enter is suitable for underwater navigation. The determination of the target state can be based on a comprehensive consideration of multiple factors. Preset states within the target state can include deep wading, navigation, and beaching states, and can be operating modes closely related to the underwater navigation function. After determining the target state, the power control module can prepare a series of pre-driving checks, including but not limited to a general vehicle health check, battery charge assessment, and diagnostics of the engine's intake and exhaust system valves. During the power control module's analysis and determination of the target state, internal algorithms can also be used to consider the vehicle's dynamic stability and safety to ensure safe driving in water. For example, the power control module can assess changes in the vehicle's center of gravity, the impact of water surface fluctuations on driving, and the complexity of underwater terrain to determine whether to allow entry into underwater navigation mode or what strategy to adopt to enter a suitable preset state. The power control module can also dynamically adjust the target state based on real-time sensor data, such as vehicle tilt angle sensors, water level sensors, and water quality sensors, and can automatically cancel underwater navigation function as needed to avoid potential risks.

[0036] The aforementioned process, through target state determination and preparation procedures, enhances the vehicle's safety and adaptability when activating its underwater navigation function. Through intelligent analysis and decision-making by the power control module, the vehicle can pre-select a suitable preset state based on the actual environment and its own condition, ensuring that the necessary safety checks and preparations before underwater navigation are completed. This avoids blindly activating the underwater navigation function under unsuitable conditions, reducing the risk of damage to the engine and other critical components due to water intrusion.

[0037] In step S104, in response to the target state being a preset state, multiple valves corresponding to the engine are diagnosed respectively, and multiple diagnostic results are obtained.

[0038] The valves include valves in the engine's intake system and valves in the exhaust system. Different diagnostic results are used to characterize whether different valves have preset faults.

[0039] The aforementioned preset states may refer to a portion of the target states, including those states that require the intake and exhaust valves to be closed. These preset states are relevant to driving on water or in deep water and require additional safety measures.

[0040] The valves in the aforementioned intake system can refer to valves in the vehicle engine intake system used to control air, or, when in water, to prevent water from entering the combustion chamber. In this application, the valves in the intake system can be closed when the vehicle enters a wading state to prevent moisture from entering the engine and causing water ingress into the combustion chamber, thus avoiding damage to the engine.

[0041] The valves in the exhaust system mentioned above refer to the valves in the vehicle engine exhaust system used to control exhaust gas emissions. When navigating in water, closing the valves in the exhaust system can prevent water from entering the exhaust system, protect the catalyst from damage, prevent exhaust blockage, and maintain engine performance.

[0042] The aforementioned preset faults can refer to a series of specific faults predefined in the control strategy. Preset faults may include, but are not limited to, communication errors, overvoltage, overcurrent, overtemperature, locked rotor, and lifecycle errors. When diagnosing intake and exhaust valves, if one of the preset faults is detected, the valve can be considered to have a preset fault.

[0043] As an optional implementation, when the powertrain control module determines that the vehicle will enter a preset state related to underwater navigation, it can initiate a diagnostic process for the valves in the engine intake and exhaust systems. For example, it can utilize the vehicle's internal local area network (LAN) communication mechanism and the local area network bus technology present in the vehicle to accurately check the valve health status. The powertrain control module can send a diagnostic request to the engine control module via the LAN bus, requesting a valve status assessment. Upon receiving the diagnostic request, the engine control module can access the control modules of each valve and send specific diagnostic commands. The valve control modules can respond to the diagnostic commands and execute a series of self-test procedures, which may include, but are not limited to, checking whether the valve's mechanical movement is smooth, whether the valve's opening and closing positions are correct, whether the valve's motor drive is working properly, and the status of the communication link between the valve and the control module. These self-test procedures may include circuit testing, mechanical motion detection, and signal exchange verification to comprehensively assess the overall health status of the valves.

[0044] After self-testing, the valve control module can feed back the diagnostic results to the engine control module via the local area network bus. The engine control module then summarizes and processes the results before feeding them back to the power control module. The diagnostic results may include information about whether the valve has any preset faults, such as whether the valve can operate accurately according to instructions, whether there are abnormalities such as overheating, overpressure, or overflow, whether there is blockage or jamming, and whether communication with the control unit has been lost. To improve the accuracy and efficiency of the diagnosis, the valve control module can also incorporate fault detection algorithms, including but not limited to machine learning models, which can be trained based on historical data to more effectively identify potential early problems in the valve. For example, by analyzing the current consumption, response time, and wear trends after long-term use of the valve, it is possible to predict whether the valve will fail in the future, thus allowing for proactive maintenance and preventing valve malfunction. To ensure the stability and durability of the valve, the control strategy can also include regular valve health monitoring and self-diagnosis. Even in non-preset states, the valve's operating status can be checked periodically to promptly detect and repair valve problems.

[0045] In the aforementioned process, by performing a full health check on the valves before entering water navigation mode, it is ensured that the valves can function normally in wading environments, effectively isolating moisture, protecting the engine, and significantly improving overall driving safety. The detection and elimination of preset faults can prevent irreversible damage to the engine when driving in water, extending engine life and reducing maintenance costs. This valve condition monitoring and health diagnosis process ensures that the vehicle maintains stable and reliable performance in complex and changing aquatic environments.

[0046] Step S106: In response to multiple diagnostic results indicating that the corresponding valves do not have preset faults, control multiple valves to close.

[0047] As an optional implementation, when the diagnostic results compiled by the engine control module indicate that there are no preset faults in the corresponding intake and exhaust system valves, the power control module can issue a command to control the corresponding valves to close, preparing the vehicle for water navigation mode. This control process can be achieved through electronic signal transmission and the response of the valve control module. The power control module can send a valve closing command to the engine control module. After receiving the command, the engine control module can establish a connection with the valve control module via local area network bus communication, further precisely transmitting the closing command to each valve. After receiving the closing command, the valve control module can activate the corresponding motor or actuator to drive the valve to the closed position. During the valve closing process, the control module can also continuously monitor the valve position feedback signal to ensure that the valve can smoothly reach the predetermined closed position and remain stable. After the valve is confirmed to be closed, the valve control module can report the valve status back to the engine control module via local area network bus communication. To ensure that the valve can respond quickly and accurately during the closing process, the valve actuator can also use a high-performance motor. These motors have high torque output and fast positioning capabilities, ensuring that the valve can close quickly and accurately even under the impact of high-pressure water flow. The valve design can also take into account the special characteristics of the underwater environment. For example, corrosion-resistant materials and sealing structures can be used to prevent corrosion and leakage during prolonged immersion or navigation. During valve closure, the vehicle can also perform additional checks, such as monitoring changes in cabin air pressure, to avoid unnecessary pressure or back pressure that could affect the valve's normal operation.

[0048] During the aforementioned process, by precisely controlling the closure of the valves, the vehicle can effectively establish a physical barrier before wading or navigating in water, preventing water from entering the engine's intake and exhaust systems and protecting the engine from water damage. The reliable closure of the valves provides users with enhanced safety, ensuring the stability and safety of the vehicle while navigating in water.

[0049] In step S108, in response to the successful closure of multiple valves, the vehicle is controlled to switch to the target state.

[0050] As an optional implementation, once the powertrain control module confirms that the valves in the intake and exhaust systems related to the engine have been successfully closed, it can control the vehicle to switch to the target state. Based on the coordination between multiple vehicle subsystems and the updating of the vehicle's status, it ensures a smooth and safe transition to the target state. The powertrain control module can send status update commands to various vehicle subsystems, including but not limited to the powertrain, electronic stability system, suspension system, and body controller, notifying each subsystem that it is about to enter the target state. Upon receiving the commands, each subsystem can begin adjusting its own operating state. For example, if the vehicle is a new energy vehicle, the powertrain can switch the vehicle's power source to the electric motor to reduce the need for engine operation in water; the electronic stability system can adjust its anti-skid and stability control strategies to adapt to the specific needs of water travel. Simultaneously, the powertrain control module updates the vehicle's display systems, such as the instrument panel and display screen, showing that the vehicle is currently transitioning to water navigation mode, reminding users and occupants to prepare accordingly. After all subsystems have completed their status adjustments and safety conditions are confirmed, the powertrain control module can issue a command to the vehicle's drive control system to activate the target state, allowing the vehicle to begin traveling in the water. During the transition of a vehicle to a waterborne navigation target state, several control strategies can be employed. For example, a water level detection algorithm can be used, employing onboard water level sensors to monitor the surrounding water level in real time and dynamically adjust the vehicle's driving strategy to ensure it travels at a suitable safe depth. Intelligent stability control can also be used, utilizing the vehicle's attitude sensors, positioning system, and depth gauge to analyze the vehicle's dynamic balance in real time and automatically adjust speed, steering, and power distribution to help the vehicle maintain good handling and stability in water.

[0051] During the aforementioned process, once the power control module confirms that the valves in both the intake and exhaust systems related to the engine have been successfully closed, it can control the vehicle to switch to the target state. Based on the coordination between multiple vehicle subsystems and the updating of the vehicle's status, it ensures that the vehicle can smoothly and safely transition to the target state. This prevents water from damaging the engine's internal components, reduces the risk of engine failure caused by moisture, and also protects the exhaust system's catalyst and other sensitive components from water corrosion, extending the vehicle's service life.

[0052] In this embodiment, the applied vehicle has an underwater navigation function and an engine. First, in response to the start command for the underwater navigation function, the target state to be entered by the vehicle is determined, and the target state is related to the underwater navigation function. Next, in response to the target state being a preset state, multiple valves corresponding to the engine are diagnosed, resulting in multiple diagnostic results. These valves include valves in the engine's intake system and valves in the exhaust system. Different diagnostic results are used to characterize whether different valves have preset faults. Then, in response to multiple diagnostic results indicating that the corresponding valves do not have preset faults, the multiple valves are controlled to close. Finally, in response to the successful closure of the multiple valves, the vehicle is controlled to switch to the target state. This application can respond to the start command for the underwater navigation function, initiate the state switching process, and assess the health status of the engine's intake system valves and exhaust system valves through intelligent diagnosis. When no preset faults are detected in the corresponding valves, the corresponding valves are controlled to close. When the valves are detected to be fault-free and successfully closed, the vehicle can be switched to the target state, and the vehicle enters the corresponding underwater navigation mode. The valves in the engine intake and exhaust systems have pre-set fault elimination mechanisms to ensure their reliability and effectiveness. The successful closure of the valves forms a physical barrier, effectively isolating the engine from external water and preventing water from directly intruding into the engine compartment. This solves the problems of water ingress into the engine, catalyst damage, and exhaust blockage that traditional vehicles are prone to when driving in water. Furthermore, it addresses the technical issues that vehicles are easily damaged when driving in water in related technologies.

[0053] In the above embodiments of this application, the target state includes one of the following: first wading state, navigation state, beaching state, state to be detected, second wading state, and normal state; the preset state includes one of the following: first wading state, navigation state, beaching state, and state to be detected; wherein, the water level corresponding to the first wading state is greater than the water level corresponding to the second wading state.

[0054] The aforementioned first wading condition refers to the state in which a vehicle is about to or is currently in a wading environment with a high water level. In the first wading condition, the water will reach or exceed the vehicle's specific wading line, posing a potential threat to the vehicle's electrical system and intake system, requiring the vehicle to take more stringent waterproofing measures.

[0055] The aforementioned navigation state can refer to a vehicle traveling in water for an extended period of time, or it can refer to a vehicle's driving mode in a specific body of water, requiring the vehicle to maintain a certain course and speed.

[0056] The aforementioned "landing on the beach" state refers to a vehicle emerging from the water and returning to land. This requires the vehicle to have good power output and chassis adaptability to overcome the resistance of getting out of the water.

[0057] The aforementioned "pending inspection" state refers to the state of a vehicle after it has completed wading or sailing, awaiting a system check to ensure that all components are undamaged and safe to continue driving. In this state, the vehicle can perform a self-check, inspecting the integrity of the intake and exhaust system valves, the electrical system, and whether there is any water residue on the body, preparing for subsequent normal driving.

[0058] The aforementioned second wading state refers to the state in which the vehicle is about to enter or is currently in a wading environment with a low water level. In this second wading state, the water level is low, and the vehicle can take appropriate waterproofing measures. During this second wading state, the vehicle's control system can focus on real-time monitoring and early warning; if the water level rises to the level of the first wading state, the vehicle can automatically adjust and take more stringent waterproofing measures.

[0059] The aforementioned normal state refers to the vehicle's operation in its standard configuration during land-based driving modes, excluding wading and water navigation. In this normal state, the intake and exhaust valves remain open to ensure normal engine intake and exhaust, while other vehicle systems are restored to their normal driving settings, such as suspension stiffness and tire pressure.

[0060] As an optional implementation, when a hybrid vehicle undergoes a state transition, the powertrain control module can determine the target state the vehicle should enter based on the currently received instructions and the vehicle's environment. This determination process may include analysis of vehicle sensor data, such as water level sensor data, vehicle positioning data, and vehicle attitude sensor data, as well as analysis of user input commands, such as whether the water navigation function has been activated. If the target state is determined to be a preset state, the powertrain control module can initiate a valve closure diagnostic process to ensure the intake and exhaust system valves are functioning correctly, and then perform the valve closure operation. This ensures that the vehicle's protective mechanisms are in place before entering water navigation-related modes.

[0061] In the above configuration, by subdividing the target state into multiple wading levels and functional states, the vehicle can respond more precisely to changes in the external environment, improving its adaptability and safety under different water conditions. For example, in the second wading state at low water levels, the vehicle can maintain a lower protection level to maintain better road driving performance; while in the first wading state or navigation state in deep water, the vehicle can automatically increase the protection level to ensure that the engine and other water-sensitive components are not submerged.

[0062] In the above embodiments of this application, multiple valves corresponding to the engine are diagnosed to obtain multiple diagnostic results, including: sending communication commands to multiple valves through a local interconnect network and receiving communication responses returned by multiple valves, wherein the communication responses are used to characterize whether the corresponding valves have faults; and obtaining multiple diagnostic results based on the communication responses returned by multiple valves.

[0063] The aforementioned local interconnect network can refer to a low-cost, low-speed serial communication protocol used in vehicle electronic systems, and can be a local interconnect network bus network. It can be used to connect devices such as sensors, actuators, and electronic control units in the vehicle, enabling efficient data transmission and real-time status monitoring. The local interconnect network bus network has a single-master, multi-slave architecture, supports simple point-to-point communication and broadcasting between slave devices, and can effectively manage multiple devices with different functions. In this application, the local interconnect network bus network can be used for data exchange between the engine control module and the intake and exhaust system valve control unit, ensuring the accurate transmission of valve diagnostic and control commands.

[0064] The aforementioned communication response refers to a series of feedback data returned to the engine control module via the local area network bus after the valve control unit receives a diagnostic command from the engine control module, based on its internal health status and current state. This data can include various valve information, including but not limited to valve position, operating status, motor current, temperature, and communication status. The communication response can characterize whether a valve is faulty, and can also provide the specific type of fault and the valve's real-time status, helping the engine control module to accurately assess the valve's health status. In the control strategy of this application, this response mechanism can serve as the basis for real-time diagnostics and status monitoring, ensuring a comprehensive understanding of the valve's operating condition before the vehicle navigates in water.

[0065] As an optional implementation, when the vehicle is preparing to enter water navigation mode, the powertrain control module can send a command to the engine control module requesting diagnostics on the valves of the engine's intake and exhaust systems. The engine control module, acting as the master control unit, can use the local area network bus to send diagnostic commands to the control modules of each valve, such as requesting the valve to perform a self-test or report its current status. Upon receiving the diagnostic command, the valve control module can execute a series of internal testing procedures, including motor drive testing, valve position verification, temperature and pressure monitoring, to assess the valve's health condition. These test results can be returned to the engine control module via the local area network bus as a communication response. Based on the received communication response, the engine control module can analyze the valve's health condition and generate diagnostic results. If no preset fault is found during the valve's self-test, the engine control module can instruct the valve to close. If a preset fault is found during the self-test, a fault alarm can be triggered, preventing the vehicle from entering water navigation mode, and the powertrain control module can prompt the user for maintenance.

[0066] In the aforementioned process, the communication response mechanism implemented through the local area network bus significantly improves the accuracy and real-time performance of valve diagnosis, enabling the vehicle control system to quickly identify valve problems and make appropriate decisions. This reduces the risks of underwater navigation due to valve failure and lowers the probability of engine damage caused by delayed fault diagnosis. The use of the local area network bus reduces hardware costs and wiring complexity while improving the overall response speed and reliability of the vehicle system.

[0067] In the above embodiments of this application, multiple diagnostic results are obtained based on the communication responses returned by multiple valves, including: identifying a preset identifier in the communication response to obtain the field value of a target field, wherein the preset identifier is used to characterize the corresponding valve as having a fault; determining the fault type of the corresponding valve based on the field value; and determining the diagnostic result characterizing the corresponding valve as having a preset fault in response to the fault type being a preset type.

[0068] The aforementioned preset identification signal can refer to a predefined signal or code in the communication response data, used to identify and encode specific events or states, such as fault states. In this application, the preset identification signal can be used to mark different types of faults occurring in the valve, so that the engine control module can quickly identify and handle them.

[0069] The field values ​​of the aforementioned target fields can refer to the field values ​​corresponding to data fields related to the valve's health status carried in the communication response. The field value can be the actual measurement or status value of that field, reflecting the specific condition of the valve at a given moment. Target fields can include parameters such as valve position, motor current, temperature, and fault codes. Changes in field values ​​can reflect the real-time status of the valve, such as whether the valve is closed, whether the motor is overheating, or whether the valve has lost communication with the control unit. By continuously monitoring these field values, the engine control module can obtain dynamic information about the valve's health status, providing a data foundation for fault diagnosis.

[0070] The aforementioned fault types refer to the classification of problems or abnormal situations that may occur with valves, and may include, but are not limited to, mechanical faults, electrical faults, and communication faults. Each fault type can have specific manifestations and solutions. For different fault types, the vehicle control system can have corresponding response plans. For example, for valve jamming, vehicle operation can be stopped to prevent further damage; for communication faults, attempts can be made to re-establish the connection or switch to redundant communication paths. This fault type-based response mechanism enables the vehicle to take quick and precise action when encountering problems, avoiding or mitigating potential damage.

[0071] As an optional implementation, upon receiving a communication response from the valve, the engine control module (ECU) can parse the response to search for fault-related signals. If a matching preset identifier is found, the ECU can read the value of the associated target field, which describes the valve's current state and the specific problem encountered. Based on the field value, the ECU can use its internal fault identification algorithm to determine the valve's fault type. For example, an overpressure fault can cause excessive moisture in the engine intake air, an overcurrent fault can indicate overheating of the valve drive motor, and a communication fault can cause the valve to lose effective communication with the control unit. Each fault type corresponds to different risks and handling strategies. If the identified fault type is one of the preset types, the ECU can determine the diagnostic result and identify a preset fault in the corresponding valve. Then, the ECU can issue a warning to the user through the power control module and prevent the vehicle from entering water navigation mode until the valve fault is resolved.

[0072] In the aforementioned process, the valve fault type is quickly determined by pre-setting identifiers and target field values, enhancing the safety and intelligence of the vehicle when preparing to enter water navigation mode. This allows the vehicle control system to make timely judgments upon receiving communication responses, avoiding engine damage caused by fault delays. From a maintenance and troubleshooting perspective, this fault type identification capability helps in quickly diagnosing problems and guiding maintenance personnel to conduct targeted inspections and repairs. It also provides R&D engineers with detailed fault data, contributing to continuous improvement of valve design and vehicle control strategies, thereby enhancing the overall reliability of the vehicle.

[0073] In the above embodiments of this application, the method further includes: shutting down the engine in response to multiple diagnostic results all indicating that the corresponding valve does not have a preset fault.

[0074] As an optional implementation, before the vehicle is prepared to enter water navigation or wading, the engine control module can perform a series of valve health status diagnostic checks based on instructions sent by the power control module. If the diagnostic results for each valve indicate that there are no preset faults, the engine control module can proceed to the next step, namely, shutting down the engine. This ensures that the engine does not operate with valves open, thereby preventing water from entering the combustion chamber through the valves and causing serious consequences. The engine shutdown operation can involve multiple sub-steps. The engine control module can first send shutdown signals to various engine subsystems, such as the fuel system, ignition system, and cooling system, gradually bringing the engine to a safe shutdown state, reducing internal damage caused by sudden shutdown. The engine control module can also monitor the entire shutdown process while the engine is shutting down. Once the engine has stopped running, the engine control module can confirm to the user through the power control module that the engine has been safely shut down and wading or water navigation can begin.

[0075] During the above process, by shutting off the engine before entering the preset state, the hybrid vehicle can protect the engine from water damage to a great extent, ensuring the long-term reliability and service life of the vehicle.

[0076] In the above embodiments of this application, the method further includes: responding to any diagnostic result indicating that the corresponding valve has a preset fault, outputting a first prompt message, and controlling the state of the vehicle to remain unchanged, wherein the first prompt message is used to indicate that the corresponding valve has a preset fault.

[0077] The aforementioned first warning message can refer to the warning message issued to the user by the vehicle control system when it detects a preset fault in the intake or exhaust system valves. This first warning message can immediately inform the user of the vehicle's safety risks and the specific valve malfunction causing the risk, thereby reminding the user to take appropriate action and avoid further damage or danger.

[0078] As an optional implementation, when preparing to enter wading or underwater navigation mode, if the engine control module detects a preset fault in an engine-related valve during diagnostics, it can take timely action by sending a first alert message to the vehicle's display system via the power control module, informing the user of the valve's fault status and type. Simultaneously, the engine control module can prevent the vehicle from entering the predetermined underwater navigation state, maintaining the vehicle's current normal driving state and avoiding engine exposure to water due to the valve fault, thus reducing engine damage. The power control module can display the warning message on the instrument panel and display screen, accompanied by a warning sound, ensuring the user notices the situation promptly. To enhance user experience and safety, the first alert message output can include the use of prominent colors, icons, and text, as well as adjustable warning volume and frequency to suit different driving environments and individual preferences. Furthermore, the power control module can integrate an emergency contact function, automatically sending fault details to the vehicle manufacturer's remote service center upon detecting a preset fault for immediate technical support. In some cases, the power control module can also provide a simple troubleshooting guide, instructing the user via the display screen to perform basic self-checks or attempt a system restart to resolve the issue temporarily, or at least confirm whether the fault is a temporary communication interruption.

[0079] During the aforementioned process, by outputting the initial warning message and maintaining the vehicle's status unchanged, engine damage that could occur while the vehicle is navigating in water can be effectively prevented, protecting the vehicle's hardware and ensuring user safety by avoiding potential dangers. For users, this immediate fault warning increases driving transparency, allowing them to make informed decisions based on the vehicle's real-time status, such as choosing to avoid flooded areas or seeking professional repair services promptly.

[0080] In the above embodiments of this application, the method further includes: controlling multiple valves to open in response to the target state not being a preset state; preferably, the method further includes: outputting a second prompt message in response to any valve failing to close or open, wherein the second prompt message is used to indicate that any valve has failed to close or open; preferably, the method further includes: performing a status detection on the vehicle and determining the target state in response to the vehicle being normal and the vehicle's communication network being normal.

[0081] The second notification mentioned above refers to an alarm signal issued to the user if the vehicle control system detects that a valve has failed to perform its intended action (i.e., failed to close or open) during its attempt to change the valve's state. This allows for immediate notification of any abnormality in valve operation, preventing potential risks or inconvenience.

[0082] As an optional implementation, if the engine control module detects that a valve has failed to close or open as instructed, it can trigger the output of a second warning message. This second warning message can be delivered to the user through the vehicle's display system, such as the instrument panel, display screen, and audible warning system, informing the user which valve(s) are malfunctioning and the cause of the valve failure. To increase diagnostic accuracy and response timeliness, the engine control module can periodically send heartbeat signals to the control modules of each valve to confirm the valve's online status and communication quality. When a valve control module fails to respond or the feedback data exceeds the normal range, the engine control module can identify and record the anomaly, then send a fault signal to the power control module, triggering the display of the second warning message. Furthermore, to improve user-friendliness, the power control module can provide additional diagnostic tools or links to online repair manuals based on the second warning message, guiding users through initial troubleshooting or providing remote technical support to help users quickly find solutions when encountering valve problems.

[0083] During the aforementioned process, by outputting a second notification, the vehicle can promptly inform the user of any abnormal valve status, preventing continued driving or wading through water without knowing the valve malfunction. This effectively prevents engine damage or other mechanical problems caused by valves not being closed or open. For the user, this instant feedback mechanism increases driving transparency and a sense of control, allowing them to quickly understand the situation and take appropriate action when encountering valve problems, thus improving driving safety and convenience.

[0084] According to another aspect of the present invention, a control system for a vehicle valve is also provided. This system can execute the vehicle valve control method of the above embodiments. The specific implementation method and preferred application scenarios are the same as those of the above embodiments, and will not be repeated here.

[0085] Figure 2 This is a schematic diagram of a vehicle valve control system according to an embodiment of this application, as shown below. Figure 2 As shown, the system includes the following: an interactive device 202, a power control module 204, and an engine control module 206.

[0086] The system includes an interactive device 202 for receiving a start command for the underwater navigation function; a power control module 204 connected to the interactive device for determining the target state the vehicle is to enter in response to the start command, wherein the target state is related to the underwater navigation function; an engine control module 206 connected to the power control module and multiple valves for diagnosing multiple valves corresponding to the engine in response to the target state being a preset state, obtaining multiple diagnostic results, wherein the multiple valves include valves in the engine's intake system and valves in the exhaust system, and different diagnostic results are used to characterize whether different valves have preset faults; in response to multiple diagnostic results indicating that the corresponding valves do not have preset faults, the system controls the multiple valves to close; the power control module is also used to control the vehicle to switch to the target state in response to the successful closure of multiple valves.

[0087] The technical solution proposed in this application is described below with reference to an optional embodiment. This application proposes a valve control strategy for the intake and exhaust systems in a hybrid vehicle's navigation mode. In navigation-related modes, after the power control module identifies the relevant mode, it sends a command to the engine control module. The engine control module then diagnoses the intake and exhaust valves and controls their closure. This application adopts the following technical solution: the intake and exhaust valves are designed to be normally open in their natural state. After receiving the navigation-related mode command, the power control module forwards the relevant navigation mode controller local area network to the engine control module and sends a command to shut down the engine. After receiving the shutdown command and navigation-related mode from the power control module, the engine control module shuts down the engine. After receiving the shutdown command and navigation-related mode from the power control module, the engine control module performs local area network bus communication diagnostics on the intake and exhaust valves. If a fault is found in the intake or exhaust valve, the engine malfunction indicator lamp is illuminated, and the fault information is reported to the power control module, refusing to switch to the navigation-related mode. After receiving the shutdown command and navigation-related mode from the power control module, the engine control module performs local area network (LAN) bus communication diagnostics on the intake and exhaust valves. If the valves are not faulty, the LAN bus communication controls the intake and exhaust valves to close. After confirming closure by collecting the valve opening signal, the controller LAN sends the intake and exhaust valve closure status to the power control module. Upon receiving the signal that the intake and exhaust valves are actually closed and that there are no navigation-related faults, the power control module switches the vehicle to navigation mode.

[0088] For the floating / deep wading or navigation function, the prerequisites include normal communication between the vehicle controller's local area network and the local interconnection network bus. Triggering conditions may include the vehicle completing normal preparation, the large screen triggering the function, and receiving a mode signal from the power control module for judgment and execution. When the power control module sends an engine shutdown command to the engine control module, it can be a command sent by the power control module to the engine control module (StopReq = 0x01). The power control module can also send signals indicating deep wading, navigating, wading on the water, or wading on the water pending inspection. The corresponding signals for the power control module modes could be deep wading (0x02), navigating (0x03), wading on the water (0x04), or wading on the water pending inspection (0x05). The engine control module can communicate via the local area network bus to send a shutdown command to the intake and exhaust valve controllers. The intake and exhaust valves can provide status feedback; the engine control module will provide feedback on the intake and exhaust valve status to the power control module. If the power control module determines that the valves are properly closed, it will enter deep wading or navigating mode. If the valves are not properly closed, an alarm will be triggered on the large screen. For floating / shallow wading or normal functions, the prerequisites are that the vehicle controller's local area network communication and local area network bus communication are normal. Triggering conditions may include the vehicle completing normal preparation; after the large screen is triggered, the power control module receives mode signals for judgment and execution. Execution output: When the power control module sends a signal to the engine control module indicating normal mode or shallow wading state (corresponding signals could be normal mode (0x00) or shallow wading state (0x01), the engine control module can send an opening command to the intake and exhaust valve controllers, and the intake and exhaust valves can provide feedback. The engine control module then sends feedback on the exhaust valve status to the power control module. Fault diagnosis: Preconditions may include the vehicle being in normal condition and the electronic control unit software being flashed correctly. Triggering conditions may include the vehicle completing normal preparation; the electronic control unit sending local area network bus communication commands to control the valves. Execution output: Exhaust and water-resistant valve local area network bus communication response error. When the electronic control unit detects an error in the local area network bus communication of the intake and exhaust systems, the engine malfunction indicator lamp (MILSts = 0x02) may illuminate. At this time, the intake and exhaust system valves remain fully open, and the electronic control unit reports to the power control module that the valves are invalid.

[0089] When the exhaust waterproof valve experiences an overpressure fault, and the electronic control unit (ECU) detects this fault in the intake and exhaust system valves via the local area network (LAN) bus communication, the engine malfunction indicator lamp (MILSts = 0x02) will illuminate. At this time, the intake and exhaust system valves will remain fully open, and the ECU will report that the power control module valve body is fully open. Similarly, when the exhaust waterproof valve experiences an overflow fault, and the ECU detects this fault in the intake and exhaust system valves via the LAN bus communication, the engine malfunction indicator lamp (MILSts = 0x02) will illuminate. At this time, the intake and exhaust system valves will remain fully open, and the ECU will report that the power control module valve body is fully open. Finally, when the exhaust waterproof valve experiences an overheat fault, and the ECU detects this fault in the intake and exhaust system valves via the LAN bus communication, the engine malfunction indicator lamp (MILSts = 0x02) will illuminate. At this time, the intake and exhaust system valves will remain fully open, and the ECU will report that the power control module valve body is fully open. When the exhaust valve is stalled, and the electronic control unit (ECU) detects an overpressure fault in the intake and exhaust system valves via the local area network (LAN) bus communication, the engine malfunction indicator lamp (MILSts = 0x02) may illuminate. At this time, the intake and exhaust system valves remain fully open, and the ECU reports that the power control module valve body is fully open. Conversely, if the exhaust valve lifecycle is incorrect, and the ECU detects a lifecycle error in the intake and exhaust system valves via the LAN bus communication, the engine malfunction indicator lamp (MILSts = 0x02) may illuminate. At this time, the intake and exhaust system valves remain fully open, and the ECU reports that the power control module valve body is invalid.

[0090] Table 1 below is the associated controller LAN signal table of this application:

[0091] Table 1. Local Area Network Signal Table of Associated Controllers

[0092]

[0093] Table 2 below shows the performance parameters of the exhaust valve or intake valve of this application:

[0094] Table 2 Performance Parameters of Exhaust Valve or Intake Valve

[0095] Performance indicators Parameter value Valve body angle range 0 degrees to 90 degrees, including any angle in between Angle control accuracy Within ±5 degrees, and increasing in increments of 5 degrees. Normal working environment -40℃-120℃ Operating voltage 12V, or 9V-16V Operating current <3A Dormant current <500uA Waterproof and dustproof rating IP69K Communication Protocol Local Area Network Bus Network Communication

[0096] Figure 3 This is a schematic diagram of an optional control interaction timing of a vehicle valve according to an embodiment of the present invention, such as... Figure 3As shown, the control interaction sequence of the vehicle valves includes the vehicle control unit, engine control module, intake valve control module, and exhaust valve control module. The valve closing process includes the vehicle control unit sending a signal to the engine control module. <1> The vehicle is notified to enter a preset state; the vehicle control unit sends a signal to the engine control module. <2> Sends engine shutdown command; Engine control module sends command to intake valve control module. <3> Request to close the intake valve; the engine control module sends a request to the exhaust valve control module. <4> Request the exhaust valves to close; the engine control module sends a request to the vehicle control unit. <5> Feedback on engine status; the intake valve control module sends data to the engine control module. <6> Feedback on the intake valve status; the engine control module sends data to the vehicle control unit. <7> Feedback on the intake valve status; the exhaust valve control module sends data to the engine control module. <8> Feedback on exhaust valve status; the engine control module sends data to the vehicle control unit. <9> Feedback on the exhaust valve status. The valve opening process includes the vehicle control unit sending a signal to the engine control module. <10> The vehicle is notified to exit the preset state; the engine control module sends a signal to the intake valve control module. <11> Request to open the intake valve; the engine control module sends a request to the exhaust valve control module. <12> Request to open the exhaust valve; the engine control module sends a request to the vehicle control unit. <13> Feedback on engine status; the intake valve control module sends data to the engine control module. <14> Feedback on the intake valve status; the engine control module sends data to the vehicle control unit. <15> Feedback on the intake valve status; the exhaust valve control module sends data to the engine control module. <16> Feedback on exhaust valve status; the engine control module sends data to the vehicle control unit. <17> Feedback on the exhaust valve status. The controller power-down process includes the intake valve control module performing... <18> The control module is powered down; the intake valve control module is activated. <19> The intake valve remains unchanged; the exhaust valve control module performs... <20> Control module powered down; exhaust valve control module activated. <21> The exhaust valve remains unchanged.

[0097] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

[0098] Embodiments of this application also provide a vehicle, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods described in various embodiments of this application when it runs.

[0099] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of this application.

[0100] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of this application.

[0101] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of this application.

[0102] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of this application.

[0103] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0105] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0106] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0107] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0108] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A control method of a vehicle valve, characterized by, The vehicle is equipped with underwater navigation capabilities and an engine, and the method includes: In response to the activation command for the underwater navigation function, the target state to be entered by the vehicle is determined, wherein the target state is related to the underwater navigation function; In response to the target state being a preset state, multiple valves corresponding to the engine are diagnosed respectively to obtain multiple diagnostic results. The multiple valves include valves in the engine's intake system and valves in the exhaust system. Different diagnostic results are used to characterize whether different valves have preset faults. In response to the fact that all the diagnostic results indicate that the corresponding valve does not have the preset fault, the multiple valves are controlled to close. In response to the successful closure of the plurality of valves, the vehicle is controlled to switch to the target state.

2. The method of claim 1, wherein, The target state includes one of the following: first wading state, navigation state, beaching state, state to be detected, second wading state, and normal state; the preset state includes one of the following: first wading state, navigation state, beaching state, and state to be detected; wherein, the water level corresponding to the first wading state is greater than the water level corresponding to the second wading state.

3. The method of claim 1, wherein, The process involves diagnosing multiple valves corresponding to the engine, resulting in multiple diagnostic results, including: Communication commands are sent to the plurality of valves via a local interconnection network, and communication responses are received from the plurality of valves, wherein the communication responses are used to characterize whether the corresponding valves are malfunctioning; The multiple diagnostic results are obtained based on the communication responses returned by the multiple valves.

4. The method of claim 3, wherein, Based on the communication responses returned by the multiple valves, multiple diagnostic results are obtained, including: The preset identifier in the communication response is identified to obtain the field value of the target field, wherein the preset identifier is used to characterize that the corresponding valve has a fault; Based on the field values, determine the fault type of the corresponding valve; In response to the fault type being a preset type, the diagnostic result is determined to indicate that the corresponding valve has the preset fault.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: In response to the fact that all of the diagnostic results indicate that the corresponding valve does not have the preset fault, the engine is shut down.

6. The method according to any one of claims 1 to 4, characterized in that, The method further includes: In response to any diagnostic result indicating that the corresponding valve has the preset fault, a first prompt message is output, and the state of the vehicle is kept unchanged, wherein the first prompt message is used to indicate that the corresponding valve has the preset fault.

7. The method according to any one of claims 1 to 4, characterized in that, The method further includes: In response to the target state not being a preset state, the plurality of valves are controlled to open; Preferably, the method further includes: In response to any valve failing to close or open, a second prompt message is output, wherein the second prompt message is used to indicate that any valve has failed to close or open. Preferably, the method further includes: In response to the vehicle being normal and the vehicle's communication network being normal, a status detection is performed on the vehicle to determine the target status.

8. A control system for a vehicle valve, characterized by The vehicle is equipped with underwater navigation capabilities and an engine; the system also includes: An interaction device is configured to receive an activation instruction for the water navigation function; A power control module is connected to the interaction device and configured to determine a target state of the vehicle to be entered in response to the activation instruction, wherein the target state has a correlation with the water navigation function; An engine control module is connected to the power control module and a plurality of valves, and configured to, in response to the target state being a preset state, diagnose the plurality of valves corresponding to the engine respectively to obtain a plurality of diagnosis results, wherein the plurality of valves include valves in an air intake system and valves in an exhaust system of the engine, and different diagnosis results are used to represent whether a preset fault exists in different valves; and in response to the plurality of diagnosis results all representing that the corresponding valves do not have the preset fault, the engine control module is configured to control the plurality of valves to be closed; The power control module is further configured to control the vehicle to switch to the target state in response to the plurality of valves being successfully closed.

9. A vehicle characterized by comprising: The computer readable storage medium comprises a stored executable program, wherein the executable program, when executed, controls a device where the storage medium is located to perform the method in any one of claims 1 to 7. The computer readable storage medium comprises a stored executable program, wherein the executable program, when executed, controls a device where the storage medium is located to perform the method in any one of claims 1 to 7. ​ 10. A computer-readable storage medium, characterized in that, ​

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