Vehicle control method and device, vehicle and storage medium

Abstract

The embodiment of the invention relates to a vehicle control method and device, a vehicle and a storage medium, and the method comprises the steps that when it is detected that the vehicle is in a floating state in water, a plurality of openable assemblies on the surface of a rim cover plate are controlled to be opened, and the rim cover plate covers the rim surface of the vehicle; and when a driving request for a vehicle tire is received, the tire is controlled to rotate according to the driving request, so that the openable and closable assembly swipes the water flow in the tire rotating process and generates thrust to push the vehicle to move. Therefore, when the vehicle floats on the water surface, the openable assembly on the surface of the rim cover plate can be automatically opened, the tire rotates to drive the assembly to paddling water flow, stable and effective thrust can be generated in water without additionally arranging a propeller, the autonomous advancing capacity of the vehicle in a water area is achieved, and the wading trafficability and the emergency moving capacity are improved; and the influence on the land driving performance of the vehicle is avoided.

Description

Technical Field

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

[0002] As vehicle usage scenarios become more diverse, vehicle mobility in flooded roads or deep water environments is becoming increasingly important. Existing ordinary tires lack a gripping surface in water and cannot generate effective thrust through rotation; vehicles typically rely solely on buoyancy and struggle to move forward actively.

[0003] Existing technologies attempt to enhance underwater propulsion by using external propellers or relying on tire tread patterns to agitate water flow. However, these solutions generally suffer from problems such as complex structures, high costs, poor integration with tires, low propulsion efficiency, and susceptibility to drag and damage when driving on land. Furthermore, fixed structures cannot be dynamically adjusted according to water flow conditions, vehicle posture, or propulsion requirements, nor can they achieve automatic switching between water propulsion and land driving modes, thus limiting their application.

[0004] Therefore, there is an urgent need in this field for a solution that can automatically enter propulsion mode when the vehicle is floating in water and use the rotation of the tires in conjunction with an adjustable structure to propel the water flow and generate thrust, so as to solve the problem that existing vehicles cannot propel themselves autonomously and flexibly in water. Summary of the Invention

[0005] In view of this, in order to solve the above-mentioned technical problems or some of the technical problems, the present invention provides a vehicle control method, device, vehicle and storage medium.

[0006] In a first aspect, embodiments of the present invention provide a vehicle control method, comprising: When the vehicle is detected to be floating in water, multiple openable components on the surface of the rim cover are opened, and the rim cover covers the rim surface of the vehicle. When a drive request is received for the vehicle's tires, the tires are controlled to rotate according to the drive request, so that the openable assembly moves water and generates thrust during the tire rotation to propel the vehicle.

[0007] In one possible implementation, the multiple openable components on the surface of the control rim cover plate are opened, including: The system controls the connection between the inside of the vehicle tire and the actuator via a valve, so that the gas inside the vehicle tire is introduced into the actuator through the valve. The actuator is controlled to push multiple openable components to open to the target angle by the pressure of the introduced gas.

[0008] In one possible implementation, after multiple openable components on the surface of the rim cover plate are opened, the method further includes: Obtain environmental information of the water area where the vehicle is currently located, and obtain the vehicle's current vehicle information; The multiple openable components are controlled to adjust their opening angles according to the environmental information, and / or, the multiple openable components are controlled to adjust their opening angles according to the vehicle information.

[0009] In one possible implementation, controlling the opening angle of the plurality of openable components based on the environmental information includes: When the environmental information indicates that the current water flow velocity is greater than a first threshold, the opening angle of the plurality of openable components is controlled to decrease. When the environmental information indicates that the current water flow velocity is less than or equal to a second threshold, the opening angle of the plurality of openable components is controlled to increase. The first threshold is greater than or equal to the second threshold, and the opening angle is negatively correlated with the water flow velocity.

[0010] In one possible implementation, controlling the opening angle of the plurality of openable components based on the vehicle information includes: When the vehicle information indicates that the vehicle currently needs increased propulsion, the opening angle of the plurality of openable components is increased. And / or, When the vehicle information indicates that the vehicle currently needs to turn, the outer tire and the inner tire are determined according to the steering information, and the opening angle of the openable component corresponding to the outer tire is increased, and the opening angle of the openable component corresponding to the inner tire is decreased. And / or, When the vehicle information indicates that the vehicle attitude is deflected, the openable component to be adjusted is determined according to the attitude deflection direction, and the target opening angle to be adjusted is determined according to the attitude deflection angle, so as to adjust the openable component to be adjusted to the target opening angle.

[0011] In one possible implementation, after moving the vehicle, the method further includes: The vehicle's moving speed and the accelerator pedal opening of the vehicle are obtained. Adjusting the torque of the vehicle's tire drive motor based on the moving speed and the accelerator pedal opening includes: Obtain the target moving speed corresponding to the accelerator pedal opening; When the target moving speed is greater than the moving speed and the difference in moving speed is greater than the difference threshold, the torque output of the tire drive motor is increased. When the target moving speed is less than the moving speed and the difference in moving speed is greater than the difference threshold, the torque output of the tire drive motor is reduced.

[0012] In one possible implementation, after the multiple openable components on the rim cover surface are opened, the method further includes: The self-locking mechanism is controlled to fix the multiple openable and closable components; If the self-locking mechanism fails to secure any of the openable components, or if an obstacle is detected in the water flow within a preset area around the vehicle tires, the rotational speed of the vehicle tires is limited.

[0013] In a second aspect, embodiments of the present invention provide a vehicle control device, comprising: The first control module is used to control multiple openable components on the surface of the rim cover to open when the vehicle is detected to be floating in water, the rim cover covering the rim surface of the vehicle. The second control module is used to control the rotation of the tires according to the drive request received for the vehicle tires, so that the openable component can move water flow and generate thrust during the rotation of the tires to propel the vehicle.

[0014] Thirdly, embodiments of the present invention provide a vehicle, including: a processor and a memory, wherein the processor is configured to execute a vehicle control program stored in the memory to implement the vehicle control method described in any one of the first aspects above.

[0015] Fourthly, embodiments of the present invention provide a storage medium storing one or more programs, which can be executed by one or more processors to implement the vehicle control method described in any one of the first aspects.

[0016] The vehicle control scheme provided in this invention opens multiple closable components on the rim cover surface when the vehicle is detected to be floating in water, with the rim cover covering the vehicle's rim surface. When a drive request for the vehicle's tires is received, the tires are controlled to rotate according to the drive request. This causes the closable components to propel the vehicle by moving the water flow during tire rotation. Thus, the closable components on the rim cover surface automatically open when the vehicle is floating on the water, utilizing tire rotation to propel the components by moving the water flow. Stable and effective thrust can be generated in water without the need for an external propeller, enabling the vehicle to move autonomously in water, improving wading and emergency mobility, and avoiding any impact on the vehicle's land-based driving performance. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating a vehicle control method provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of an openable component in a wheel rim cover provided by an embodiment of the present invention. Figure 3 This is a schematic diagram of the structure of a rim cover plate with an openable and closable component closed, provided by an embodiment of the present invention. Figure 4 A schematic flowchart of another vehicle control method provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a vehicle control system provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present invention; Figure 7 This is a structural schematic diagram of a vehicle provided in an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] To facilitate understanding of the embodiments of the present invention, further explanations and descriptions will be provided below with reference to the accompanying drawings and specific embodiments. These embodiments do not constitute a limitation on the embodiments of the present invention.

[0020] Figure 1 This is a flowchart illustrating a vehicle control method provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the method specifically includes: S11. When the vehicle is detected to be floating in water, multiple openable components on the surface of the rim cover are opened, and the rim cover covers the surface of the vehicle's rim.

[0021] The vehicle control method provided in this invention is applied to vehicles, including gasoline vehicles and new energy vehicles, and is suitable for vehicles in flooded areas, shallow water areas, lakes, flooded environments, and operational scenarios requiring amphibious mobility. When a vehicle loses ground support and enters a floating state due to deep water, the system can automatically switch to water propulsion mode, enabling the vehicle to move forward, steer, and maintain stability by relying on its own tires without external traction. The actuator is a control unit installed inside the vehicle. By sensing the vehicle and the water environment, it controls the openable components on the wheel rim cover surface to open or adjust their angle at appropriate times, and drives the tires to rotate according to driving requests and environmental conditions, thereby achieving water propulsion and driving control.

[0022] In this embodiment, the structure of the rim cover plate and the openable assembly is first described: the rim cover plate is an annular cover plate that covers the entire outer side of the rim. It is installed as a modular unit and its appearance is similar to that of a normal hub cover. The main structural materials are lightweight corrosion-resistant alloys or engineering plastics.

[0023] The cover plate is equipped with multiple openable and closable components (blades / plates) arranged radially or tangentially, which can open outwards and remain closed. Each blade of the openable and closable component is connected to the cover plate via a hinge, which incorporates a position sensor (angle encoder or Hall effect sensor) and a self-locking mechanism. The blade surface is designed to be curved or have guide grooves to improve the efficiency of a single stroke.

[0024] The openable assembly in the rim cover is driven by an actuator, with each blade driven by a small electric push rod or cylinder. If space and energy permit, pneumatic actuation (using the vehicle's compressed air system or tire gas recovery) is more energy-efficient; electric actuation uses a high-torque, low-speed servo motor and a reduction gear. Once opened, the openable assembly is secured by a self-locking mechanism. This mechanism provides mechanical self-locking (e.g., spring-pawl) at a target angle position for each blade to withstand lateral water impact, ensuring it cannot be automatically opened / closed by water force after locking. The self-locking positions include a closed position and several working positions. The blade material must possess a certain degree of elasticity or be equipped with a collision limit device, allowing it to rebound and trigger protection upon encountering hard objects. The blades and actuators are connected via multi-point sealed bearings. Cables are routed through waterproof pipes inside the wheel hub and connect to the data and power supply via a rotating slip ring or wireless communication / power transmission (reducing wear). Each blade is equipped with a position sensor and a torque sensor to detect jamming or large impacts.

[0025] As an example, such as Figure 2 The diagram shown is a schematic representation of the structure of an openable component in a wheel rim cover provided by an embodiment of the present invention. Figure 3The diagram shown is a schematic representation of the structure of a rim cover plate with an openable component that is closed, according to an embodiment of the present invention. The rim cover plate structure covers the outer surface of the tire rim, and its main body is disc-shaped. It is fixed to the rim via threaded connections, snap-fit ​​structures, or a special positioning ring, ensuring a closed and flat appearance when the vehicle is traveling on land. Figure 3 The rim cover plate has multiple fan-shaped or triangular openable components, each arranged radially and evenly spaced on the surface of the rim cover plate, so that when opened, it can form a "blade"-like structure to participate in water propulsion. Figure 2 Each opening / closing assembly consists of a movable window in the rim cover body, a blade body hinged to the edge of the window, and a miniature drive mechanism located on the back of the blade. The actuator can be an electric micro-servo, a magnetic actuator, or a rotary linkage device, used to open or close each blade assembly outward around the hinge point under the command of the control unit. When open, the blade forms a certain angle, with its outer edge higher than the surface of the rim cover, thereby generating an effective tangential thrust on the water flow during tire rotation.

[0026] To ensure structural strength and waterproof performance, the rim cover plate is made of lightweight metal or high-strength composite material, and a rubber sealing ring or elastic waterproof edge is set around the opening and closing assembly to ensure that the blades fit tightly against the cover plate body when closed, preventing mud and water from entering the rim. The outer surface of the blades is usually streamlined and can be designed as curved or zigzag depending on the propulsion requirements to improve the directionality and efficiency of the paddling force in water.

[0027] The overall structure is linked to the rotation of the wheel rim cover and the tire: when the vehicle is in water propulsion mode, the openable components open to form a multi-bladed turbine structure; when the vehicle returns to land mode, the openable components automatically close and become flush with the cover, so that the tires maintain a low wind resistance, unobstructed, and unburdened shape.

[0028] Furthermore, the implementation method of this step is described as follows: When the system detects that the vehicle is floating in the water, it automatically enters the water propulsion preparation process. The vehicle's floating state is determined by a combination of multiple sensors: a water depth sensor deployed on the bottom of the vehicle body detects whether the surrounding water level exceeds the radius of the vehicle's tires; simultaneously, a vehicle attitude sensor acquires information on changes in the vehicle's pitch and roll angles. When the contact force or pressure between the vehicle chassis and the ground drops below a preset threshold, the suspension tension increases, and the acceleration sensor detects micro-floating characteristics of the vehicle, the system determines that the vehicle is in a floating state. At the same time, a door sealing pressure sensor and a humidity sensor in the chassis's waterproof cavity are used to confirm that the interior of the vehicle remains dry and free from water ingress, thus ensuring the vehicle's safety while floating on the water.

[0029] After the vehicle enters the water, the lower part of the vehicle body adopts an integral sealed chassis structure. Continuously welded longitudinal and transverse beams and enclosed panels form a load-bearing space similar to a ship's hull. Rubber sealing strips and waterproof adhesive layers are installed at key joints to prevent leakage when the chassis is submerged. Waterproof seals or waterproof covers are used for vehicle doors, floor piping routes, and chassis openings to ensure that no water enters the vehicle when it floats on the surface, thus maintaining an airtight seal inside the vehicle and creating stable buoyancy.

[0030] The tires themselves also possess auxiliary buoyancy. Their external structure employs a closed-cavity design, maintaining sufficient air volume within the cavity by upholding the rated air pressure, thus providing additional buoyancy when the tires are submerged in water. The overall buoyancy of the vehicle is provided by the air enclosed within the vehicle's cavities and the buoyancy of the four tires. Alternatively, by releasing compressed air from the tires and inflating buoyancy airbags installed at the wheel hubs, the vehicle can float on the water's surface. Furthermore, necessary watertight layers and water-guiding structures are installed on the exterior of the vehicle body, such as waterproof plastic protective plates covering the chassis and sealing ring structures on the wheel rim covers, to prevent water from entering the vehicle interior through localized gaps. Through the combined use of these sealing, water-proofing, and buoyancy designs, the vehicle automatically maintains a floating state after entering deep water, while keeping the interior dry and the vehicle body stable.

[0031] When the vehicle is detected to be floating in the water, multiple openable components on the rim cover surface are opened by corresponding actuators. The tire and actuators are connected via valves, allowing air from the tire to flow into the actuators, which then use air pressure to push the openable rim components open. The opening action is coordinated synchronously by the controller based on the vehicle's posture, the current water flow direction, and the vehicle's propulsion requirements, ensuring all blades deploy stably, evenly, and synchronously. After opening, each blade protrudes outward from the cover surface, its outer edge higher than the cover plane, forming a turbine-like water-pushing structure. The opening angle can be preset (e.g., 30 degrees) and can be adjusted based on current speed and vehicle posture. As the tire begins to rotate, these blades generate tangential thrust on the surrounding water flow, propelling the vehicle forward in the water.

[0032] S12. When a drive request for the vehicle tires is received, the tires are controlled to rotate according to the drive request, so that the openable component moves water flow and generates thrust during the tire rotation to propel the vehicle.

[0033] In this embodiment, a drive request refers to a control requirement generated by the vehicle control system based on driver operation or autonomous driving control commands to drive the vehicle's tires to rotate (e.g., the driver pressing the accelerator pedal generates a drive request for tire speed). The request can originate from accelerator pedal opening signals, gear shift lever forward / reverse commands, steering wheel angle information, or target speed and target acceleration commands issued by the autonomous driving system. The drive request reflects the vehicle's current propulsion intention and, after being parsed by the drive controller, is converted into motor torque output or target wheel speed commands, thereby driving the vehicle's tires to rotate.

[0034] Upon receiving a drive request for the vehicle's tires, the system analyzes the current drive intention through the vehicle's drive controller. The drive controller then generates a target wheel speed or torque command based on the intention and sends the command to the corresponding tire drive motor. Upon receiving the torque command, the tire drive motor begins outputting rotational power, driving the vehicle's tires to rotate in the set direction and speed. At this time, the openable assembly on the rim cover is in the open state, and its blades, after being turned outwards, form a stable water flow surface. The blades are radially distributed on the tire surface, similar to multi-bladed water paddles.

[0035] As the tire rotates, the blades cut into the water in a circumferential direction. The outward angle, shape, and area of ​​the blades enable them to generate a significant tangential thrust on the surrounding water as they rotate. Each blade pushes a portion of the water backward as it passes the water surface, and the reaction force of the water acts on the tire, forming a continuous and stable propulsive force under the simultaneous action of multiple blades.

[0036] The propulsion force is transmitted to the entire vehicle through the wheel hubs and suspension system, enabling the vehicle to move forward in the water. The controller dynamically adjusts the motor torque output based on the vehicle's speed feedback in the water, the status of the blade angle sensor, and the load on the tire drive motor to ensure continuous and correct propulsion. This allows the vehicle to move in the water by rotating its tires and using openable components to propel it.

[0037] The vehicle control method provided in this invention, when detecting that the vehicle is floating in water, controls multiple openable components on the surface of a rim cover to open, with the rim cover covering the vehicle's rim surface; when a drive request for the vehicle's tires is received, the tires are controlled to rotate according to the drive request, so that the openable components propel the vehicle by moving the water flow during the tire rotation. Thus, the openable components on the surface of the rim cover can automatically open when the vehicle is floating on the water, utilizing the tire rotation to propel the components by moving the water flow. Stable and effective thrust can be generated in water without the need for an additional external propeller, enabling the vehicle to move autonomously in water, improving wading capability and emergency mobility, and avoiding any impact on the vehicle's land-based driving performance.

[0038] Figure 4 This is a flowchart illustrating another vehicle control method provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the method specifically includes: S21. When the vehicle is detected to be floating in water, the control system connects the inside of the vehicle tires to the actuator through the valves, so that the gas inside the vehicle tires is introduced into the actuator through the valves; the control system uses the air pressure of the introduced gas to push multiple openable components to open to the target angle.

[0039] In this embodiment, when the vehicle detects that it is floating in water via sensors, the vehicle controller initiates the water propulsion preparation process. First, the controller sends an opening command to the electronically controlled valve assembly located behind the tire valve, switching the valve from a mode solely for tire sealing to a mode connected to the actuator. In this structure, the valve is connected to an integrated air pipe module inside the rim cover plate via a short air passage, allowing gas to be stably transmitted to the actuator that rotates with the wheel via a rotating seal.

[0040] Once the air passage is opened, the higher tire pressure inside the tire pushes air along the air pipe into the actuator corresponding to each blade. The actuator can be a pneumatic actuator. The actuator typically contains a small cylinder or diaphragm structure. When gas enters, the internal pressure increases, driving the piston or diaphragm to produce axial displacement. This displacement, via a connecting rod, causes the openable assembly to rotate outward around the hinge axis.

[0041] During deployment, the controller adjusts the air pressure entering the actuator in stages based on feedback from pressure or angle sensors, ensuring each openable component is smoothly pushed to a preset target angle (e.g., 50 degrees). This avoids impact caused by excessive instantaneous airflow and ensures the blades fully open to form an effective water flow surface. Once all components reach the target angle, the air passage maintains a slight pressure or the blade position is held by a mechanical structure, thus completing the opening action. This method utilizes the compressed air already inside the tire to automatically deploy the blades, resulting in a compact structure that requires no additional independent air source.

[0042] Multiple high-precision deep-water pressure sensors can be embedded in key locations on the underside of the vehicle (such as under the chassis longitudinal beams and inside the wheel arches). These sensors cover a water depth of 0-5 meters (suitable for most deep-water emergency scenarios) and can collect water pressure data in real time. When the vehicle is floating, the bottom of the vehicle is completely submerged, and the sensors detect a stable water pressure value, unlike the instantaneous pressure fluctuations experienced when wading in shallow water. This determines whether the vehicle is floating. Simultaneously, the tilt sensor integrated into the Electronic Stability Program (ESP) can be used to identify whether the vehicle is floating. In a floating state, the vehicle will be horizontal or slightly tilted due to buoyancy (tilt angle typically ≤15°). The floating scenario can be determined by combining the tilt angle threshold with the deep-water pressure sensor data.

[0043] S22. Obtain environmental information of the water area where the vehicle is currently located, and obtain the vehicle's current information; control multiple openable components to adjust the opening angle based on the environmental information, and / or control multiple openable components to adjust the opening angle based on the vehicle information.

[0044] In this embodiment, the environmental information of the water area where the vehicle is currently located can include, but is not limited to, parameters such as water depth, water flow speed, water flow direction, and turbulence intensity, as well as the vehicle's current information, including but not limited to, vehicle speed, tire speed, vehicle posture, and vehicle load. Based on the environmental information, the opening angles of multiple openable components are controlled, with different opening angles preset for different environmental conditions, so that the openable components form suitable water-facing areas under different water flow conditions. And / or, based on the vehicle information, the opening angles of multiple openable components are adjusted, with different opening angles preset for different vehicle conditions, to match the vehicle's operating state, thereby improving paddling efficiency and propulsion stability.

[0045] In one possible implementation, multiple openable components are controlled to adjust their opening angle based on environmental information, including: When the environmental information indicates that the current water flow velocity is greater than a first threshold, the opening angle of multiple openable components is reduced. When the environmental information indicates that the current water flow velocity is less than or equal to a second threshold, the opening angle of multiple openable components is increased. The first threshold is greater than or equal to the second threshold, and the opening angle is negatively correlated with the water flow velocity.

[0046] In this embodiment, the water flow velocity of the water area where the vehicle is currently located is obtained through a water flow velocity sensor, and the velocity value is filtered to remove instantaneous fluctuation interference, resulting in stable water flow velocity data. The controller periodically reads this data and compares it with preset first and second thresholds.

[0047] When the stabilized water flow velocity (e.g., 2 m / s) exceeds a first threshold (e.g., greater than 1.5 m / s), the controller determines that the current environment is one of strong water flow. To prevent structural damage to the openable components due to excessive force or to cause instability in the vehicle's posture, the controller issues a control command to the actuator to reduce the angle, causing multiple openable components to gradually retract to a smaller opening angle (e.g., controlling the actuator to slowly retract the opening angle of the openable components from 35° to 15°). During execution, the controller limits the rate of angle change to ensure a smooth reduction in the opening angle and avoid sudden actions.

[0048] Optionally, if the water flow velocity is greater than a first threshold, and the difference between the two is greater than 0.1, the opening angle is reduced by 5° based on the current opening angle until the minimum opening angle value (e.g., 10°) is reached.

[0049] When the water flow velocity (e.g., 0.5 m / s) is less than or equal to the second threshold (e.g., 0.8 m / s), the controller determines that the current water flow is weak and suitable for enhancing the propulsion effect. Therefore, it issues an angle increase command to the actuator, causing multiple openable components to gradually open to a larger angle (e.g., controlling the actuator to increase the opening angle from 25° to 40°) to expand the interaction area with the water flow, thereby improving the propulsion efficiency of the rim assembly when paddling the water flow.

[0050] Optionally, if the water flow velocity is less than or equal to the second threshold, and for every additional 0.1 between the two, the opening angle is increased by 5° based on the current opening angle, until the maximum opening angle value (e.g., 50°) is reached.

[0051] When the water flow velocity (e.g., 1.2 m / s) is less than or equal to the first threshold (e.g., 1.5 m / s) and greater than the second threshold (e.g., 0.8 m / s), the controller determines that the water flow is in a moderate state: the current angle can be maintained (e.g., kept at 30°), and fine adjustments are only made if the vehicle has dynamic needs (such as acceleration or attitude correction).

[0052] To prevent frequent opening and closing of the operable component due to fluctuations in water flow velocity around two thresholds, the system also incorporates a time-based judgment mechanism. For example, adjustments are only performed after the velocity change has consistently reached a certain state for a certain period. Furthermore, all angle adjustments are limited to the maximum and minimum mechanical angles (e.g., the allowable opening angle range is 10°-50°), ensuring that the operable component always operates within a safe range.

[0053] In one possible implementation, multiple openable components are controlled to adjust their opening angles based on vehicle information, including: When vehicle information indicates that the vehicle currently needs to increase propulsion, the opening angle of multiple openable components is increased; and / or, when vehicle information indicates that the vehicle currently needs to turn, the outer tire and the inner tire are determined based on the steering information, the opening angle of the openable component corresponding to the outer tire is increased, and the opening angle of the openable component corresponding to the inner tire is decreased; and / or, when vehicle information indicates that the vehicle attitude is deflected, the openable component to be adjusted is determined based on the attitude deflection direction, and the target opening angle to be adjusted is determined based on the attitude deflection angle, so as to adjust the openable component to be adjusted to the target opening angle.

[0054] In this embodiment, the system acquires vehicle information in real time through the onboard controller, which may include, but is not limited to, throttle opening, target speed, steering angle, vehicle attitude angles (yaw angle, pitch angle, roll angle), and the rotational state of each tire. Based on this vehicle information, the controller determines the current operational requirements and adjusts the opening angle of the openable components accordingly to enhance propulsion efficiency or correct vehicle direction.

[0055] Vehicle information indicates a current need for increased propulsion: When the throttle opening increases or exceeds a set value (e.g., 60%), the controller determines that the vehicle currently needs increased propulsion to improve its speed. At this time, the controller sends a command to the actuators of each tire to increase the opening angle; the actuators, driven by air pressure or a motor, gradually increase the tilt angle of the openable assembly (e.g., from 25° to 40°). Each increase can be a preset angle value (e.g., 5°) until the throttle opening decreases, remains at, or is less than or equal to the set value, at which point it is determined that no propulsion is needed, and the adjustment of the opening angle stops.

[0056] Vehicle information indicates the current steering requirement: the system obtains the current steering angle from the steering wheel angle sensor or electronic steering system, distinguishing between the outer and inner tires based on the steering direction. For example, when turning left, the left tire is identified as the inner tire and the right tire as the outer tire; when turning right, the right tire is identified as the inner tire and the left tire as the outer tire. Specific adjustment methods: the opening angle of the outer tire's openable assembly is increased by a preset angle value (e.g., from 30° to 40°), while the opening angle of the inner tire's openable assembly is decreased by a preset angle value (e.g., from 30° to 20°). This differential blade drag / propulsion distribution generates steering torque in water, improving steering sensitivity and stability.

[0057] Vehicle information characterizes the vehicle's attitude deflection: changes in yaw angle, roll angle, or longitudinal deflection are detected by the inertial measurement unit. If the attitude deviation exceeds a preset threshold (e.g., the vehicle drifts to the left), the controller performs the following operations: Based on the deflection direction, it selects the openable assembly of the corresponding tire as the assembly to be adjusted, and calculates the target opening angle to be adjusted based on the deflection angle. It increases the opening angle of the openable assembly on the side with the same deflection direction as the deflection direction, while simultaneously decreasing the opening angle of the openable assembly on the side with the opposite deflection direction. The increase and decrease in opening angle are proportional to the deflection angle (e.g., for every 1° increase in deflection angle, the opening angle increases and decreases by 15°).

[0058] (For example, if the current deflection direction is to the left and the current deflection angle is 6°, which is greater than the preset deflection angle of 5°, the opening angle of the right-side openable component is adjusted from 30° to 15° to reduce the thrust on that side, and the opening angle of the left-side openable component is adjusted from 30° to 45° to increase the thrust on that side.) In this way, the system can actively suppress the vehicle's rotational deviation, keeping it in a straight line or stable driving state.

[0059] In one possible implementation, after the multiple openable components on the rim cover surface are opened, the method further includes: The self-locking mechanism is controlled to fix multiple openable components; if the self-locking mechanism fails to fix any openable component, or if an obstacle is detected in the water flow within a preset area around the vehicle tires, the rotational speed of the vehicle tires is limited.

[0060] In this embodiment, after multiple openable components are opened to the target angle, a self-locking mechanism located at the component's pivot point secures each component. The self-locking mechanism can be a mechanical latch, a ratchet locking structure, or a pneumatic holding structure. Its function is to provide a continuous locking force after the component reaches the specified angle, preventing the component from retracting, shaking, or shifting when impacted by water flow or when the tire rotates at high speed.

[0061] During the locking process, the system uses position sensors, locking status switches, or pressure detection units installed on the self-locking mechanism to monitor in real time whether each openable component has successfully entered the locking state. If any openable component fails to meet the locking requirements, has insufficient locking force, or is not locked properly, a structural risk is identified, and a protection command is immediately sent to the tire drive motor to limit the tire speed to prevent damage to the unlocked components under the action of water flow.

[0062] Simultaneously, ultrasonic sensors, underwater radar, or water flow disturbance detection modules monitor for obstacles within a preset area around the tire. When floating objects, rocks, branches, or other obstacles are detected entering the danger zone near the rim cover, the system also limits the tire's rotational speed to reduce the impact of high-speed rotation and ensure that the openable components are not caught in the obstacles. Thus, it can proactively reduce tire speed when the openable components fail to lock or encounter obstacles in the water, thereby protecting the rim cover structure and the openable components, and improving overall operational safety and durability.

[0063] S23. When a drive request for the vehicle tires is received, the tires are controlled to rotate according to the drive request, so that the openable component moves water flow and generates thrust during the tire rotation to propel the vehicle.

[0064] In this embodiment, the procedure is similar to step S12, and can be referred to in detail. Figure 1 For the sake of brevity, the relevant content will not be elaborated upon here.

[0065] S24. Obtain the vehicle's moving speed and the vehicle's accelerator pedal opening; adjust the torque of the vehicle's tire drive motor according to the moving speed and accelerator pedal opening, including: obtaining the target moving speed corresponding to the accelerator pedal opening; when the target moving speed is greater than the moving speed and the difference in moving speeds is greater than a difference threshold, controlling the torque output of the tire drive motor to increase; when the target moving speed is less than the moving speed and the difference in moving speeds is greater than a difference threshold, controlling the torque output of the tire drive motor to decrease.

[0066] In this embodiment, the vehicle's moving speed and accelerator pedal opening are collected in real time, and the accelerator pedal opening is mapped to a target moving speed. Then, the torque output of the tire drive motor is adjusted according to the difference between the target speed and the current speed, so that the vehicle's power response matches the driver's intention. Figure 1 To.

[0067] Specifically, the vehicle's current actual speed is read from the vehicle speed sensor. The accelerator pedal opening, ranging from 0% to 100%, is obtained from the accelerator pedal position sensor, representing the driver's power demand. A mapping table between accelerator pedal opening and target speed is obtained, containing calibrated data on the speed (vehicle speed) corresponding to different accelerator pedal openings. The current accelerator pedal opening is converted into the driver's intended target speed (e.g., a 20% accelerator pedal opening corresponds to a target speed of 25 km / h). The target speed is subtracted from the actual speed to obtain the speed difference. A pre-set threshold for this difference is used to avoid frequent torque adjustments due to small speed differences. When the speed difference exceeds the threshold, torque is adjusted based on the speed difference and the current direction of movement.

[0068] When the target moving speed is determined to be higher than the current moving speed, and the speed difference between the two exceeds a preset threshold, the controller sends an increase torque command to the tire drive motor based on the magnitude of the speed difference, causing the drive motor to increase torque output. By increasing torque, the vehicle gains stronger driving force to meet the acceleration requirements corresponding to the target moving speed. The larger the speed difference, the greater the increase in torque, but it does not exceed the upper limit of torque; conversely, the smaller the speed difference, the smaller the increase in torque.

[0069] When the target moving speed is determined to be lower than the current moving speed, and the speed difference exceeds a preset threshold, the controller sends a torque reduction command to the tire drive motor, reducing the torque output of the drive motor. By reducing torque, the vehicle's driving force is weakened, thus matching the lower target moving speed requirement. The larger the speed difference, the greater the torque reduction, but it does not exceed the lower torque limit; conversely, the smaller the speed difference, the smaller the torque reduction.

[0070] During the above process, the controller will adjust the torque change range according to the magnitude of the speed difference and preset rules to make the torque adjustment process smoother and avoid sudden power fluctuations, thereby achieving stable control of vehicle acceleration and deceleration.

[0071] As an example, the current moving speed is 30 km / h, while the target moving speed is determined to be 48 km / h based on the accelerator pedal opening. The speed difference is 18 km / h, and it is compared with a preset difference threshold of 5 km / h. Since the speed difference exceeds the threshold and the target moving speed is higher than the current moving speed, the controller sends an increase torque command to the drive motor, increasing the motor torque by a preset ratio to increase the vehicle's propulsion and accelerate the vehicle toward the target moving speed.

[0072] In another scenario, the current moving speed is 60 km / h, the target moving speed is 40 km / h, and the speed difference is 20 km / h, which also exceeds the difference threshold. Since the target moving speed is lower than the current moving speed, the controller sends a torque reduction command to the drive motor, causing the motor torque to decrease by a preset amount, reducing the driving force on the vehicle, and achieving a smooth deceleration towards the lower target speed.

[0073] The vehicle control method provided in this invention, by setting openable components on the wheel rim surface and automatically deploying these components after the vehicle enters water, allows the tires to generate propulsion by propelling the water flow as they rotate, thereby enabling the vehicle to move autonomously on the water surface. Utilizing mechanisms such as pneumatically driven deployment, self-locking mechanism fixation, and joint adjustment of angles based on environmental and vehicle conditions, the system can adjust the opening angle of the components in real time according to water flow strength, vehicle posture, and steering requirements, maximizing hydrodynamic efficiency. Simultaneously, in conjunction with torque adjustment and safety protection logic, damage to the components can be prevented when they are not locked or encounter obstacles, maintaining stability and safety during propulsion. Through this coordinated control, the problem of traditional vehicles being unable to generate effective power in wading or floating states is solved, achieving controllable propulsion and safe navigation on the water surface.

[0074] Figure 5 This is a schematic diagram of the structure of a vehicle control system provided in an embodiment of the present invention, such as... Figure 5 As shown, the system specifically includes: The system comprises a remote signal receiving module 51, an activation module 52, an actuator 53, an openable rim assembly 54, and a self-locking mechanism 55. When the vehicle is detected to have fallen into a deep lake or river and is floating on the surface, the "whirlpool-driving" function of the wheel rim can be manually or automatically triggered. The remote signal receiving module inside the tire receives the trigger signal, and the activation module activates the connection between the tire and the actuator via a valve. Air from the tire flows into the actuator, which uses air pressure to open the openable rim assembly. Finally, the self-locking mechanism secures the rim assembly, ensuring its stability. The user can then control the tire speed via the accelerator pedal. As the tire rotates, the rim assembly propels the vehicle forward by creating water currents.

[0075] The vehicle control system provided in this embodiment can be as follows: Figure 5 The system shown can perform, for example Figure 1-2 All steps of the vehicle control method in China, thereby achieving Figure 1-2 For details on the technical effects of the vehicle control method shown, please refer to [link / reference]. Figure 1-2 The relevant descriptions are presented concisely and will not be elaborated upon here.

[0076] Figure 6 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present invention, as shown below. Figure 6 The device specifically includes: The first control module 61 is used to control multiple openable components on the surface of the rim cover to open when the vehicle is detected to be floating in water, the rim cover covering the rim surface of the vehicle. The second control module 62 is used to control the rotation of the tires according to the drive request when a drive request for the vehicle tires is received, so that the openable component moves water flow and generates thrust during the rotation of the tires to propel the vehicle.

[0077] In one possible implementation, the first control module is specifically used to control the interior of the vehicle tire to communicate with the actuator through a valve, so that the gas inside the vehicle tire is introduced into the actuator through the valve. The actuator is controlled to push multiple openable components to open to the target angle by the pressure of the introduced gas.

[0078] In one possible implementation, the first control module is further configured to acquire environmental information of the water area where the vehicle is currently located, and to acquire the vehicle's current vehicle information; The multiple openable components are controlled to adjust their opening angles according to the environmental information, and / or, the multiple openable components are controlled to adjust their opening angles according to the vehicle information.

[0079] In one possible implementation, the first control module is further configured to control the opening angle of the plurality of openable components to decrease when the environmental information indicates that the current water flow velocity is greater than a first threshold, and to control the opening angle of the plurality of openable components to increase when the environmental information indicates that the current water flow velocity is less than or equal to a second threshold, wherein the first threshold is greater than or equal to the second threshold, and the opening angle is negatively correlated with the water flow velocity.

[0080] In one possible implementation, the first control module is further configured to control the opening angle of the plurality of openable components to increase when the vehicle information indicates that the vehicle currently needs enhanced propulsion. And / or, When the vehicle information indicates that the vehicle currently needs to turn, the outer tire and the inner tire are determined according to the steering information, and the opening angle of the openable component corresponding to the outer tire is increased, and the opening angle of the openable component corresponding to the inner tire is decreased. And / or, When the vehicle information indicates that the vehicle attitude is deflected, the openable component to be adjusted is determined according to the attitude deflection direction, and the target opening angle to be adjusted is determined according to the attitude deflection angle, so as to adjust the openable component to be adjusted to the target opening angle.

[0081] In one possible implementation, the second control module is further configured to acquire the vehicle's moving speed and the accelerator pedal opening of the vehicle. Adjusting the torque of the vehicle's tire drive motor based on the moving speed and the accelerator pedal opening includes: Obtain the target moving speed corresponding to the accelerator pedal opening; When the target moving speed is greater than the moving speed and the difference in moving speed is greater than the difference threshold, the torque output of the tire drive motor is increased. When the target moving speed is less than the moving speed and the difference in moving speed is greater than the difference threshold, the torque output of the tire drive motor is reduced.

[0082] In one possible implementation, the first control module is further configured to control the self-locking mechanism to fix the plurality of openable and closable components; If the self-locking mechanism fails to secure any of the openable components, or if an obstacle is detected in the water flow within a preset area around the vehicle tires, the rotational speed of the vehicle tires is limited.

[0083] The vehicle control device provided in this embodiment can be as follows: Figure 6 The apparatus shown can perform, as Figure 1-2 All steps of the vehicle control method in China, thereby achieving Figure 1-2 For details on the technical effects of the vehicle control method shown, please refer to [link / reference]. Figure 1-2 The relevant descriptions are presented concisely and will not be elaborated upon here.

[0084] Figure 7 This is a schematic diagram of the structure of a vehicle provided in an embodiment of the present invention. Figure 7 The vehicle 700 shown includes at least one processor 701, a memory 702, at least one network interface 704, and other user interfaces 703. The various components in the vehicle 700 are coupled together via a bus system 705. It is understood that the bus system 705 is used to implement communication between these components. In addition to a data bus, the bus system 705 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 7 The general labeled all buses as Bus System 705.

[0085] The user interface 703 may include a display, keyboard, or clicking device (e.g., mouse, trackball, touchpad, or touchscreen).

[0086] It is understood that the memory 702 in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 702 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0087] In some implementations, memory 702 stores elements, executable units or data structures, or subsets thereof, or extended sets thereof: operating system 7021 and application program 7022.

[0088] The operating system 7021 includes various system programs, such as the framework layer, core library layer, and driver layer, used to implement various basic business functions and handle hardware-based tasks. The application program 7022 includes various applications, such as a media player and a browser, used to implement various application functions. The program implementing the method of this embodiment can be included in the application program 7022.

[0089] In this embodiment of the invention, by calling the program or instructions stored in the memory 702, specifically the program or instructions stored in the application program 7022, the processor 701 executes the method steps provided in each method embodiment, including, for example: When the vehicle is detected to be floating in water, multiple openable components on the surface of the rim cover are opened, and the rim cover covers the rim surface of the vehicle. When a drive request is received for the vehicle's tires, the tires are controlled to rotate according to the drive request, so that the openable assembly moves water and generates thrust during the tire rotation to propel the vehicle.

[0090] The methods disclosed in the above embodiments of the present invention can be applied to processor 701, or implemented by processor 701. Processor 701 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 701 or by instructions in the form of software. The processor 701 may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present invention can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software units in the decoding processor. The software units may be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 702. Processor 701 reads the information in memory 702 and, in conjunction with its hardware, completes the steps of the above method.

[0091] It is understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described herein, or combinations thereof.

[0092] For software implementation, the techniques described herein can be implemented by units that perform the functions described herein. The software code can be stored in memory and executed by a processor. The memory can be implemented in the processor or external to the processor.

[0093] The vehicle provided in this embodiment can be as follows: Figure 7 The vehicle shown can perform the following actions: Figure 1-2 All steps of the vehicle control method in China, thereby achieving Figure 1-2 For details on the technical effects of the vehicle control method shown, please refer to [link / reference]. Figure 1-2 The relevant descriptions are presented concisely and will not be elaborated upon here.

[0094] This invention also provides a storage medium (computer-readable storage medium). This storage medium stores one or more programs. The storage medium may include volatile memory, such as random access memory; it may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state drive; and it may also include combinations of the above types of memory.

[0095] One or more programs in the storage medium can be executed by one or more processors to implement the vehicle control method described above that is executed on the vehicle equipment side.

[0096] The processor is used to execute a vehicle control program stored in the memory to implement the following steps of a vehicle control method executed on the vehicle equipment side: When the vehicle is detected to be floating in water, multiple openable components on the surface of the rim cover are opened, and the rim cover covers the rim surface of the vehicle. When a drive request is received for the vehicle's tires, the tires are controlled to rotate according to the drive request, so that the openable assembly moves water and generates thrust during the tire rotation to propel the vehicle.

[0097] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0098] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0099] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that, include: When the vehicle is detected to be floating in water, multiple openable components on the surface of the rim cover are opened, and the rim cover covers the rim surface of the vehicle. When a drive request is received for the vehicle's tires, the tires are controlled to rotate according to the drive request, so that the openable assembly moves water and generates thrust during the tire rotation to propel the vehicle.

2. The method according to claim 1, characterized in that, The control wheel rim cover surface has multiple openable components that open, including: The system controls the connection between the inside of the vehicle tire and the actuator via a valve, so that the gas inside the vehicle tire is introduced into the actuator through the valve. The actuator is controlled to push multiple openable components to open to the target angle by the pressure of the introduced gas.

3. The method according to claim 2, characterized in that, After the multiple openable components on the surface of the rim cover plate are opened, the method further includes: Obtain environmental information of the water area where the vehicle is currently located, and obtain the vehicle's current vehicle information; The multiple openable components are controlled to adjust their opening angles according to the environmental information, and / or, the multiple openable components are controlled to adjust their opening angles according to the vehicle information.

4. The method according to claim 3, characterized in that, The step of controlling multiple openable components to adjust their opening angle based on the environmental information includes: When the environmental information indicates that the current water flow velocity is greater than a first threshold, the opening angle of the plurality of openable components is controlled to decrease. When the environmental information indicates that the current water flow velocity is less than or equal to a second threshold, the opening angle of the plurality of openable components is controlled to increase. The first threshold is greater than or equal to the second threshold, and the opening angle is negatively correlated with the water flow velocity.

5. The method according to claim 3, characterized in that, The step of controlling multiple openable components to adjust their opening angle based on the vehicle information includes: When the vehicle information indicates that the vehicle currently needs increased propulsion, the opening angle of the plurality of openable components is increased. And / or, When the vehicle information indicates that the vehicle currently needs to turn, the outer tire and the inner tire are determined according to the steering information, and the opening angle of the openable component corresponding to the outer tire is increased, and the opening angle of the openable component corresponding to the inner tire is decreased. And / or, When the vehicle information indicates that the vehicle attitude is deflected, the openable component to be adjusted is determined according to the attitude deflection direction, and the target opening angle to be adjusted is determined according to the attitude deflection angle, so as to adjust the openable component to be adjusted to the target opening angle.

6. The method according to claim 2, characterized in that, After moving the vehicle, the method further includes: The vehicle's moving speed and the accelerator pedal opening of the vehicle are obtained. Adjusting the torque of the vehicle's tire drive motor based on the moving speed and the accelerator pedal opening includes: Obtain the target moving speed corresponding to the accelerator pedal opening; When the target moving speed is greater than the moving speed and the difference in moving speed is greater than the difference threshold, the torque output of the tire drive motor is increased. When the target moving speed is less than the moving speed and the difference in moving speed is greater than the difference threshold, the torque output of the tire drive motor is reduced.

7. The method according to claim 1, characterized in that, After the multiple openable components on the surface of the rim cover are opened, the method further includes: The self-locking mechanism is controlled to fix the multiple openable and closable components; If the self-locking mechanism fails to secure any of the openable components, or if an obstacle is detected in the water flow within a preset area around the vehicle tires, the rotational speed of the vehicle tires is limited.

8. A vehicle control device, characterized in that, include: A first control module is used to control multiple openable components on the surface of a rim cover to open when the vehicle is detected to be floating in water, the rim cover covering the rim surface of the vehicle. The second control module is used to control the rotation of the tires according to the drive request received for the vehicle tires, so that the openable component can move water flow and generate thrust during the rotation of the tires to propel the vehicle.

9. A vehicle, characterized in that, include: A processor and a memory, the processor being configured to execute a vehicle control program stored in the memory to implement the vehicle control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores one or more programs, which can be executed by one or more processors to implement the vehicle control method according to any one of claims 1 to 7.

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