Vehicle accumulated water removing method, vehicle and storage medium

Abstract

The invention discloses a vehicle accumulated water removing method, a vehicle and a storage medium, and relates to the technical field of vehicle electric control. According to the scheme, the vehicle is controlled to run, efficient drainage is achieved through inertia force generated by kinetic energy of the vehicle, and the specific implementation process comprises the steps that whether the vehicle meets the triggering condition of a preset accumulated water removing mode or not is monitored in real time; once the conditions are met, the vehicle is automatically controlled to enter a special accumulated water removing mode; in the mode, the vehicle is accurately controlled to execute a series of preset speed change operations, so that accumulated water on the surface of the vehicle body is effectively guided to be quickly discharged through inertia force generated by the speed change operations, and the purpose of automatically removing the accumulated water is achieved.

Description

Technical Field

[0001] This application relates to the field of vehicle electronic control technology, and in particular to a method for removing water accumulation in a vehicle, a vehicle, and a storage medium. Background Technology

[0002] During daily use, some flat surfaces of a vehicle (such as the roof, hood, and trunk lid) are prone to water accumulation under certain conditions. If this water cannot be automatically removed in time, relying solely on natural air drying is inefficient. Long-term retention may lead to safety hazards such as rust on the vehicle surface, aging and leakage at component joints, or interference with the normal operation of external sensors.

[0003] Currently, cleaning up water accumulation on the exterior of vehicles mostly relies on passive air drying or manual wiping, which suffers from problems such as untimely cleaning, low efficiency, and lack of automation. Summary of the Invention

[0004] To address the problem in existing technologies where there is a lack of intelligent and automatic means to remove water accumulation on the exterior of vehicle bodies, relying instead on manual wiping, this application provides a method for removing water accumulation on vehicles, a vehicle, and a storage medium. The technical solution is as follows: A method for removing water from a vehicle includes: Monitor whether the vehicle meets the trigger conditions for the water clearing mode; If the conditions are met, the vehicle is controlled to enter the water clearing mode; In the water removal mode, the vehicle is controlled to perform a preset gear shift operation to remove the water on the vehicle through the inertial force generated by the gear shift.

[0005] This application aims to address the inefficiencies and safety hazards caused by existing technologies that rely on passive air drying and manual cleaning of vehicle water, and proposes an automatic vehicle water removal solution. This solution utilizes the kinetic energy and inertia generated by the vehicle's movement to achieve efficient drainage. The specific implementation process includes: first, real-time monitoring to determine if the vehicle meets the preset trigger conditions for a water removal mode; once the conditions are met, the vehicle is automatically controlled to enter a dedicated water removal mode; in this mode, the vehicle is precisely controlled to perform a series of preset gear shifting operations, and the resulting inertial force effectively guides the water on the vehicle's surface to drain rapidly, thereby achieving the purpose of automatically removing water. The technical effects of this application's embodiments are multifaceted: First, it realizes the transformation from passive waiting to active removal, significantly improving the immediacy and efficiency of water removal, and effectively preventing long-term risks such as vehicle body corrosion, seal aging, and sensor performance degradation caused by water retention; Second, by utilizing the vehicle's existing power system to perform the operation, there is no need to install complex dedicated drainage mechanisms, demonstrating the advantage of low-modification implementation; Third, without manual intervention, it optimizes the user experience and fundamentally eliminates dynamic safety hazards such as sudden water pouring down and obstructing vision, comprehensively enhancing the safety and reliability of vehicle use.

[0006] Optionally, controlling the vehicle to enter the water clearing mode includes: sending a prompt message to the driver of the vehicle to activate the water clearing mode; and controlling the vehicle to enter the water clearing mode after receiving a confirmation instruction from the driver based on the prompt message. This technical solution, by introducing a driver confirmation mechanism, effectively improves the safety of function activation and the rationality of human-machine interaction: on the one hand, the system does not execute immediately after meeting the automatic triggering conditions, but instead prompts the driver to ensure that the driver is fully informed and prepared for the upcoming operation, avoiding sudden entry into the mode in complex road conditions or unexpected situations that could interfere with normal driving; on the other hand, giving the final execution power to the driver respects the user's decision-making role in vehicle control and prevents unnecessary intervention due to system misjudgment or scenario incompatibility. Thus, while achieving intelligent water clearing, it also considers driving safety and operational experience, further enhancing the reliability and user acceptance of this function in practical applications.

[0007] Optionally, after controlling the vehicle to enter the water clearing mode, the method further includes: controlling the vehicle's wiper system to enter automatic mode, wherein, in automatic mode, the wiper system performs corresponding wiping operations based on the water accumulation on the windshield detected by the vehicle's rain sensor. This technical solution achieves intelligent drainage by incorporating the wiper system into the overall control logic of water clearing, enabling multiple systems to work together: specifically, when the vehicle generates inertial force due to a preset gear shift, causing water on the roof to flow towards the windshield, the rain sensor can monitor the water flow changes on the glass surface in real time and automatically trigger corresponding wiping actions (such as high-speed, low-speed, or single-swipe wiping depending on the amount of water). This design not only effectively avoids the safety hazard of the driver's vision being obstructed by the instantaneous pouring of water, ensuring driving safety during the clearing process, but also forms a closed-loop control of "perception-response" through the linkage of sensor feedback and actuators, making the water clearing process more precise and adaptive.

[0008] Optionally, the preset speed change operation includes sequential acceleration and deceleration operations. This technical solution utilizes the inertial forces generated by the vehicle in both the forward and backward directions by triggering acceleration followed by deceleration. This allows water adhering to the vehicle surface to be repeatedly pushed, gathered, and ultimately drained away along a preset path. This combination of "push and pull" inertial forces simulates the reciprocating motion principle of manual wiping, significantly improving the efficiency of water removal and the coverage of water clearing compared to single-directional speed change operations.

[0009] Optionally, when the vehicle performs the deceleration operation in the preset gear shifting operation, the wiping operation frequency of the wiper system is monitored; if the wiping operation frequency is higher than a first threshold, the vehicle is controlled to re-perform the preset gear shifting operation; if the wiping operation frequency is lower than a second threshold, the vehicle is controlled to exit the water clearing mode, wherein the first threshold is higher than the second threshold. This technical solution introduces a dynamic feedback mechanism based on wiper frequency to construct an intelligent closed-loop control system, significantly improving the accuracy and adaptability of the water removal process. Specifically, after deceleration generates forward inertial force, the greater the amount of water flowing from the roof to the windshield, the higher the wiper frequency required to maintain clear visibility. At this point, the system, by detecting a wiping frequency above a first threshold, can intelligently determine that the water has not been completely removed and automatically trigger a new round of preset speed changes. Through multiple, directional inertial forces, more thorough drainage is achieved. Conversely, when the wiping frequency is consistently below a second threshold, it indicates that the water on the windshield has significantly decreased or even disappeared. The system can then determine that the roof water removal target has been achieved and automatically and promptly exit the removal mode, resuming normal driving. This effectively avoids incomplete removal caused by premature mode exit and prevents unnecessary continuous system operation, thus optimizing system energy efficiency and operating economy while ensuring effective removal. The entire feedback control process fully demonstrates the system's intelligent decision-making capabilities, enabling it to dynamically adjust its operating strategy based on the actual removal effect, achieving efficient, reliable, and adaptive water removal without human intervention.

[0010] Optionally, the deceleration operation includes: when the vehicle speed is in the range of 35 km / h to 50 km / h, controlling the vehicle to decelerate at a first deceleration rate in the range of 2.6 m / s² to 3.1 m / s²; and when the vehicle speed is in the range of 20 km / h to 35 km / h, controlling the vehicle to decelerate at a second deceleration rate in the range of 1.81 m / s² to 2.22 m / s². This technical solution employs a differentiated deceleration control strategy tailored to different vehicle speed ranges. This ensures effective water removal while maintaining both driving safety and passenger comfort. Specifically, at higher speeds (35km / h to 50km / h), a relatively large first deceleration (2.6 m / s² to 3.1 m / s²) is used. This generates sufficient forward inertial force to effectively overcome the adhesion and surface tension of water on the roof, ensuring that a large amount of water is quickly and fully pushed towards the windshield, creating conditions for subsequent wiper clearing and system assessment. In the low-to-medium speed range (20km / h to 35km / h), a relatively gentle second deceleration (1.81 m / s² to 2.22 m / s²) is used. This not only generates effective clearing force even with relatively limited vehicle kinetic energy but also avoids excessive deceleration that could cause noticeable vehicle jerking or affect following safety. This approach is particularly suitable for scenarios requiring smooth driving, such as urban roads or underground parking garages. This refined deceleration control, linked to vehicle speed, not only optimizes the physical efficiency of inertial force in clearing water, making the clearing action more targeted and adaptable, but also reflects the high degree of synergy between functional implementation and actual driving experience in the system design. Thus, without increasing any hardware costs, it achieves multiple improvements in clearing efficiency, safety redundancy, and ride quality.

[0011] Optionally, the triggering conditions for the water clearing mode include: detecting that it rained during the current power-on cycle and that the rain has stopped; detecting that the vehicle's wiper system performed a wiping operation that meets a preset high-speed wiping standard during the current power-on cycle; detecting that the vehicle's speed is within a preset safe speed range; and confirming that there are no approaching obstacles within a preset distance of the vehicle. This technical solution significantly improves the accuracy, security, and scene adaptability of system activation by constructing a multi-dimensional, multi-source information fusion intelligent triggering and judgment mechanism. Specifically, the system uses "historical rainfall that has stopped" as an environmental condition to effectively identify typical post-rain water accumulation conditions. "The windshield wiper system previously performed high-speed wiping" is used as an auxiliary criterion, using the actuator's historical actions to infer potential water accumulation risks, enhancing the system's comprehensive ability to judge the actual probability of water accumulation. The dynamic driving conditions "vehicle speed within a safe range" and "no obstacles within a preset distance" ensure that the system is only allowed to trigger in suitable driving environments, fundamentally eliminating the possibility of false activation in complex traffic flow or emergency situations, and guaranteeing active and passive safety during function execution. This multi-condition collaborative triggering logic avoids frequent system intervention or functional redundancy caused by misjudgments from a single sensor. Through a layered and progressive judgment approach, it achieves comprehensive monitoring from environmental perception and vehicle status to driving scenarios, enabling the entire water removal system to be intelligently and safely activated at the most appropriate time. While improving removal efficiency and vehicle intelligence, it minimizes the system's interference with the driver's normal operation and driving safety environment.

[0012] Optionally, the triggering conditions for the water clearing mode include: detecting that the vehicle has entered the underground parking garage; detecting that the vehicle's speed is within a preset safe speed range; and confirming that there are no approaching obstacles within a preset distance of the vehicle. This technical solution achieves accurate and safe activation of the clearing function in typical water risk scenarios by constructing an intelligent decision-making mechanism that integrates multi-source information. Specifically, by recognizing the typical scenario of "entering the underground parking garage," the system can proactively predict the risk of water flowing from the roof and obstructing the driver's view due to changes in slope, thus enabling advance preparation and timely triggering of the function. By determining the real-time vehicle speed information, it ensures that the clearing operation is only initiated within the preset safe speed range, ensuring the effectiveness of the inertial force clearing method and avoiding accidental activation of the system under unsuitable conditions such as low-speed crawling or high-speed driving. Furthermore, by real-time perception of the surrounding environment and determination of obstacles, the system can effectively eliminate the possibility of triggering the clearing mode in complex traffic situations such as following too closely or nearby vehicles approaching rapidly, fundamentally eliminating traffic safety hazards that may be caused by the execution of the water clearing function. This multi-condition collaborative triggering logic fully integrates multi-dimensional information such as scenario prediction, vehicle status monitoring, and environmental perception. It not only significantly improves the accuracy and intelligence of function activation, but also builds a multi-layered safety protection mechanism while efficiently clearing water. This ensures that the system is activated only under suitable scenario, reasonable vehicle speed, and safe environmental conditions. Ultimately, it enhances the convenience and maintainability of vehicle use while comprehensively protecting driving safety and reliability.

[0013] A vehicle includes: a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the aforementioned vehicle water removal method.

[0014] A computer-readable storage medium storing a computer program that, when executed, implements the above-described method for removing water accumulation from vehicles.

[0015] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the first process of the vehicle water removal method according to an embodiment of this application.

[0018] Figure 2 This is a schematic diagram of the second process of the vehicle water removal method according to an embodiment of this application.

[0019] Figure 3 This is a schematic diagram of the vehicle water removal device according to an embodiment of this application.

[0020] Figure 4 This is a schematic diagram of the vehicle structure according to an embodiment of this application. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0022] During daily use, large, flat surfaces on the exterior of a vehicle (such as the roof, hood, and trunk lid) are prone to accumulating water under certain environmental conditions (such as rain, car washing, or condensation). Because these areas typically lack effective self-draining structures or slope designs, the water often cannot drain automatically by gravity. If the water cannot be removed promptly and relies solely on natural air drying, the evaporation efficiency is low, causing water stains to remain on the vehicle's surface for extended periods.

[0023] Such long-term stagnant water can cause a series of safety hazards: First, when water comes into contact with damaged paint or metal seams, it can accelerate the corrosion of steel plates, affecting the structural safety and service life of the vehicle body; second, at component connections (such as sealing strips, around lights, etc.), long-term water accumulation may cause rubber or plastic sealing materials to age, harden, or even crack, thereby losing their sealing performance and causing water leakage problems; in addition, if some sensors mounted on the exterior of the vehicle body (such as cameras, radar, etc.) are covered by water or become damp, they may experience signal interference, reduced recognition function, or even failure, affecting the normal operation of related intelligent driving or safety assistance systems; it is especially important to note that when a vehicle enters a road section with a significant slope, such as an underground parking garage, the vehicle body tilts, and water accumulated on high surfaces such as the roof may instantly pour down the windshield, causing a water film to form on the glass surface in a short time, seriously interfering with the driver's forward vision. This sudden obstruction of vision not only affects driving judgment but also poses an instantaneous driving safety threat when the vehicle is performing critical operations such as turning or decelerating.

[0024] Currently, the main methods for cleaning water accumulation on the exterior of car vehicles rely on passive natural air drying or manual wiping. The former is limited by external conditions such as ambient temperature, humidity, and wind speed, resulting in a long cleaning cycle and inconsistent effectiveness; the latter requires car owners to invest additional time and effort and cannot achieve immediate, automated processing. Overall, existing cleaning methods have significant shortcomings such as low efficiency, slow response, and insufficient automation.

[0025] In view of this, this application provides a method for removing water accumulation on a vehicle, a vehicle, and a storage medium, aiming to solve the problem in the prior art where there is a lack of intelligent automatic removal methods for water accumulation on the exterior of the vehicle body, relying instead on manual wiping. The technical solutions provided by various embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0026] One embodiment of this application provides a method for removing water accumulation in a vehicle, which can be applied to the vehicle's control system. Figure 1 This is a flowchart illustrating the method for removing water from a vehicle, which includes the following steps: S101, monitor whether the vehicle meets the trigger conditions for the water clearing mode.

[0027] This embodiment continuously monitors the vehicle's environment and driving status to achieve intelligent identification and response to specific water accumulation risk scenarios, focusing particularly on two high-risk situations: static water accumulation after rainfall and dynamic water accumulation threats when a vehicle enters an underground parking garage. In the post-rain scenario, flat surfaces such as the roof, hood, and roof rack are prone to water accumulation. Relying solely on natural air drying is not only inefficient, but the long-term retention of water can also cause vehicle damage such as sunroof leaks and corrosion of metal connectors. When a vehicle enters an underground parking garage, changes in the vehicle's posture can cause water to flow towards the windshield, instantly forming a water film that obstructs the driver's view, posing a direct driving safety hazard. Therefore, accurately identifying these two scenarios and triggering the clearing mode in a timely manner is crucial to achieving the dual goals of vehicle corrosion prevention and maintenance and driving safety.

[0028] For the first scenario, "just after rain," the system integrates data from multiple sensors and controllers to construct an intelligent triggering and judgment mechanism based on multi-dimensional, multi-source information fusion. The triggering conditions include: First, the vehicle's rain sensor detects that it rained during the current power-on cycle and that the rain has stopped; this condition directly identifies the typical environmental condition of post-rain water accumulation. Second, the vehicle's domain controller detects that the vehicle's wiper system performed a wiping operation that met a preset high-speed wiping standard during the current power-on cycle. This is done by inferring from the actuator's historical operating state that there may have been significant rainfall previously, thus indirectly determining the potential risk of water accumulation on the vehicle. Furthermore, to ensure basic safety during the clearing operation, the system must simultaneously meet the following conditions: the wheel speed sensor detects that the vehicle speed is within a preset safe speed range (e.g., 20 km / h to 50 km / h); and the intelligent driving system confirms that there are no obstacles approaching the vehicle within a preset distance. This multi-condition collaborative triggering logic deeply integrates and hierarchically judges environmental conditions (historical rainfall), vehicle status (wiper history, real-time vehicle speed) and driving environment (surrounding obstacles) information, effectively avoiding frequent system intervention or functional redundancy that may be caused by misjudgment of a single signal. It significantly improves the accuracy, safety and scene adaptability of system activation, ensuring that the clearing function is intelligently activated only when the scene is appropriate and the conditions are safe.

[0029] For the second scenario, "vehicles entering underground parking garages," the system's monitoring strategy is also based on an intelligent decision-making mechanism that integrates multi-source information to achieve accurate and safe responses to this typical risk scenario. The triggering conditions include: firstly, real-time detection of the vehicle entering or having entered the geofenced area of ​​the underground parking garage based on location information provided by the vehicle's navigation system. This crucial information allows the system to proactively predict the risk of water accumulating on the roof and flowing towards the windshield due to the slope of the garage entrance. Simultaneously, similar to the post-rain scenario, the system must simultaneously verify that the vehicle is in a safe operating environment. This involves confirming, based on wheel speed sensors, that the vehicle speed is within a preset safe range (e.g., 20 km / h to 50 km / h) to ensure the effectiveness of inertial force clearance and avoid unpleasant operation at low or high speeds; and secondly, confirmation, based on the intelligent driving system (typically relying on sensors such as forward-facing cameras and millimeter-wave radar), that there are no approaching obstacles within a preset distance of the vehicle, thus eliminating the possibility of triggering the function under complex traffic flow conditions such as following or merging with other vehicles. This specific combination of conditions for underground parking scenarios fully integrates multi-dimensional information such as scenario prediction (navigation), vehicle status (speed), and environmental perception (obstacles) to construct a multi-layered safety protection mechanism. It not only ensures that the clearing function is triggered in time before a risk occurs to prevent obstruction of vision, but also fundamentally eliminates secondary traffic safety hazards that may be caused by the function's execution. Ultimately, while improving vehicle usability and maintainability, it comprehensively protects driving safety and reliability.

[0030] S102, if satisfied, control the vehicle to enter the water clearing mode.

[0031] In this embodiment, the water clearing mode is a preset intelligent function that is integrated into the vehicle's electronic control architecture during the vehicle design and development stage. Its core control logic and operating parameters are uniformly stored, managed and scheduled through a domain controller.

[0032] When the vehicle system, through data fusion from multiple sensors (such as rain sensors, wheel speed sensors, navigation systems, and intelligent driving perception systems), determines that the current vehicle status and surrounding environment meet the preset water clearing trigger conditions, the domain controller does not immediately instruct the system to execute the clearing operation. Instead, it first presents a clear request prompt to the driver through the in-vehicle human-machine interface, such as the digital instrument panel or voice prompt system. This information not only informs the driver that the system recommends activating the water clearing mode but also explains the specific triggering reason identified by the system, such as "The vehicle has been detected to have entered the underground parking garage, posing a risk of water flowing towards the windshield" or "Water accumulation on the roof has been detected after rain, and clearing is recommended," thus ensuring that the driver is fully informed about the background of the function's activation. Subsequently, the system entrusts the final decision on function execution to the driver. Only after accurately receiving a clear confirmation command from the driver via physical buttons, touchscreen, or voice commands will the domain controller, according to the preset program logic, control the relevant vehicle actuators to formally enter the water clearing working mode.

[0033] It should be understood that this interactive triggering mechanism based on driver confirmation fundamentally respects and safeguards the driver's ultimate decision-making authority in the vehicle control loop, effectively avoiding interference with the driver's subjective operational intentions due to automatic system intervention in complex or sudden traffic scenarios, thus ensuring the harmony and safety of human-machine co-driving. On the other hand, this mechanism also constructs an important anti-false triggering cable, which can significantly reduce the unexpected activation of functions that may be caused by sensor instantaneous errors, limitations of environmental recognition algorithms, or unclear boundary condition judgments. This greatly improves the reliability, scenario adaptability, and overall safety redundancy of this intelligent function in practical applications, achieving the best balance between intelligent convenience and safe controllability.

[0034] S103, in the water clearing mode, controls the vehicle to perform a preset gear shift operation to clear the water on the vehicle through the inertial force generated by the gear shift.

[0035] In this embodiment, under the water removal mode, the vehicle is controlled to perform a preset gear shift operation to utilize the inertial force generated during the gear shift to remove water from the vehicle's surface. Specifically, the preset gear shift operation includes sequential acceleration and deceleration operations. By triggering acceleration followed by deceleration in a sequential order, the inertial force generated by the vehicle in both forward and backward directions is fully utilized. When the vehicle accelerates, it generates a backward inertial force, causing the water to flow backward; when the vehicle decelerates, it generates a forward inertial force, pushing the water forward. This combination of "push and pull" inertial forces effectively simulates the reciprocating motion principle of manual wiping, allowing the water adhering to the vehicle's surface to be repeatedly pushed, gathered, and ultimately drained away along a preset path. Compared to a single-direction gear shift operation, this bidirectional approach significantly improves the efficiency of water removal and the coverage of the removal. As a preferred implementation, this embodiment features a refined design for the deceleration operation. Specifically, when the vehicle speed is between 35 km / h and 50 km / h, the vehicle decelerates at a first deceleration rate between 2.6 m / s² and 3.1 m / s²; when the vehicle speed is between 20 km / h and 35 km / h, the vehicle decelerates at a second deceleration rate between 1.81 m / s² and 2.22 m / s². This speed-linked differentiated deceleration control strategy ensures effective water removal while also prioritizing driving safety and ride comfort. Using a relatively large first deceleration rate at higher speeds helps generate sufficient forward inertial force to effectively overcome the adhesion and surface tension of water on the roof, ensuring that a large amount of water is quickly and effectively pushed towards the windshield. The relatively gentle second deceleration rate at low to medium speeds generates effective removal force even with relatively limited vehicle kinetic energy, while avoiding excessive deceleration that could cause noticeable jerking or affect following safety. This is particularly suitable for scenarios requiring smooth driving, such as urban roads or underground parking garages.

[0036] In practical applications, this embodiment can also simultaneously control the vehicle's wiper system to enter automatic operation mode after the vehicle enters the water clearing mode. In this automatic mode, the wiper system will intelligently execute wiping operations with corresponding frequency and intensity based on the real-time water accumulation on the windshield surface detected by the rain sensor installed above the windshield. This collaborative working mechanism realizes multi-system linkage between the chassis power system and the body accessory system, forming an intelligent drainage effect. Specifically, when the vehicle generates sufficient inertial force by executing a preset gear shift operation, causing the water accumulated on the roof, hood, etc., to move towards the windshield, the rain sensor can accurately monitor the dynamic changes in the thickness and distribution of the water film on the glass surface, and automatically trigger the corresponding wiping action according to the preset algorithm logic: for example, high-speed continuous wiping is activated when a large amount of water is detected, low-speed intermittent wiping is activated when the water volume is moderate, and a single wiping operation is performed when there is a small amount of water. This intelligent linkage design not only effectively avoids the safety hazard of water overflowing from the vehicle roof and obstructing the driver's view in a short period of time, ensuring driving safety during the cleanup operation, but more importantly, it constructs a complete "perception-decision-execution" closed-loop control system by closely linking real-time sensor monitoring data with the action response of the actuators. This closed-loop control system enables the entire water removal process to have self-adjusting and optimization capabilities, dynamically adjusting subsequent operation strategies based on the actual water removal effect. This significantly improves the accuracy of the cleanup operation and the system's adaptability to different water conditions, ultimately achieving efficient and safe automated water removal without human intervention.

[0037] To further improve the accuracy and adaptability of the water removal process, this embodiment introduces an intelligent feedback mechanism based on the wiper operating status during the deceleration phase of the vehicle's preset gear shifting operation. The system monitors the wiping frequency of the wiper system in real time and uses it as an important indicator for evaluating the water removal effect. Specifically, when the wiping frequency is detected to be higher than a set first threshold (the duration is not specifically limited), it indicates that the amount of water flowing from the roof to the windshield is still relatively large. At this time, the system will determine that the current removal operation has not yet achieved the expected effect and automatically control the vehicle to re-execute the preset gear shifting operation, including re-accelerating and then re-decelerating. Conversely, when the wiping frequency is detected to be consistently lower than a set second threshold (the second threshold must be lower than the first threshold), it indicates that the amount of water collected by the windshield has been significantly reduced. The system can then determine that the water removal target has been basically achieved and control the vehicle to exit the water removal mode in an orderly manner. The working principle of this dynamic feedback mechanism is as follows: when the forward inertial force generated by deceleration causes water on the roof to flow towards the windshield, the rain sensor monitors the water level changes on the glass surface in real time and triggers the wiper system to perform wiping operations at the corresponding frequency. If there is a large amount of water remaining on the roof, a larger amount of water will flow towards the windshield, requiring the wiper system to operate at a higher frequency to maintain clear visibility. In this case, the system can intelligently determine whether to continue the clearing operation by detecting a wiping frequency higher than a first threshold, and thus automatically trigger a new round of deceleration. Conversely, when the wiping frequency is continuously lower than a second threshold, it indicates that the water on the roof has been largely cleared, and the system will promptly exit the clearing mode and return to normal driving conditions.

[0038] Considering the standardized design of modern vehicle wiper systems, their wiping frequency is typically divided into three main levels: high-speed wiping frequency, low-speed wiping frequency, and single-swipe frequency. Based on this hierarchical characteristic, this embodiment sets specific thresholds: the first threshold is usually set at a level close to the low-speed wiping frequency; when the wiper system needs to operate continuously at a low speed or higher frequency, it triggers the judgment to continue clearing. The second threshold is set at a level close to the single-swipe frequency; when the wipers only need to perform a single wiping intermittently or stop working completely, it indicates that the clearing task is complete. In actual operation, the system also comprehensively considers the duration and trend of the wiping frequency, employing strategies such as multiple sampling and delayed judgment. Only when the wiping frequency remains below the second threshold for a preset duration will the clearing task be finally determined to be complete.

[0039] The intelligent judgment mechanism based on the wiper's operating status employed in this embodiment, through real-time monitoring and feedback adjustment, avoids incomplete water removal caused by premature exit due to excessively short preset time. It also prevents energy waste and mechanical wear caused by the system continuing to operate after the water has been cleared. This mechanism dynamically adjusts the operating strategy based on the actual removal effect, achieving efficient, reliable, and adaptive water removal without manual intervention. It ensures effective removal while optimizing system energy efficiency, ultimately achieving a good balance between removal efficiency and energy economy.

[0040] Figure 2This diagram illustrates the complete process of implementing the method described in this embodiment within a vehicle control system. As shown, the system first continuously monitors the vehicle's status, collecting multi-source information including rainfall, vehicle speed, and location. Based on this information, it determines whether the triggering conditions for the water clearing mode are met. This determination primarily targets typical scenarios where the vehicle is stationary or moving at low speed after rain, or where the vehicle enters an underground parking garage where there is a risk of water accumulation. Confirmation of the triggering conditions relies on the fusion analysis of multi-source information, including whether the rain sensor detected historical rainfall, whether the windshield wiper system performed high-speed wiping, whether the current vehicle speed is within a preset safe range (e.g., 20-50 km / h), and whether the intelligent driving system confirms there are no urgent obstacles nearby, ensuring environmental safety when the function is activated. When the system determines that the triggering conditions are met, it does not immediately and automatically enter the clearing mode. Instead, it sends a prompt to the driver via the human-machine interface to activate the water clearing mode, requesting driver confirmation. Only after receiving explicit confirmation from the driver does the system control the vehicle to officially enter the water clearing mode, fully demonstrating the system's respect for the driver's decision-making power and its emphasis on safety. Once the water clearing mode is activated, the system controls the vehicle to execute a preset gear shift sequence, specifically including sequential acceleration and deceleration. By precisely controlling the backward inertial force generated during acceleration and the forward inertial force generated during deceleration, water on the roof, hood, and other areas is repeatedly pushed and collected, ultimately draining away effectively along a preset path. Simultaneously, the system activates the windshield wipers in automatic mode, automatically adjusting the wiping frequency and intensity based on real-time water level detection from the rain sensor. This promptly removes water that has flowed onto the glass surface due to inertia, ensuring continuous clear visibility. To further enhance the system's adaptability and effectiveness, an intelligent feedback mechanism based on wiping frequency is incorporated. After each deceleration operation, the system monitors the wiper frequency: if the frequency remains above a first threshold, indicating significant water residue on the roof and other areas, the system initiates a new preset gear shift sequence to continue clearing; if the frequency remains below a second threshold, indicating substantial water removal, the system exits the water clearing mode and resumes normal driving.

[0041] In summary, the method of this embodiment achieves efficient drainage by controlling the vehicle's movement to utilize the inertial force generated by its own kinetic energy. The specific implementation process includes: real-time monitoring of whether the vehicle meets the preset trigger conditions for a water removal mode; once the conditions are met, the vehicle is automatically controlled to enter a dedicated water removal mode; in this mode, the vehicle is precisely controlled to perform a series of preset gear shifting operations, and the resulting inertial force effectively guides the water on the vehicle's surface to drain away quickly, thereby achieving the purpose of automatically removing the water. From a technical perspective, this embodiment method achieves a significant shift from the traditional passive waiting for natural drying to active intelligent removal, significantly improving the immediacy and efficiency of water removal, and effectively preventing potential risks such as vehicle corrosion, aging of sealing materials, and performance degradation of external sensors caused by long-term water retention. Simultaneously, it fully utilizes the vehicle's existing power system and control architecture, eliminating the need for any dedicated drainage devices or complex external equipment, demonstrating significant advantages in terms of low cost and high integration. Furthermore, the fully automatic operating mode completely eliminates the need for manual intervention, which not only optimizes the user experience but also fundamentally eliminates dynamic safety hazards such as obstructed vision due to sudden water slugging during driving. This comprehensively enhances the safety and reliability of vehicle use, demonstrating the important value of intelligent control systems in improving the overall performance of vehicles.

[0042] In addition, corresponding to Figure 1 In addition to the method shown, another embodiment of this application also provides a vehicle water removal device. Figure 3 This is a structural diagram of the vehicle water removal device 300, including: The monitoring module 310 is used to monitor whether the vehicle meets the trigger conditions for the water clearing mode.

[0043] The control module 320 is used to control the vehicle to enter the water clearing mode if the conditions are met.

[0044] The execution module 330 is used to control the vehicle to perform a preset speed change operation in the water removal mode, so as to remove the water on the vehicle by using the inertial force generated by the speed change.

[0045] Optionally, controlling the vehicle to enter the water clearing mode includes: sending a prompt message to the driver of the vehicle to activate the water clearing mode; and controlling the vehicle to enter the water clearing mode after receiving a confirmation instruction from the driver based on the prompt message. This technical solution, by introducing a driver confirmation mechanism, effectively improves the safety of function activation and the rationality of human-machine interaction: on the one hand, the system does not execute immediately after meeting the automatic triggering conditions, but instead prompts the driver to ensure that the driver is fully informed and prepared for the upcoming operation, avoiding sudden entry into the mode in complex road conditions or unexpected situations that could interfere with normal driving; on the other hand, giving the final execution power to the driver respects the user's decision-making role in vehicle control and prevents unnecessary intervention due to system misjudgment or scenario incompatibility. Thus, while achieving intelligent water clearing, it also considers driving safety and operational experience, further enhancing the reliability and user acceptance of this function in practical applications.

[0046] Optionally, after controlling the vehicle to enter the water clearing mode, the method further includes: controlling the vehicle's wiper system to enter automatic mode, wherein, in automatic mode, the wiper system performs corresponding wiping operations based on the water accumulation on the windshield detected by the vehicle's rain sensor. This technical solution achieves intelligent drainage by incorporating the wiper system into the overall control logic of water clearing, enabling multiple systems to work together: specifically, when the vehicle generates inertial force due to a preset gear shift, causing water on the roof to flow towards the windshield, the rain sensor can monitor the water flow changes on the glass surface in real time and automatically trigger corresponding wiping actions (such as high-speed, low-speed, or single-swipe wiping depending on the amount of water). This design not only effectively avoids the safety hazard of the driver's vision being obstructed by the instantaneous pouring of water, ensuring driving safety during the clearing process, but also forms a closed-loop control of "perception-response" through the linkage of sensor feedback and actuators, making the water clearing process more precise and adaptive.

[0047] Optionally, the preset speed change operation includes sequential acceleration and deceleration operations. This technical solution utilizes the inertial forces generated by the vehicle in both the forward and backward directions by triggering acceleration followed by deceleration. This allows water adhering to the vehicle surface to be repeatedly pushed, gathered, and ultimately drained away along a preset path. This combination of "push and pull" inertial forces simulates the reciprocating motion principle of manual wiping, significantly improving the efficiency of water removal and the coverage of water clearing compared to single-directional speed change operations.

[0048] Optionally, when the vehicle performs the deceleration operation in the preset gear shifting operation, the wiping operation frequency of the wiper system is monitored; if the wiping operation frequency is higher than a first threshold, the vehicle is controlled to re-perform the preset gear shifting operation; if the wiping operation frequency is lower than a second threshold, the vehicle is controlled to exit the water clearing mode, wherein the first threshold is higher than the second threshold. This technical solution introduces a dynamic feedback mechanism based on wiper frequency to construct an intelligent closed-loop control system, significantly improving the accuracy and adaptability of the water removal process. Specifically, after deceleration generates forward inertial force, the greater the amount of water flowing from the roof to the windshield, the higher the wiper frequency required to maintain clear visibility. At this point, the system, by detecting a wiping frequency above a first threshold, can intelligently determine that the water has not been completely removed and automatically trigger a new round of preset speed changes. Through multiple, directional inertial forces, more thorough drainage is achieved. Conversely, when the wiping frequency is consistently below a second threshold, it indicates that the water on the windshield has significantly decreased or even disappeared. The system can then determine that the roof water removal target has been achieved and automatically and promptly exit the removal mode, resuming normal driving. This effectively avoids incomplete removal caused by premature mode exit and prevents unnecessary continuous system operation, thus optimizing system energy efficiency and operating economy while ensuring effective removal. The entire feedback control process fully demonstrates the system's intelligent decision-making capabilities, enabling it to dynamically adjust its operating strategy based on the actual removal effect, achieving efficient, reliable, and adaptive water removal without human intervention.

[0049] Optionally, the deceleration operation includes: when the vehicle speed is in the range of 35 km / h to 50 km / h, controlling the vehicle to decelerate at a first deceleration rate in the range of 2.6 m / s² to 3.1 m / s²; and when the vehicle speed is in the range of 20 km / h to 35 km / h, controlling the vehicle to decelerate at a second deceleration rate in the range of 1.81 m / s² to 2.22 m / s². This technical solution employs a differentiated deceleration control strategy tailored to different vehicle speed ranges. This ensures effective water removal while maintaining both driving safety and passenger comfort. Specifically, at higher speeds (35km / h to 50km / h), a relatively large first deceleration (2.6 m / s² to 3.1 m / s²) is used. This generates sufficient forward inertial force to effectively overcome the adhesion and surface tension of water on the roof, ensuring that a large amount of water is quickly and fully pushed towards the windshield, creating conditions for subsequent wiper clearing and system assessment. In the low-to-medium speed range (20km / h to 35km / h), a relatively gentle second deceleration (1.81 m / s² to 2.22 m / s²) is used. This not only generates effective clearing force even with relatively limited vehicle kinetic energy but also avoids excessive deceleration that could cause noticeable vehicle jerking or affect following safety. This approach is particularly suitable for scenarios requiring smooth driving, such as urban roads or underground parking garages. This refined deceleration control, linked to vehicle speed, not only optimizes the physical efficiency of inertial force in clearing water, making the clearing action more targeted and adaptable, but also reflects the high degree of synergy between functional implementation and actual driving experience in the system design. Thus, without increasing any hardware costs, it achieves multiple improvements in clearing efficiency, safety redundancy, and ride quality.

[0050] Optionally, the triggering conditions for the water clearing mode include: detecting that it rained during the current power-on cycle and that the rain has stopped; detecting that the vehicle's wiper system performed a wiping operation that meets a preset high-speed wiping standard during the current power-on cycle; detecting that the vehicle's speed is within a preset safe speed range; and confirming that there are no approaching obstacles within a preset distance of the vehicle. This technical solution significantly improves the accuracy, security, and scene adaptability of system activation by constructing a multi-dimensional, multi-source information fusion intelligent triggering and judgment mechanism. Specifically, the system uses "historical rainfall that has stopped" as an environmental condition to effectively identify typical post-rain water accumulation conditions. "The windshield wiper system previously performed high-speed wiping" is used as an auxiliary criterion, using the actuator's historical actions to infer potential water accumulation risks, enhancing the system's comprehensive ability to judge the actual probability of water accumulation. The dynamic driving conditions "vehicle speed within a safe range" and "no obstacles within a preset distance" ensure that the system is only allowed to trigger in suitable driving environments, fundamentally eliminating the possibility of false activation in complex traffic flow or emergency situations, and guaranteeing active and passive safety during function execution. This multi-condition collaborative triggering logic avoids frequent system intervention or functional redundancy caused by misjudgments from a single sensor. Through a layered and progressive judgment approach, it achieves comprehensive monitoring from environmental perception and vehicle status to driving scenarios, enabling the entire water removal system to be intelligently and safely activated at the most appropriate time. While improving removal efficiency and vehicle intelligence, it minimizes the system's interference with the driver's normal operation and driving safety environment.

[0051] Optionally, the triggering conditions for the water clearing mode include: detecting that the vehicle has entered the underground parking garage; detecting that the vehicle's speed is within a preset safe speed range; and confirming that there are no approaching obstacles within a preset distance of the vehicle. This technical solution achieves accurate and safe activation of the clearing function in typical water risk scenarios by constructing an intelligent decision-making mechanism that integrates multi-source information. Specifically, by recognizing the typical scenario of "entering the underground parking garage," the system can proactively predict the risk of water flowing from the roof and obstructing the driver's view due to changes in slope, thus enabling advance preparation and timely triggering of the function. By determining the real-time vehicle speed information, it ensures that the clearing operation is only initiated within the preset safe speed range, ensuring the effectiveness of the inertial force clearing method and avoiding accidental activation of the system under unsuitable conditions such as low-speed crawling or high-speed driving. Furthermore, by real-time perception of the surrounding environment and determination of obstacles, the system can effectively eliminate the possibility of triggering the clearing mode in complex traffic situations such as following too closely or nearby vehicles approaching rapidly, fundamentally eliminating traffic safety hazards that may be caused by the execution of the water clearing function. This multi-condition collaborative triggering logic fully integrates multi-dimensional information such as scenario prediction, vehicle status monitoring, and environmental perception. It not only significantly improves the accuracy and intelligence of function activation, but also builds a multi-layered safety protection mechanism while efficiently clearing water. This ensures that the system is activated only under suitable scenario, reasonable vehicle speed, and safe environmental conditions. Ultimately, it enhances the convenience and maintainability of vehicle use while comprehensively protecting driving safety and reliability.

[0052] In summary, the device in this embodiment achieves efficient drainage by controlling the vehicle's movement and utilizing the inertial force generated by its own kinetic energy. The specific implementation process includes: real-time monitoring of whether the vehicle meets the preset trigger conditions for a water removal mode; once the conditions are met, the vehicle is automatically controlled to enter a dedicated water removal mode; in this mode, the vehicle is precisely controlled to perform a series of preset gear shifts, and the resulting inertial force effectively guides the water on the vehicle's surface to drain away quickly, thereby achieving automatic water removal. From a technical perspective, this embodiment represents a significant shift from the traditional passive waiting for natural drying to active intelligent removal, significantly improving the immediacy and efficiency of water removal. It effectively prevents potential risks such as vehicle corrosion, aging of sealing materials, and degradation of external sensor performance caused by long-term water retention. Simultaneously, it fully utilizes the vehicle's existing power system and control architecture, eliminating the need for any dedicated drainage devices or complex external equipment, demonstrating significant advantages in terms of low cost and high integration. Furthermore, the fully automatic operating mode completely eliminates the need for manual intervention, which not only optimizes the user experience but also fundamentally eliminates dynamic safety hazards such as obstructed vision due to sudden water slugging during driving. This comprehensively enhances the safety and reliability of vehicle use, demonstrating the important value of intelligent control systems in improving the overall performance of vehicles.

[0053] It should be noted that the specific operation methods of each module in the vehicle water removal device described in the above embodiments have been described in detail in the embodiments related to the method, and will not be elaborated here. Furthermore, in this embodiment, the monitoring module, control module, and execution module of the vehicle water removal device can be implemented according to relevant hardware in the vehicle: the monitoring module can be a rain and light sensor, a camera, or a door and window status sensor, responsible for detecting whether the triggering conditions are met; the control module is usually implemented by the body control module (BCM) or the vehicle control unit (VCU), used to make decisions and initiate the removal mode; the execution module can drive the actuator through a motor controller, transmission control unit, etc., to achieve the vehicle's preset gear shifting operation, thereby effectively removing water using inertial force.

[0054] In addition, another embodiment of this application provides a vehicle. Figure 4 This is a schematic diagram of the vehicle's structure, including a memory 401 and a processor 402. The memory 401 stores executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform the vehicle water removal method provided in the above embodiment. The corresponding steps include: Monitor whether the vehicle meets the trigger conditions for the water clearing mode.

[0055] If the conditions are met, the vehicle is controlled to enter the water clearing mode.

[0056] In the water removal mode, the vehicle is controlled to perform a preset gear shift operation to remove the water on the vehicle through the inertial force generated by the gear shift.

[0057] This embodiment can divide the vehicle into functional modules according to the above method example. For example, each function can be assigned to a separate module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0058] When each functional module is divided according to its corresponding function, the vehicle may include: a monitoring module, a control module, and an execution module. It should be noted that all relevant content regarding the steps involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0059] It should be understood that the vehicle provided in this embodiment is used to execute the above-described microcontroller restart processing method, and therefore can achieve the same effect as the above-described implementation method. That is, when a restart trigger event occurs for the microcontroller, the vehicle in this embodiment can first respond to the restart trigger event and quickly determine the key state data corresponding to the microcontroller before restart that needs to be saved. This key state data usually includes key diagnostic information such as restart type, timestamp, and error code. Then, taking full advantage of the significant advantage of volatile memory (such as static random access memory, SRAM, or special retention memory) having a much higher data write speed than non-volatile memory (such as flash memory), the key state data is written to the volatile memory at high speed within the extremely short restart preparation time window of the microcontroller. Particularly important is that the volatile memory, through an independent power supply design or power management strategy, can maintain continuous power supply throughout the entire restart process of the microcontroller, thereby ensuring that the stored key state data is not lost due to power interruption during the entire process of the microcontroller core voltage power-down reset. Afterward, the restart operation of the microcontroller is formally executed, allowing it to quickly return to normal working state. Once preset conditions are met (typically, the microcontroller unit successfully restarts and basic operating system services are restored), the system securely reads previously saved critical status data from volatile memory and completely transfers it to non-volatile memory. Although non-volatile memory has a slower write speed, it retains data even when power is off, thus achieving long-term persistent storage of this critical status data. This provides complete and reliable data support for subsequent anomaly analysis, fault diagnosis, and system behavior tracing, greatly improving the efficiency of operating system maintenance and troubleshooting.

[0060] When using integrated units, the vehicle may include a processing module and a storage module. The processing module is used to control and manage the vehicle's actions. The storage module supports the vehicle in executing program code and data.

[0061] The processing module may be a processor or a controller, which can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0062] Furthermore, another embodiment of this application provides a computer-readable storage medium storing computer program code. When the computer program code is executed on a computer, the computer performs the aforementioned method steps to implement a microcontroller restart process provided in the above embodiments, which includes the following steps: In response to a restart trigger event of the microcontroller unit, key state data corresponding to the microcontroller unit before restart is determined, and the key state data is written into a volatile memory; wherein, the key state data is used for anomaly analysis; the volatile memory remains powered during the restart of the microcontroller unit; Perform the microcontroller restart operation; and, When preset conditions are met, the critical state data is read from the volatile memory and written to the non-volatile memory; wherein, the data writing speed of the volatile memory is higher than that of the non-volatile memory.

[0063] The beneficial effects of the above embodiments can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0064] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0065] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0066] In the description of this application, it should be understood that if the terms "upper", "lower", "front", "rear", "left" and "right" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0067] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0068] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for removing water accumulation from a vehicle, characterized in that, include: Monitor whether the vehicle meets the trigger conditions for the water clearing mode; If the conditions are met, the vehicle is controlled to enter the water clearing mode; In the water removal mode, the vehicle is controlled to perform a preset gear shift operation to remove the water on the vehicle through the inertial force generated by the gear shift.

2. The method according to claim 1, characterized in that, The control of the vehicle to enter the water clearing mode includes: Send a prompt message to the driver of the vehicle to activate the water clearing mode; Upon receiving confirmation from the driver based on the prompt information, the system controls the vehicle to enter the water clearing mode.

3. The method according to claim 1, characterized in that, After controlling the vehicle to enter the water clearing mode, the method further includes: The vehicle's windshield wiper system is controlled to enter automatic mode, wherein, in automatic mode, the windshield wiper system performs corresponding wiping operations based on the water accumulation on the windshield detected by the vehicle's rain sensor.

4. The method according to claim 3, characterized in that, The preset speed change operation includes an acceleration operation and a deceleration operation executed sequentially.

5. The method according to claim 4, characterized in that, Also includes: When the vehicle performs the deceleration operation in the preset gear shift operation, the wiping frequency of the wiper system is monitored; If the frequency of the brushing operation is higher than the first threshold, the vehicle is controlled to re-execute the preset gear shifting operation; If the frequency of the wiping operation is lower than the second threshold, the vehicle is controlled to exit the water removal mode, wherein the first threshold is higher than the second threshold.

6. The method according to claim 3, characterized in that, The deceleration operation includes: When the vehicle speed is in the range of 35km / h to 50km / h, the vehicle is controlled to decelerate at a first deceleration in the range of 2.6 m / s² to 3.1 m / s². When the vehicle speed is in the range of 20km / h to 35km / h, the vehicle is controlled to decelerate at a second deceleration in the range of 1.81 m / s² to 2.22 m / s².

7. The method according to any one of claims 1 to 6, characterized in that, The triggering conditions for the water removal mode include: It was detected that it rained during the current power-on cycle and that the rain has now stopped; The vehicle's windshield wiper system was detected to have performed a wiping operation that met the preset high-speed wiping standard during the current power-on cycle; The vehicle speed was detected to be within a preset safe speed range; Confirm that there are no approaching obstacles within the preset distance of the vehicle.

8. The method according to any one of claims 1 to 6, characterized in that, The triggering conditions for the water removal mode include: The vehicle was detected entering the underground parking garage; The vehicle speed was detected to be within a preset safe speed range; Confirm that there are no approaching obstacles within the preset distance of the vehicle.

9. A vehicle comprising: processor; And a memory arranged to store computer-executable instructions, characterized in that, when executed, the executable instructions cause the processor to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1 to 7.

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