Vehicle control method, device and equipment and readable storage medium

Abstract

The embodiment of the invention provides a vehicle control method, device and equipment and a readable storage medium, and relates to the field of vehicle control. The method comprises the steps that water level data collected by a water level sensor in a vehicle is obtained; in response to the fact that the water level data meets the first requirement, the vehicle is controlled to be switched to a wading mode, and the wading mode is used for providing a control strategy for a power providing unit under the vehicle wading condition; acquiring operation state data of the power supply unit in the wading mode; and controlling the power supply unit based on the control strategy and the operation state data.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and in particular to a vehicle control method, apparatus, device, and readable storage medium. Background Technology

[0002] With the development of technology, users' demand for vehicles' wading capabilities is gradually increasing. Vehicle wading mode detection refers to the monitoring and adjustment of the vehicle's state when driving in wading environments through sensors and vehicle control systems installed in the vehicle, ensuring that the vehicle can drive safely on roads with great depth or uneven surfaces.

[0003] In related technologies, the difference between the vehicle's exhaust pressure and the exhaust port pressure is detected when the vehicle is in wading mode, and the engine operating point is dynamically adjusted to prevent stalling or power waste.

[0004] However, the above solution relies heavily on the exhaust pressure sensor. If the exhaust pressure sensor fails, the vehicle's control strategy may fail in the wading model. The power supply unit in the vehicle still needs to operate when wading, which poses a risk of water ingress and affects the engine's service life. Summary of the Invention

[0005] This application provides a vehicle control method, apparatus, device, and readable storage medium. The technical solution is as follows:

[0006] In one aspect, a vehicle control method is provided, the method comprising:

[0007] The water level data collected by the water level sensor inside the vehicle is obtained, and the water level data is used to indicate the distance between the vehicle chassis and the water surface.

[0008] In response to the water level data meeting the first requirement, the vehicle is controlled to switch to wading mode, the wading mode being used to provide a control strategy for the power supply unit when the vehicle is wading through water.

[0009] In the wading mode, the operating status data of the power supply unit is acquired, and the operating status data is used to express the power supply status of the power supply unit.

[0010] The power supply unit is controlled based on the control strategy and the operating status data.

[0011] On the other hand, a vehicle control device includes:

[0012] The acquisition module is used to acquire water level data collected by the water level sensor inside the vehicle, and the water level data is used to indicate the distance between the vehicle chassis and the water surface.

[0013] The control module is used to control the vehicle to switch to wading mode in response to the water level data meeting the first requirement. The wading mode is used to provide a control strategy for the power supply unit when the vehicle is wading.

[0014] The acquisition module is also used to acquire the operating status data of the power supply unit in the wading mode, and the operating status data is used to express the power supply unit's power supply status;

[0015] The control module is also used to control the power supply unit based on the control strategy and the operating status data.

[0016] On the other hand, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one program, the at least one program being loaded and executed by the processor to implement the vehicle control method as described above.

[0017] On the other hand, a computer-readable storage medium is provided, wherein at least one segment is stored in the storage medium, the at least one segment being loaded and executed by a processor to implement the vehicle control method as described above.

[0018] On the other hand, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium, wherein a processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform to implement the vehicle control method as described above.

[0019] The beneficial effects of the technical solutions provided in this application include at least the following:

[0020] Once the vehicle is confirmed to be in wading mode, the power supply unit is adaptively adjusted based on its own operating status data and the control strategy provided in wading mode. This prevents water from entering the power supply unit, ensuring its safety in wading mode. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This application shows a structural block diagram of a computer system provided in an exemplary embodiment;

[0023] Figure 2 A structural block diagram of a computer system provided in another exemplary embodiment of this application is shown;

[0024] Figure 3 A flowchart of a vehicle control method provided in an exemplary embodiment of this application is shown;

[0025] Figure 4 A flowchart of a vehicle control method provided in another exemplary embodiment of this application is shown;

[0026] Figure 5 This invention provides a structural block diagram of a vehicle control device according to an exemplary embodiment of the present application.

[0027] Figure 6 A structural block diagram of a computer device provided in an exemplary embodiment of this application is shown. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] In this application, the terms "first" and "second" are used to distinguish between identical or similar items that have essentially the same function. It should be understood that there is no logical or temporal dependency between "first" and "second", nor is there any limitation on the quantity or execution order.

[0030] Figure 1 A structural block diagram of a computer system provided in an exemplary embodiment of this application is shown. The execution process of the vehicle control method provided in this embodiment is described based on this structural block diagram. The computer system includes a vehicle 10, and the following process is described with the vehicle 10 as the execution subject.

[0031] Optionally, vehicle 10 includes at least one of the following: gasoline vehicle, electric vehicle, hybrid vehicle, fuel cell vehicle, solar vehicle, etc., wherein a hybrid vehicle refers to a combination of a gasoline vehicle and an electric vehicle.

[0032] In this embodiment, the vehicle 10 is implemented as a hybrid electric vehicle as an example for illustration.

[0033] Optionally, vehicle 10 includes a water level sensor and a power supply unit.

[0034] Among them, the water level sensor is used to collect water level data between the vehicle chassis and the water surface, and the power supply unit is the unit that provides power output to the vehicle 10.

[0035] Schematic illustration: when vehicle 10 is implemented as a hybrid vehicle, the power supply unit is implemented as an engine; when vehicle 10 is implemented as an electric vehicle, the power supply unit is implemented as a generator.

[0036] In this embodiment, vehicle 10 acquires water level data collected by a water level sensor; vehicle 10 determines whether the water level data meets a first requirement. When vehicle 10 determines that the water level data meets the first requirement, it controls the vehicle to switch to wading mode, wherein the wading mode is used to provide a control strategy for the power supply unit when the vehicle is wading through water.

[0037] Optionally, when the vehicle 10 is in wading mode, it acquires the operating status data of the power supply unit, and the vehicle 10 controls the power supply unit based on the control strategy and the operating status data.

[0038] In this embodiment, the vehicle 10 further includes a vehicle controller, which serves as the decision-making layer of the vehicle 10 and is primarily responsible for functions such as energy management strategies, mode switching, and vehicle component control. Optionally, the steps of acquiring water level data, determining whether the water level data meets the first requirement, and controlling the vehicle 10 to enter wading mode are executed by the vehicle controller.

[0039] It is worth noting that the above interaction method is only an exemplary example. In other embodiments, the vehicle control method described above is implemented by the coordination of vehicle 10 and server. Illustratively, vehicle 10 sends water level data collected by a water level sensor to the server. The server determines whether the water level data meets a first requirement. If the first requirement is met, a mode switching signal is generated for vehicle 10. The mode switching information refers to controlling vehicle 10 to switch to wading mode. The server sends the mode switching signal to vehicle 10. After receiving the mode switching signal, vehicle 10 controls itself to switch to wading mode. When vehicle 10 is in wading mode, vehicle 10 acquires the operating status data of the power supply unit and controls the power supply unit according to the operating status data and the control strategy provided by the wading mode.

[0040] Optionally, the server can be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud security, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware servers, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. In some embodiments, the server can also be implemented as a node in a blockchain system.

[0041] It should be noted that all information (including but not limited to water level data, operational status data, etc.), data (including but not limited to data used for analysis, stored data, and displayed data), and signals involved in this application have been authorized by the user or by all parties in full, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant regions. For example, the water level data and operational status data involved in this application were obtained with full authorization.

[0042] In this embodiment, when the vehicle is determined to be in wading mode, the power supply unit is adaptively adjusted based on its own operating status data and the control strategy provided in wading mode. This prevents water from entering the power supply unit and ensures its safety in wading mode.

[0043] In another alternative embodiment, such as Figure 2 As shown, Figure 2 A structural block diagram of a computer system according to another embodiment of this application is shown. The execution process of the vehicle control method provided in this embodiment is described based on this structural block diagram. The computer system includes a vehicle 20, which includes a first controller 200 and a second controller 210.

[0044] The first controller 200 is responsible for the vehicle's in-vehicle infotainment system, and the second controller 210 is responsible for coordinating the power supply and energy distribution among the battery units.

[0045] In illustrative terms, vehicle 20 is implemented as a hybrid electric vehicle. The first controller 200 is implemented as an in-vehicle head unit (IHU), and the second controller 210 is implemented as a hybrid control unit (HCU). The second controller 210 is mainly responsible for coordinating the energy distribution between the engine, generator, and battery unit, as well as controlling the operating mode of vehicle 20, such as controlling vehicle 20 to switch to wading mode.

[0046] In this embodiment, the first controller 200 receives water level data collected by a water level sensor inside the vehicle 20 and determines whether the water level data meets a first requirement. In response to the first controller 200 determining that the water level data meets the first requirement, a wading mode activation signal is generated, which instructs the second controller 210 to control the vehicle 20 to switch to wading mode.

[0047] The first controller 200 sends a water wading mode activation signal to the second controller 210.

[0048] The second controller 210 receives the wading mode activation signal and controls the vehicle 20 to switch to wading mode based on the wading mode activation signal.

[0049] When vehicle 20 successfully switches to wading mode, the second controller 210 acquires the operating status data of the power supply unit and controls the power supply unit based on the control strategy provided by the wading mode and the operating status data.

[0050] In this embodiment, the logic for determining whether to activate the wading mode is run independently by the first controller, and the switching of the wading mode and the operation of the power supply unit are controlled independently by the second controller. This achieves the effect of a layered control strategy, further improving the control efficiency of the vehicle in the wading mode and ensuring the operational safety of the power supply unit.

[0051] Based on the above, the vehicle control method provided in the embodiments of this application will be described. Figure 3 This is a flowchart of a vehicle control method provided in an exemplary embodiment of this application. In this embodiment, the method is executed by a vehicle, such as... Figure 3 As shown, the method includes the following steps.

[0052] Step 300: Obtain water level data collected by the water level sensor inside the vehicle.

[0053] Optionally, the vehicle can be one of the following: a gasoline-powered vehicle, an electric vehicle, a hybrid vehicle, a fuel cell vehicle, or a solar-powered vehicle. The vehicle includes a power supply unit that provides power; different types of vehicles correspond to different power supply units. For example, the power supply unit for a gasoline-powered vehicle is an engine, the power supply unit for an electric vehicle is a generator, and the power supply unit for a hybrid vehicle is an engine and / or a generator.

[0054] Optionally, a water level sensor is installed inside the vehicle. The water level sensor is used to collect water level data between the water surface and the vehicle chassis. In other words, the water level data refers to the distance between the vehicle chassis and the water surface.

[0055] Optionally, the location of the water level sensor may include, but is not limited to, at least one of the following: chassis, tires, body frame, vehicle exhaust port, vehicle air intake port, vehicle exhaust pipe, and vehicle air intake pipe.

[0056] Optionally, the number of water level sensors can be one, two or more, and this application does not limit this.

[0057] Indicatively, the water level sensor is located around the chassis exhaust pipe, or the water level sensor is located at each of the four tires.

[0058] Optionally, when the vehicle is powered on, the water level sensor periodically sends the water level data it collects to the vehicle's controller, which stores the water level data. In response to the controller storing the water level data for a certain period, the water level data is deleted. For example, the controller stores water level data 'a' sent by the water level sensor; if the storage time for water level data 'a' exceeds ten days, the water level data is deleted.

[0059] In some embodiments, when the vehicle is powered on, weather data is acquired. Weather data refers to the current weather conditions of the vehicle's environment, including sunny, rainy, cloudy, etc. In response to weather data indicating rain, the water level sensor is switched from an off state to an on state. When the water level sensor successfully switches to the on state, the water level data collected by the sensor is acquired.

[0060] In some embodiments, a humidity sensor is also installed inside the vehicle to detect humidity data of the ground corresponding to the vehicle chassis. When the vehicle is powered on, the humidity data collected by the humidity sensor is acquired. In response to the humidity data meeting a preset humidity requirement, the water level sensor is controlled to switch from a closed state to an active state. When the water level sensor successfully switches to the active state, the water level data collected by the water level sensor is acquired.

[0061] In some embodiments, sound sensors are installed on the vehicle tires and / or chassis to collect sound data when the tires rub against the ground. When the vehicle is powered on, the sound data collected by the sound sensors is acquired; in response to the sound data matching preset sound data, the water level sensor is controlled to switch from a closed state to an active state. The preset sound data is pre-set by relevant personnel and refers to the sound data when the tires rub against the waterlogged ground.

[0062] In a schematic manner, sound data collected by a sound sensor is acquired, sound features are extracted from the sound data, and the sound features corresponding to the sound data are compared with preset sound features corresponding to preset sound data. When the overlap between the sound features and the preset sound features reaches a preset percentage requirement, it is determined that the vehicle is in a flooded section of road, and the water level sensor is controlled to switch from an off state to an on state. When the water level sensor successfully switches to the on state, the water level data collected by the water level sensor is acquired. The sound features include, but are not limited to, at least one of the following: sound peak value, sound pressure level, peak factor, and impulse index.

[0063] In another embodiment, water level data is determined using distance data collected by a distance sensor and ground images captured by a camera.

[0064] Optionally, both the distance sensor and the camera are located in the vehicle chassis area. The camera captures ground images corresponding to the area covered by the chassis. The ground images are identified, and if water accumulation is detected, the distance sensor is switched from an off state to an on state. When the distance sensor successfully switches to the on state, it begins collecting distance data between itself and the water surface corresponding to the water accumulation area. The water level data is obtained based on the difference between the distance data from the ground and the distance data from the water surface.

[0065] It is worth noting that the above-described method for determining water level data is merely an example. Other sensors or technologies can also be used to determine the water level data between the chassis and the water surface, and this application does not limit this.

[0066] After obtaining the water level data, the vehicle can also provide users with different warning information based on the water level data.

[0067] Optionally, in response to the water level data being less than the fifth value, a first warning message is displayed on the instrument panel display screen inside the vehicle. This first warning message indicates that the vehicle is currently in a flooded area. The first warning message can be any one or more of the following: text, image, video, or audio. For example, the first warning message may be displayed as the text "Vehicle is in a flooded area, please drive with caution!" on the instrument panel display screen and the central control display screen, and may also be played as an audio message within the vehicle.

[0068] In response to a water level data that is greater than or equal to a fifth value and less than or equal to a sixth value (where the sixth value is greater than the fifth value), a second prompt message is displayed on the vehicle's instrument panel display screen. This second prompt message informs the vehicle that it is currently in a flooded area and has entered wading mode. The second prompt message can be any one or more of the following: text, image, video, or audio. For example, the second prompt message may be displayed as the text "Vehicle has entered a flooded area and is about to enter wading mode!" on the instrument panel display screen and the central control display screen, and may also be played in the vehicle's interior.

[0069] In response to the water level data exceeding the sixth value, the vehicle is stopped and a third prompt message is displayed, indicating that the vehicle is currently awaiting transport. This third prompt message can be any one or more of the following: text, image, video, or audio. For example, the third prompt message "Vehicle awaiting transport, please wait!" is displayed on the instrument panel and central control screen, and is also played inside the vehicle.

[0070] The display positions and display methods of the first, second, and third prompt messages may be the same or different, and this application does not limit them.

[0071] Indicatively, the first, second, and third prompt messages are displayed in text form on the instrument display screen. The transparency of the first prompt message is lower than that of the second prompt message, which is lower than that of the third prompt message. Alternatively, the font size of the first prompt message is smaller than that of the second prompt message, which is smaller than that of the third prompt message.

[0072] Step 310: In response to the water level data meeting the first requirement, control the vehicle to switch to wading mode.

[0073] Optionally, the first requirement is that the water level data is less than the sixth value and greater than the fifth value. That is, in response to the water level data being less than the sixth value and greater than the fifth value, the vehicle is controlled to switch to wading mode.

[0074] Wading mode is a vehicle control mode applied to scenarios where vehicles are driving through flooded areas. Wading mode is used to provide control strategies for the power supply unit when the vehicle is wading through water.

[0075] Optionally, the control strategy includes, but is not limited to, adjusting the operating state and the running state of the power supply unit. The operating state includes a running state and a stopped running state. The running state indicates that the power supply unit continuously provides power to the vehicle, and the stopped running state indicates that the power supply unit stops providing power to the vehicle. The running state includes a start state and a ready-to-shut-down state. The start state indicates that the power supply unit is ready to provide power to the vehicle, and the ready-to-shut-down state indicates that the power supply unit is ready to stop providing power to the vehicle.

[0076] In other embodiments, the control strategy also includes a chassis control strategy for adjusting the distance between the chassis and the ground or the distance between the chassis and the water surface. Illustratively, when the vehicle is in wading mode, the chassis is controlled to rise to a target position.

[0077] In other embodiments, the vehicle is switched to wading mode via voice control commands.

[0078] In other embodiments, the instrument cluster display and the central control display show functional controls for turning the wading mode on or off. When the vehicle is in power-on mode, the wading mode is not activated by default. Upon receiving a trigger operation on the functional controls, the vehicle switches to wading mode; upon receiving another trigger operation on the functional controls, the vehicle deactivates the wading mode. In other words, when the vehicle is not in wading mode, triggering the functional controls switches to wading mode; when the vehicle is in wading mode, triggering the functional controls deactivates the wading mode.

[0079] In other embodiments, a communication connection is established between the vehicle and the mobile terminal. In response to receiving a mode-on signal sent by the mobile terminal, the vehicle is controlled to switch to wading mode; in response to receiving a mode-off signal sent by the mobile terminal, the vehicle is controlled to turn off wading mode.

[0080] When the vehicle is not in wading mode, the power supply unit is in normal start / stop and normal operating state.

[0081] Step 320: Acquire the operating status data of the power supply unit in wading mode.

[0082] Optionally, operating status data refers to the data generated by the power supply unit when providing power to the vehicle, which is used to express the state of the power supply unit providing power.

[0083] Operating status data includes at least one of the following: intake air flow, exhaust air flow, intake air temperature, exhaust air temperature, pressure data of the turbocharger in the power supply unit, valve opening, coolant temperature, speed, and torque data.

[0084] Once the vehicle successfully switches to wading mode, the operating status data is determined based on the operating and working status of the power supply unit.

[0085] In some embodiments, a flow sensor, a temperature sensor, a speed sensor, a distance sensor, a pressure sensor, etc., are arranged around the power supply unit. The flow sensor is used to collect the intake air flow and exhaust air flow of the power supply unit, the temperature sensor is used to collect the intake air temperature, exhaust air temperature, and coolant temperature of the power supply unit, the speed sensor is used to collect the rotational speed data of the power supply unit, the distance sensor is used to determine the valve opening, and the pressure sensor is used to collect the pressure data of the turbocharger.

[0086] In other embodiments, the operating status data of the power supply unit can also be determined by other means, which are not limited in this application.

[0087] Step 330: Control the power supply unit based on the control strategy and operating status data.

[0088] Optionally, different operating status data correspond to different control strategies; that is, the corresponding control strategy is executed according to the operating status data of the power supply unit.

[0089] Optionally, the control strategy includes, but is not limited to, at least one of the following: prohibiting the power supply unit from starting, prohibiting the power supply unit from stopping, controlling the power supply unit to exit the startup process while it is in the startup phase, and controlling the power supply unit to complete the shutdown process.

[0090] In an optional embodiment, in response to the operating status data meeting a first operating requirement, a control strategy to prevent the power supply unit from shutting down is executed, wherein the first operating requirement refers to the operating status data indicating that the power supply unit is currently in an operating state.

[0091] In response to the operating status data meeting the second operating requirement, a control strategy is executed to prohibit the power supply unit from starting. The second operating requirement refers to the operating status data indicating that the power supply unit is currently in an inactive state, that is, in a shut-off state.

[0092] In response to the operating status data meeting the third operating requirement, a control strategy is executed to control the power supply unit to exit the startup state when it is in the startup state and to prohibit the power supply unit from starting. The third operating requirement refers to the operating status data indicating that the power supply unit is in the startup state, that is, in the state of being ready to provide power to the vehicle.

[0093] In response to the operating status data meeting the fourth operating requirement, the control strategy of controlling the power supply unit to complete the shutdown and prohibiting the power supply unit from starting is executed. The fourth operating requirement refers to the operating status data indicating that the power supply unit is in a ready-to-shut-down state.

[0094] In this embodiment of the application, the operating status data includes the rotational speed data of the power supply unit.

[0095] In wading mode, the rotational speed data of the power supply unit is acquired, and the power supply unit is controlled based on the control strategy and the rotational speed data.

[0096] Optionally, in response to the speed data exceeding a preset value, the operating state of the power supply unit is controlled to be in a "no-stop" state, whereby the "no-stop" state indicates that the power supply unit is not allowed to stop supplying power to the vehicle. That is, when the speed data exceeds the preset value, a control strategy prohibiting the power supply unit from stopping is executed.

[0097] In response to the speed data being less than or equal to a preset value, the change data of the speed data is determined, wherein the change data is used to indicate whether the speed data is increasing or decreasing; the power supply unit is controlled according to the change data.

[0098] Schematic, in response to the change in the data indicating that the rotational speed increases from a first value to a second value, the power supply unit is controlled to stop entering the starting state, where the first value is less than the second value and the second value is less than a preset value. That is, when the change in the data indicates that the rotational speed increases from the first value to the second value, the control strategy of controlling the power supply unit to exit the starting state when it is in the starting state and preventing the power supply unit from starting is executed.

[0099] In response to the change data indicating that the rotational speed decreases from a third value to a fourth value, the power supply unit is shut down if the third value is greater than the fourth value and less than the preset value. That is, when the change data indicates that the third value of the rotational speed decreases to the fourth value, a control strategy is executed to control the power supply unit to stop and prevent its start-up.

[0100] In this application, the first and fourth values ​​are both implemented as 0, and the third and fourth values ​​are implemented as numbers greater than 0. The third and fourth values ​​can be the same or different, and this application does not limit this.

[0101] In another optional embodiment, in response to the vehicle successfully switching to wading mode, the state of charge (SOC) of the battery cells in the vehicle is obtained, and the vehicle's driving speed is obtained. In response to the SOC meeting preset charge requirements and the driving speed meeting preset driving requirements, the power supply unit is shut down; that is, a control strategy is executed to control the power supply unit to complete shutdown and prevent the power supply unit from starting.

[0102] To illustrate, when the vehicle successfully switches to wading mode, the state of charge (SBC) of the vehicle's battery cells is measured at 28%, and the vehicle's speed is measured at 2 km / h. Since the SBC of 28% is greater than the preset SBC requirement of 18%, and the speed of 2 km / h is less than the preset driving speed requirement of 8 km / h, the power supply unit is shut down.

[0103] In other embodiments, the vehicle does not switch to or activate the wading mode by default after powering on.

[0104] In this embodiment, the vehicle is a hybrid electric vehicle, and the power supply unit is an engine. When the vehicle successfully switches to wading mode, the state of charge (SOC) of the battery cells in the vehicle is acquired, as well as the vehicle's driving speed. In response to the SOC meeting preset charging requirements and the driving speed meeting preset driving requirements, the generator is controlled to drive the vehicle, and the power supply unit is shut down.

[0105] In this embodiment, when the vehicle is determined to be in wading mode, the power supply unit is adaptively adjusted based on its own operating status data and the control strategy provided in wading mode. This prevents water from entering the power supply unit and ensures its safety in wading mode.

[0106] Based on the above, the vehicle control method provided in the embodiments of this application will be described. Figure 4 This is a flowchart of a vehicle control method provided in an exemplary embodiment of this application. In this embodiment, the method is executed by a terminal, such as... Figure 4 As shown, the method includes the following steps.

[0107] Step 400: Vehicle power-on initialization.

[0108] Optionally, vehicle power-on initialization refers to the process by which various control systems and electronic components within the vehicle sequentially complete self-checks, status determination, parameter loading, and network wake-up after the vehicle's power state switches from off to on.

[0109] Optionally, the timing sequence for vehicle power-on initialization includes power establishment, control system self-test, sensor / actuator self-test, wake-up to the network, parameter loading, and status arbitration.

[0110] Step 401: The first controller executes the power-on configuration process.

[0111] In this embodiment of the application, the first controller is implemented as an IHU.

[0112] When the vehicle is powered on, the first controller turns off the wading mode by default. When the vehicle is powered off, the controller does not remember the wading mode's on / off state. That is, the wading mode will be turned off by default the next time the vehicle is powered on.

[0113] Step 402: Determine whether the user has performed a wading mode on / off operation through the first controller.

[0114] Optionally, the first controller detects whether it has received an on / off signal for the wading mode.

[0115] In this embodiment, when a user triggers a control for the wading mode on the instrument display or the central control display, it is determined that the user has performed a wading mode on / off operation through the first controller. The first controller generates a wading mode activation signal, which is used to turn the wading mode on or off.

[0116] When a user turns the wading mode on or off via voice control or a mobile terminal, it is determined that the user is not turning the wading mode on or off through the first controller.

[0117] Optionally, if it is determined that the user performs the wading mode opening / closing operation through the first controller, then steps 403 to 412 are executed; if it is determined that the user does not perform the wading mode opening / closing operation through the first controller, then steps 413 to 422 are executed.

[0118] Step 403: The first controller sends a wading mode activation signal to the second controller. After receiving the wading mode signal, the second controller determines the activation status of the wading mode.

[0119] Optionally, the second controller receives the wading mode activation signal and determines the wading mode activation status, which includes indicating that the vehicle has switched to wading mode and that the vehicle has not switched to wading mode.

[0120] When the vehicle is in wading mode, the second controller controls the vehicle to turn off wading mode upon receiving a wading mode activation signal. When the vehicle is not in wading mode, the first controller controls the vehicle to switch to wading mode upon receiving a wading mode activation signal.

[0121] Step 404: Determine whether the activation status indicates that the vehicle has not switched to wading mode.

[0122] Optionally, if the vehicle is not switched to wading mode when the activation status indicates that the vehicle is activated, proceed with steps 405 to 410 below; if the vehicle is switched to wading mode when the activation status indicates that the vehicle is activated, proceed with steps 411 to 412 below.

[0123] Step 405: The second controller controls the vehicle to switch to wading mode.

[0124] The wading mode provides control strategies for the engine when the vehicle is wading through water.

[0125] Optionally, the control strategy includes, but is not limited to, adjusting the engine's operating state and adjusting the engine's running state.

[0126] The operating status includes a running status and a stopped running status. The running status indicates that the engine continues to provide power to the vehicle, while the stopped running status indicates that the engine has stopped providing power to the vehicle. The operating status includes a start status and a ready-to-shut-down status. The start status indicates that the engine is ready to provide power to the vehicle, while the ready-to-shut-down status indicates that the engine is ready to stop providing power to the vehicle.

[0127] In other embodiments, the control strategy also includes a chassis control strategy for adjusting the distance between the chassis and the ground or the distance between the chassis and the water surface. Illustratively, when the vehicle is in wading mode, the chassis is controlled to rise to a target position.

[0128] Control strategies include, but are not limited to, at least one of the following: prohibiting engine starting, prohibiting engine shutdown, controlling the engine to exit the starting process while it is starting, and controlling the engine to complete shutdown.

[0129] Step 406: The second controller acquires the engine speed data and determines whether the speed data is greater than 1500 rpm.

[0130] Optionally, if the speed data is greater than 1500 rpm, perform step 407 below; if the speed data is less than or equal to 1500 rpm, perform steps 408 to 410 below.

[0131] Step 407: The second controller prevents the engine from stopping.

[0132] Optionally, "Prevent Engine Shutdown" is used to indicate that the engine is not allowed to stop providing power to the vehicle. That is, when the engine speed is greater than 1500 rpm, the control strategy of preventing engine shutdown is executed.

[0133] Please refer to step 330 above for the specific process of this step, which will not be repeated here.

[0134] Step 408: In response to the change in engine speed data indicating that the engine is in the starting process, the second controller controls the engine to stop the engine starting process.

[0135] Optionally, in response to a change in engine speed data indicating that the engine speed data increases from a first value to a second value, a control strategy is executed to control the engine to exit the start-up process and to prevent the engine from starting.

[0136] The second value is less than 1500 rpm.

[0137] Step 409: In response to the change in engine speed data indicating that the engine is in the process of stopping, the second controller controls the engine to stop and then controls the engine to prevent it from starting.

[0138] Optionally, in response to a change in the engine speed data indicating that the engine speed data decreases from a third value to a fourth value, a control strategy is executed to control the engine to complete a shutdown and to prevent the engine from starting.

[0139] The third value is less than 1500 rpm.

[0140] Step 410: In response to the speed data indicating that the engine is not running or the vehicle is currently driven by the generator and the state of charge of the battery cell is less than the preset charge requirement, the second controller controls the engine to be prohibited from starting.

[0141] Optionally, when the engine speed data is 0, it is determined that the engine is not running.

[0142] The preset charge requirement indicates a state of charge of 18%.

[0143] That is, when the engine is not running, the second controller prevents the engine from starting; or, when the vehicle is currently driven by the engine and the battery cell's state of charge is less than 18%, the second controller prevents the engine from starting.

[0144] Step 411: The second controller controls the vehicle to turn off the wading mode.

[0145] Optionally, the second controller can control the vehicle to exit the wading mode and enter normal driving mode.

[0146] Step 412: The second controller restores the normal engine start-stop control logic.

[0147] Optionally, after exiting the wading mode, the second controller controls the engine to resume normal start-stop logic and operate according to the user's driving operation.

[0148] Step 413: The first controller determines whether the vehicle is currently driven solely by the generator and whether the battery cell charge data is greater than 18% and the vehicle speed is less than 8 km / h.

[0149] Optionally, when it is determined that the vehicle is not driven solely by the generator, and the battery cell charge data is greater than 18% and the vehicle speed is less than 8 km / h, steps 414 to 421 are performed below; when it is determined that the vehicle is driven solely by the generator, and the battery cell charge data is greater than 18% and the vehicle speed is less than 8 km / h, step 422 is performed below.

[0150] Step 414: If the user does not perform any operation, the first controller makes an intelligent judgment based on the water level data collected by the water level sensor.

[0151] Optionally, after step 413, the first controller executes step 402. If it detects that the user has not performed the operation of turning the wading mode on / off, it activates the water level sensor to collect the water level data of its distance from the water surface and determines the relationship between the water level data and the preset value. Please refer to the following steps for details.

[0152] Step 415: The first controller determines whether the water level data is less than 15cm.

[0153] Optionally, if the first controller determines that the water level data is less than 15cm, then step 416 is executed; if the first controller determines that the water level data is greater than or equal to 15cm, then steps 417 to 422 are executed.

[0154] Optionally, the water level sensor can be installed near the exhaust pipe on the vehicle chassis.

[0155] Step 416: The first controller sends a first prompt signal to the instrument display screen through a preset communication protocol.

[0156] Optionally, the default communication protocol refers to the serial communication protocol.

[0157] Optionally, the first warning signal includes a first warning message, which is an event-type signal. The first warning message is used to inform the vehicle that it is currently in a flooded section of road. The first warning message can be any one or more of the following: text, image, video, or audio. For example, the first warning message may be displayed as the text "Vehicle is in a flooded section of road, please drive with caution!" on the instrument panel and central control screen, and may also be played as an audio message within the vehicle.

[0158] Step 417: The first controller determines whether the water level data is greater than or equal to 15cm and less than or equal to 40cm.

[0159] Optionally, when the first controller determines that the water level data is within the range of 15cm to 40cm (inclusive), step 405 above is executed; when the first controller determines that the water level is not within the range of 15cm to 40cm (inclusive), steps 418 to 422 below are executed.

[0160] Optionally, the water level sensor is installed at the front grille.

[0161] Step 418: The first controller determines whether the water level data is greater than 40cm.

[0162] Optionally, when the first controller determines that the water level data is greater than 40cm, steps 419 to 422 are executed.

[0163] Optionally, the water level sensor can be installed near the air inlet.

[0164] Step 419: The first controller sends a second prompt signal to the instrument display screen through a preset communication protocol.

[0165] Optionally, the default communication protocol refers to the serial communication protocol.

[0166] Optionally, the second prompt signal includes a second prompt message. This prompt signal is an event-type signal. The second prompt message is used to inform the vehicle that it is currently in a flooded section of road and has entered wading mode. The second prompt message can be any one or more of the following: text, image, video, or audio. For example, the second prompt message may be displayed as the text "Vehicle has entered a flooded section of road and is about to enter wading mode!" on the instrument panel display and the central control display, and may also be played inside the vehicle.

[0167] Step 420: The first controller determines whether the vehicle's speed is greater than 3 km / h.

[0168] Optionally, if the first controller determines that the vehicle's speed is greater than 3 km / h, then step 405 is executed; if the first controller determines that the vehicle's speed is less than or equal to 3 km / h, then step 421 is executed.

[0169] Step 421: The first controller or the second controller controls the vehicle to stop moving and displays a third prompt message on the instrument display screen.

[0170] Optionally, the third notification message can be any one or more of the following: text, image, video, and audio. For example, the third notification message "Vehicle awaiting transport, please wait!" may be displayed on the instrument panel and central control screen, and may also be played inside the vehicle.

[0171] Step 422: The first controller or the second controller controls the vehicle to be driven solely by the generator.

[0172] Optionally, upon detecting that the vehicle has entered pure electric driving mode, a control strategy that prohibits engine starting is implemented, and the vehicle is driven solely by the generator.

[0173] In this embodiment, when the vehicle is determined to be in wading mode, the power supply unit is adaptively adjusted based on its own operating status data and the control strategy provided in wading mode. This prevents water from entering the power supply unit and ensures its safety in wading mode.

[0174] Please see Figure 5 The diagram illustrates a structural block diagram of a vehicle control device provided in another exemplary embodiment of this application. The device is executed by an on-board terminal and includes the following components.

[0175] The acquisition module 500 is used to acquire water level data collected by the water level sensor inside the vehicle, and the water level data is used to indicate the distance between the vehicle chassis and the water surface.

[0176] Control module 510 is used to control the vehicle to switch to wading mode in response to the water level data meeting the first requirement. The wading mode is used to provide a control strategy for the power supply unit when the vehicle is wading.

[0177] The acquisition module 500 is further configured to acquire the operating status data of the power supply unit in the wading mode, and the operating status data is used to express the power supply unit's power supply status.

[0178] The control module 510 is also used to control the power supply unit based on the control strategy and the operating status data.

[0179] In some embodiments, the operating status data includes the rotational speed data of the power supply unit;

[0180] The acquisition module 500 is also used to acquire the rotational speed data of the power supply unit in the wading mode;

[0181] The control module 510 is also used to control the power supply unit based on the control strategy and the speed data.

[0182] In some embodiments, the control module 510 is further configured to control the working state of the power supply unit to be in a prohibited shutdown state in response to the rotational speed data being greater than a preset value. The prohibited shutdown state is used to indicate that the power supply unit is not allowed to stop supplying power to the vehicle.

[0183] The acquisition module 500 is further configured to determine the change data of the rotational speed data in response to the rotational speed data being less than or equal to the preset value;

[0184] The control module 510 is also used to control the power supply unit according to the change data.

[0185] In some embodiments, the control module 510 is further configured to control the power supply unit to stop entering the start state in response to the change data indicating that the rotational speed data increases from a first value to a second value, wherein the first value is less than the second value and the second value is less than the preset value;

[0186] The control module 510 is further configured to shut down the power supply unit in response to the change data indicating that the third value of the rotational speed data decreases to the fourth value, wherein the third value is greater than the fourth value and the third value is less than the preset value.

[0187] In some embodiments, the acquisition module 500 is further configured to acquire the state of charge of the battery cells in the vehicle and the driving speed of the vehicle in response to the vehicle successfully switching to the wading mode.

[0188] The control module 510 is further configured to shut down the power supply unit in response to the state of charge meeting a preset charge requirement and the driving speed meeting a preset driving requirement.

[0189] In some embodiments, the control module 510 is further configured to display a first prompt message on the instrument display screen inside the vehicle in response to the water level data being less than a fifth value. The first prompt message is used to indicate that the vehicle is currently in a flooded section of road.

[0190] The control module 510 is also configured to control the vehicle to switch to the wading mode in response to the water level data being greater than or equal to the fifth value and less than or equal to the sixth value.

[0191] The control module 510 is also configured to, in response to the water level data being greater than the sixth value, control the vehicle to stop driving and display a third prompt message, the third prompt message being used to indicate that the vehicle is currently in a waiting-for-shipment state.

[0192] In this embodiment, when the vehicle is determined to be in wading mode, the power supply unit is adaptively adjusted based on its own operating status data and the control strategy provided in wading mode. This prevents water from entering the power supply unit and ensures its safety in wading mode.

[0193] Figure 6This illustration shows a structural block diagram of a computer device 600 provided in an exemplary embodiment of this application. The computer device 600 can be a portable mobile terminal, such as a smartphone, tablet computer, MP3 player (Moving Picture Experts Group Audio Layer III), MP4 player (Moving Picture Experts Group Audio Layer IV), laptop computer, or desktop computer. The computer device 600 may also be referred to as a user device, portable terminal, laptop terminal, desktop terminal, or other names. Optionally, the computer device 600 can also be implemented as a mobile device, such as a vehicle-mounted terminal or other portable smart terminal.

[0194] Typically, computer device 600 includes a processor 601 and a memory 602.

[0195] Processor 601 may include one or more processing cores, such as a 6-core processor. Processor 601 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 601 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 601 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 601 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0196] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 602 are used to store at least one instruction, which is executed by the processor 601 to implement the model training method or behavior encoding method provided in the method embodiments of this application.

[0197] This application also provides a computer-readable storage medium storing at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the vehicle control method provided in the above-described method embodiments.

[0198] This application provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle control method provided in the above-described method embodiments.

[0199] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware, or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk. The above descriptions are merely optional embodiments of this application and are not intended to limit the application. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: The water level data collected by the water level sensor inside the vehicle is obtained, and the water level data is used to indicate the distance between the vehicle chassis and the water surface. In response to the water level data meeting the first requirement, the vehicle is controlled to switch to wading mode, the wading mode being used to provide a control strategy for the power supply unit when the vehicle is wading through water. In the wading mode, the operating status data of the power supply unit is acquired, and the operating status data is used to express the power supply status of the power supply unit. The power supply unit is controlled based on the control strategy and the operating status data.

2. The method according to claim 1, characterized in that, The operating status data includes the rotational speed data of the power supply unit; The acquisition of the operating status data of the power supply unit in the water-crossing mode includes: The rotational speed data of the power supply unit is acquired in the wading mode; The control of the power supply unit based on the control strategy and the operating status data includes: The power supply unit is controlled based on the control strategy and the speed data.

3. The method according to claim 2, characterized in that, The control of the power supply unit based on the control strategy and the speed data includes: In response to the rotational speed data being greater than a preset value, the operating state of the power supply unit is controlled to be in a no-stop state, which indicates that the power supply unit is not allowed to stop supplying power to the vehicle; In response to the speed data being less than or equal to the preset value, the change data of the speed data is determined; the power supply unit is controlled according to the change data.

4. The method according to claim 3, characterized in that, The control of the power supply unit based on the changed data includes: In response to the change data indicating that the rotational speed data increases from a first value to a second value, the power supply unit is controlled to stop entering the start state, where the first value is less than the second value and the second value is less than the preset value; In response to the change data indicating that the third value of the rotational speed data decreases to the fourth value, the power supply unit is turned off, wherein the third value is greater than the fourth value and the third value is less than the preset value.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: In response to the vehicle successfully switching to the wading mode, the state of charge of the battery cells in the vehicle is obtained, and the vehicle's driving speed is obtained. In response to the state of charge meeting the preset charge requirement and the driving speed meeting the preset driving requirement, the power supply unit is turned off.

6. The method according to any one of claims 1 to 4, characterized in that, The method further includes: In response to the water level data being less than the fifth value, a first prompt message is displayed on the instrument display screen inside the vehicle, the first prompt message being used to indicate that the vehicle is currently in a flooded section of road; In response to the water level data being greater than or equal to the fifth value and less than or equal to the sixth value, the vehicle is controlled to switch to the wading mode; In response to the water level data being greater than the sixth value, the vehicle is controlled to stop moving and a third prompt message is displayed, which indicates that the vehicle is currently in a waiting-for-shipment state.

7. A vehicle control device, characterized in that, The device includes: The acquisition module is used to acquire water level data collected by the water level sensor inside the vehicle, and the water level data is used to indicate the distance between the vehicle chassis and the water surface. The control module is used to control the vehicle to switch to wading mode in response to the water level data meeting the first requirement. The wading mode is used to provide a control strategy for the power supply unit when the vehicle is wading. The acquisition module is also used to acquire the operating status data of the power supply unit in the wading mode, and the operating status data is used to express the power supply unit's power supply status; The control module is also used to control the power supply unit based on the control strategy and the operating status data.

8. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one program, which is loaded and executed by the processor to implement the vehicle control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The storage medium stores at least one program segment, which is loaded and executed by a processor to implement the vehicle control method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes computer instructions stored in a computer-readable storage medium, a processor of a computer device reading the computer instructions from the computer-readable storage medium, and the processor executing the computer instructions to cause the computer device to perform the vehicle control method as described in any one of claims 1 to 6.

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