Water falling detection method and device and vehicle

Abstract

The invention provides a falling-into-water detection method and device and a vehicle, and relates to the technical field of automobiles, and the method comprises the steps: determining the falling-into-water confidence coefficient of the vehicle, and determining that the vehicle falls into water under the condition that the falling-into-water confidence coefficient is greater than a target confidence coefficient. Wherein the falling-into-water confidence can be determined based on the following various falling-into-water parameters: the pitch angle of the vehicle, the roll angle of the vehicle, the tire pressure, the motor shaft end load, the driving wheel slip rate, the driving wheel slip rate, the suspension height and the longitudinal speed of the vehicle. According to the technical scheme, water falling detection can be carried out.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and more particularly to a method, apparatus, and vehicle for detecting water immersion. Background Technology

[0002] With the rapid development of automotive technology and the widespread use of vehicles, there is a risk of vehicles falling into water while driving. How to conduct water-fall detection is a problem that urgently needs to be solved by professionals in this field. Summary of the Invention

[0003] This application provides a method, apparatus, and vehicle for detecting water falls, used for water fall detection.

[0004] In a first aspect, embodiments of this application provide a water-fall detection method applied to a vehicle. The method includes: determining the vehicle's water-fall confidence level; and determining that the vehicle has fallen into water if the water-fall confidence level is greater than a target confidence level. The water-fall confidence level can be determined based on a variety of water-fall parameters, including: the vehicle's pitch angle, roll angle, tire pressure, motor shaft end load, drive wheel slip ratio, drive wheel slip rate, suspension height, and vehicle longitudinal speed.

[0005] The water-fall detection method provided in this application determines the vehicle's water-fall confidence level based on its water-fall parameters, and confirms that the vehicle has fallen into water if the water-fall confidence level is greater than a target confidence level. Each water-fall parameter can be acquired using the vehicle's built-in sensors. For example, pitch angle and roll angle can be acquired using airbag sensors, tire pressure can be acquired using tire pressure sensors, motor shaft load can be determined using a motor controller, drive wheel slip ratio, drive wheel slip rate, and vehicle longitudinal speed can be acquired using wheel speed sensors, and suspension height can be acquired using a vehicle height sensor. In other words, this application's solution can reuse the vehicle's built-in sensors to acquire water-fall parameters, avoiding the need for additional sensors for the water-fall detection function, thus achieving water-fall detection without increasing the overall vehicle cost. Furthermore, this application determines the vehicle's water-fall confidence level based on water-fall parameters from different dimensions, which improves the reliability of the water-fall confidence level, thereby improving the reliability of water-fall detection and reducing the false alarm rate of vehicle water-fall detection.

[0006] In one possible implementation of the first aspect, when the vehicle's water-fall detection function is activated, the confidence level of the vehicle's water-fall is determined; the method further includes:

[0007] If a target event is detected, the vehicle's water-fall detection function is activated; the target event includes at least one of the following events: the tire pressure of any tire of the vehicle is less than the target tire pressure, the change value of the vehicle's pitch angle within the first target time period is greater than a first angle, and the change value of the vehicle's roll angle within the first target time period is greater than a second angle.

[0008] The above implementation can activate the vehicle's water-fall detection function only when a target event is detected, thereby reducing resource consumption.

[0009] In one possible implementation of the first aspect, the falling water parameters have corresponding falling water weights; the falling water confidence level is the sum of the falling water weights corresponding to multiple falling water parameters; For any falling water parameter, when the falling water parameter meets the corresponding falling water condition, the falling water weight corresponding to the falling water parameter is greater than 0; when the falling water parameter does not meet the corresponding falling water condition, the falling water weight corresponding to the falling water parameter is 0.

[0010] The above implementation method can determine whether a vehicle has fallen into water based on the sum of the weights of each water-falling parameter. The determination method is simple and efficient, and can promptly issue a water-falling warning to the user when the vehicle falls into water.

[0011] In one possible implementation of the first aspect, the landing conditions corresponding to the pitch angle include: the absolute value of the pitch angle is greater than the third angle, and the duration is greater than or equal to the duration of the second target. The conditions for landing on the water corresponding to the roll angle include: the absolute value of the roll angle is greater than the fourth angle, and the duration is greater than or equal to the duration of the second target. The conditions for falling into water corresponding to tire pressure include: at least three tires of the vehicle have tire pressures lower than the target tire pressure, and the duration of this condition is greater than or equal to the second target duration. The conditions for the water-fall conditions corresponding to the motor shaft end load include: the shaft end load of any motor in the vehicle is less than the first load, and the duration is greater than or equal to the second target duration; The conditions for falling into the water corresponding to the drive wheel slip ratio and drive wheel slip rate include: the drive wheel slip ratio and / or drive wheel slip rate of the vehicle are greater than the target percentage, and the duration is greater than or equal to the second target duration; The conditions for falling into water corresponding to suspension height include: the suspension height of at least 3 wheels of the vehicle is greater than the target height, and the duration is greater than or equal to the second target duration; The conditions for a vehicle to fall into the water at its longitudinal speed include: the vehicle's longitudinal speed is less than the target speed, and the duration of the fall is greater than or equal to the duration of the second target.

[0012] The above implementation provides corresponding water-falling conditions for each water-falling parameter, and the method for judging each water-falling condition is simple and efficient.

[0013] In one possible implementation of the first aspect, the water drop weight corresponding to the pitch angle, the water drop weight corresponding to the roll angle, and the water drop weight corresponding to the motor shaft end load are greater than the water drop weights corresponding to other water drop parameters.

[0014] In one possible implementation of the first aspect, the method further includes: If the confidence level of falling into the water is less than or equal to the target confidence level, and if the first and second conditions are met, the falling into the water detection will be terminated. If the first or second condition is not met, the confidence level of the vehicle falling into the water is reassessed. The first condition includes: the load on the axle end of each motor of the vehicle is greater than the second load; the second condition includes: the change in pitch angle within the first target duration is less than the fifth angle or the change in roll angle within the first target duration is less than the sixth angle.

[0015] The above implementation method can, when the confidence level of falling into water is low, further determine whether to exit the water detection or re-determine the confidence level of falling into water based on the first and second conditions. If the first and second conditions are met, it means that there is no risk of falling into water at this time, so the water detection can be exited to reduce the consumption of resources; if the first or second condition is not met, it means that there is still a certain risk of falling into water, so the confidence level of falling into water can be re-determined to further determine whether falling into water has occurred.

[0016] In one possible implementation of the first aspect, if the confidence level of falling into the water is greater than the target confidence level, the method further includes: issuing a falling into the water warning message.

[0017] The above-described implementation method can send a water-fall warning message to the user when the vehicle is detected to have fallen into the water, thereby reminding the user that the vehicle has fallen into the water.

[0018] Secondly, embodiments of this application provide a water-fall detection device for use in vehicles, the device comprising: The determination module is used to determine the confidence level of the vehicle's fall into water. The confidence level is determined based on a number of fall into water parameters, including: vehicle pitch angle, vehicle roll angle, tire pressure, motor shaft end load, drive wheel slip ratio, drive wheel slip ratio, suspension height, and vehicle longitudinal speed. If the confidence level of the vehicle falling into the water is greater than the target confidence level, then the vehicle is confirmed to have fallen into the water.

[0019] In one possible implementation of the second aspect, the determining module is specifically used to: determine the confidence level of the vehicle's water-fall detection when the vehicle's water-fall detection function is activated. The device also includes an activation module for activating the vehicle's water-fall detection function when a target event is detected; the target event includes at least one of the following events: the tire pressure of any tire of the vehicle is less than the target tire pressure, the change value of the vehicle's pitch angle within a first target duration is greater than a first angle, and the change value of the vehicle's roll angle within a first target duration is greater than a second angle.

[0020] In one possible implementation of the second aspect, the falling water parameters have corresponding falling water weights; the falling water confidence level is the sum of the falling water weights corresponding to multiple falling water parameters; For any falling water parameter, when the falling water parameter meets the corresponding falling water condition, the falling water weight corresponding to the falling water parameter is greater than 0; when the falling water parameter does not meet the corresponding falling water condition, the falling water weight corresponding to the falling water parameter is 0.

[0021] In one possible implementation of the second aspect, the landing conditions corresponding to the pitch angle include: the absolute value of the pitch angle is greater than the third angle, and the duration is greater than or equal to the duration of the second target. The conditions for landing on the water corresponding to the roll angle include: the absolute value of the roll angle is greater than the fourth angle, and the duration is greater than or equal to the duration of the second target. The conditions for falling into water corresponding to tire pressure include: at least three tires of the vehicle have tire pressures lower than the target tire pressure, and the duration of this condition is greater than or equal to the second target duration. The conditions for the water-fall conditions corresponding to the motor shaft end load include: the shaft end load of any motor in the vehicle is less than the first load, and the duration is greater than or equal to the second target duration; The conditions for falling into the water corresponding to the drive wheel slip ratio and drive wheel slip rate include: the drive wheel slip ratio and / or drive wheel slip rate of the vehicle are greater than the target percentage, and the duration is greater than or equal to the second target duration; The conditions for falling into water corresponding to suspension height include: the suspension height of at least 3 wheels of the vehicle is greater than the target height, and the duration is greater than or equal to the second target duration; The conditions for a vehicle to fall into the water at its longitudinal speed include: the vehicle's longitudinal speed is less than the target speed, and the duration of the fall is greater than or equal to the duration of the second target.

[0022] In one possible implementation of the second aspect, the water drop weight corresponding to the pitch angle, the water drop weight corresponding to the roll angle, and the water drop weight corresponding to the motor shaft end load are greater than the water drop weights corresponding to other water drop parameters.

[0023] In one possible implementation of the second aspect, the device further includes an exit module for exiting the water fall detection if the first condition and the second condition are met when the water fall confidence is less than or equal to the target confidence. The determination module is also used to: if the first condition or the second condition is not met, then redetermine the confidence level of the vehicle falling into the water; The first condition includes: the load on the axle end of each motor of the vehicle is greater than the second load; the second condition includes: the change in pitch angle within the first target duration is less than the fifth angle or the change in roll angle within the first target duration is less than the sixth angle.

[0024] In one possible implementation of the second aspect, the device further includes a prompting module for issuing a water-falling warning message when the confidence level of falling into the water is greater than the target confidence level.

[0025] Thirdly, embodiments of this application provide a vehicle, including: at least one processor and a memory, the processor being coupled to the memory for reading and executing instructions in the memory to perform the method as described in the first aspect or any embodiment of the first aspect.

[0026] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect or any embodiment of the first aspect.

[0027] Fifthly, embodiments of this application provide a computer program product that, when run on an electronic device, causes the electronic device to perform the method described in the first aspect or any embodiment of the first aspect.

[0028] Sixthly, embodiments of this application provide a chip system including a processor coupled to a memory. The processor executes a computer program stored in the memory to implement the method described in the first aspect or any embodiment thereof. The chip system may be a single chip or a chip module composed of multiple chips.

[0029] It is understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0030] Figure 1 A schematic diagram of a vehicle sensor provided in an embodiment of this application; Figure 2 A schematic flowchart of the water-fall detection method provided in the embodiments of this application; Figure 3 A schematic diagram of the water-fall detection process provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of the water-fall detection device provided in the embodiments of this application; Figure 5 This is a schematic diagram of the vehicle structure provided in an embodiment of this application. Detailed Implementation

[0031] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is only for explaining specific embodiments and is not intended to limit the application. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0032] To facilitate understanding of the technical solution of this application, the relevant terms involved in this application will be introduced first.

[0033] Pitch angle: This refers to the angle of rotation of a vehicle about its lateral axis (Y-axis). For example, when a vehicle accelerates, the driving force acts on the contact point between the tires and the ground (near the bottom of the vehicle), while the inertial force acts on the vehicle's center of gravity. This pair of forces creates a torque that lifts the front of the vehicle and lowers the rear, producing a positive pitch angle. When the vehicle brakes, the braking force also acts on the tire contact point, while the inertial force moves forward. This creates a torque that lowers the front of the vehicle and lifts the rear, producing a negative pitch angle. For another example, when a vehicle enters water front-first, a larger negative pitch angle will be produced due to the front sinking and the rear rising; conversely, when a vehicle enters water rear-first, a larger positive pitch angle will be produced due to the rear sinking and the front rising.

[0034] Roll angle: This refers to the angle at which a vehicle rotates about its longitudinal axis (X-axis). For example, when a vehicle turns, centrifugal force is generated, which acts on the vehicle's center of gravity, while the centripetal force exerted by the ground through the tires acts on the tire contact patch. Since the center of gravity is usually higher than the contact patch, this creates a moment that causes the vehicle to tilt outward, resulting in a roll angle. Another example is when a vehicle enters water; due to water resistance, the two sides of the vehicle are usually not level, also resulting in a large roll angle.

[0035] Tire pressure refers to the air pressure inside a tire. Tire pressure is essential for supporting the weight of the vehicle, maintaining the shape of the tire, and transmitting driving and braking forces. When a vehicle falls into water, the tire pressure will decrease significantly due to buoyancy.

[0036] Motor shaft end load: also known as bearing load or external shaft load, refers to the sum of all external forces and torques acting on the motor output shaft. When the vehicle is driving normally, the motor shaft end load is the total resistance of the vehicle's movement (rolling resistance + air resistance + gradient resistance, etc.), which is relatively large and stable. When the vehicle falls into water, the contact conditions of the vehicle's tires in the water will be greatly deteriorated, causing the drive wheels to slip severely. The motor will instantly switch from a "heavy load" state to a "light load or no load" state, resulting in a sharp drop in the motor shaft end load.

[0037] Drive wheel slip ratio: A core concept in vehicle dynamics, it directly determines whether a vehicle can accelerate effectively, whether it slips, and the control strategy of the powertrain. Drive wheel slip ratio is a key indicator for measuring the degree of wheel spin; it is primarily used to assess wheel slippage during acceleration or on low-traction surfaces and is a core monitoring parameter of the traction control system. When a vehicle falls into water, the drastic change in tire-road contact conditions causes extreme and abnormal changes in the drive wheel slip ratio. The slip ratio can instantly spike from the normal value (<20%) to over 50%, or even approach 100% (complete free spin).

[0038] Drive wheel slip ratio: The degree to which the circumferential speed of the wheels is lower than the actual speed of the vehicle during braking, and it is an important basis for anti-lock braking systems. In braking analysis, the drive wheel slip ratio is a positive value ranging from 0% to 100%, directly reflecting the degree to which the tires are "slipping" during braking. The optimal slip ratio is usually between 15% and 20%, at which point the tire-to-ground adhesion coefficient is at its maximum, resulting in optimal braking and acceleration effects. When a vehicle falls into water, the contact conditions between the tires and the road surface change drastically, causing extreme and abnormal changes in the drive wheel slip ratio. If the driver brakes suddenly, the drive wheel slip ratio will instantly reach or approach 100%.

[0039] Suspension height refers to the vertical distance between the vehicle chassis and the wheels. It reflects the compression or extension state of the suspension system and directly affects the vehicle's ground clearance, handling stability, and ride comfort. When a vehicle falls into water, the suspension load is reduced due to buoyancy, causing the vehicle body height to increase, thus increasing the suspension height.

[0040] There is a risk of vehicles falling into water while the driver and passengers are in operation. One method of water detection relies on additional cameras, radar, and water sensors, which incurs additional manufacturing costs.

[0041] Another method of detecting water submersion is to analyze map signals to determine whether the vehicle is in a body of water. However, map signals are easily affected by weather and environment, resulting in poor stability and a high false alarm rate.

[0042] Therefore, this application provides a water-fall detection method that can determine the water-fall confidence level of a vehicle based on its water-fall parameters, and determine that the vehicle has fallen into water if the water-fall confidence level is greater than a target confidence level.

[0043] The parameters related to the water impact can be acquired using sensors integrated into the vehicle. For example, such as... Figure 1As shown, pitch and roll angles can be obtained through airbag sensors, tire pressure through tire pressure sensors, motor shaft load through motor controllers, drive wheel slip ratio, drive wheel slip rate, and vehicle longitudinal speed through wheel speed sensors, and suspension height through vehicle height sensors. In other words, the solution presented in this application can reuse the vehicle's built-in sensors to obtain water-falling parameters, avoiding the need for additional sensors for the water-falling detection function, thus achieving water-falling detection without increasing the overall vehicle cost. Furthermore, this application determines the vehicle's water-falling confidence level based on water-falling parameters from different dimensions, improving the reliability of the water-falling confidence level, thereby increasing the reliability of water-falling detection and reducing the false alarm rate of vehicle water-falling detection.

[0044] The water-fall detection method provided in this application can be applied to vehicles (such as automobiles), and also as... Figure 1 As shown, these are detection units applied to vehicles, or data centers applied to vehicles, such as body domain controllers (BDC), domain control units (DCU), mobile data centers (MDC), etc.

[0045] Figure 2 This is a flowchart illustrating the water-fall detection method provided in the embodiments of this application, as shown below. Figure 2 As shown, the water-fall detection method provided in this embodiment may include the following steps: S110. Activate the vehicle's water-fall detection function when a target event is detected.

[0046] The target event may include at least one of the following events: the tire pressure of any tire of the vehicle is less than the target tire pressure (e.g., 1 MPa), the change in the vehicle's pitch angle within the first target duration (e.g., 0.5s, 0.8s, 1s, etc.) is greater than the first angle (e.g., 10°, 12°, etc.), and the change in the vehicle's roll angle within the first target duration is greater than the second angle (e.g., 10°, 12°, etc.).

[0047] When a vehicle falls into water, its pitch and roll angles typically change significantly, and tire pressure decreases considerably due to buoyancy. Therefore, if a target event is detected, such as a change in the vehicle's pitch angle exceeding 12° within 0.5 seconds, it indicates that the vehicle may have fallen into water. In this case, the vehicle's water-fall detection function can be activated to determine whether the vehicle has indeed fallen into water.

[0048] S120. Determine the confidence level of the vehicle falling into the water.

[0049] The confidence level of a vehicle's water immersion can be determined based on a variety of water immersion parameters, including: vehicle pitch angle, vehicle roll angle, tire pressure, motor shaft load, drive wheel slip ratio, drive wheel slip rate, suspension height, and vehicle longitudinal speed. For example, in some embodiments, the confidence level can be determined based on the vehicle pitch angle, vehicle roll angle, tire pressure, and motor shaft load; in other embodiments, it can be determined based on the vehicle pitch angle, vehicle roll angle, drive wheel slip ratio, drive wheel slip rate, suspension height, and vehicle longitudinal speed. The embodiments in this application will subsequently illustrate this by using the determination of the vehicle's water immersion confidence level based on all of the aforementioned water immersion parameters.

[0050] The confidence level of a vehicle falling into water can be the sum of the weights of various falling water parameters, the product of the coefficients of various falling water parameters, or the average value of the coefficients of various falling water parameters. In this application, the following embodiments will be illustrated by taking the example that the confidence level of a vehicle falling into water is the sum of the weights of various falling water parameters.

[0051] Each water-falling parameter can have a corresponding water-falling weight. For any water-falling parameter, when the water-falling parameter meets the corresponding water-falling conditions, the water-falling weight of the water-falling parameter can be greater than 0; when the water-falling parameter does not meet the corresponding water-falling conditions, the water-falling weight of the water-falling parameter can be equal to 0.

[0052] For example, when a vehicle falls into water, its pitch and roll angles typically change significantly. Therefore, the conditions for falling into water corresponding to the pitch angle can include: the absolute value of the pitch angle is greater than a third angle (such as 28°, 30°, etc.), and the duration is greater than or equal to the duration of the second target (such as 1s, 1.2s, etc.). The conditions for falling into water corresponding to the roll angle can include: the absolute value of the roll angle is greater than a fourth angle (such as 28°, 30°, etc.), and the duration is greater than or equal to the duration of the second target.

[0053] When a vehicle falls into water, its tire pressure will decrease significantly due to buoyancy. Therefore, the conditions for falling into water based on tire pressure can include: at least three tires of the vehicle have tire pressures lower than the target tire pressure, and the duration of this decrease is greater than or equal to the second target duration.

[0054] When a vehicle falls into water, the contact conditions between the vehicle's tires and the water deteriorate drastically, causing severe slippage of the drive wheels. The motor instantly transitions from a "heavy load" state to a "light load or no load" state, resulting in a sharp drop in the load on the motor shaft end. Therefore, the conditions for falling into water corresponding to the motor shaft end load can include: the shaft end load of any motor in the vehicle is less than a first load (e.g., B Nm), and the duration is greater than or equal to a second target duration.

[0055] When a vehicle falls into water, the contact conditions between the tires and the road surface change drastically, causing extreme and abnormal changes in the slip ratio and slip rate of the drive wheels. The slip ratio may instantly surge from a normal value (e.g., <20%) to over 50%. If the driver brakes suddenly at this time, the slip ratio of the drive wheels will instantly reach or approach 100%. Therefore, the conditions corresponding to the drive wheel slip ratio and slip rate can include: the vehicle's drive wheel slip ratio and / or drive wheel slip ratio are greater than a target percentage (e.g., 35%, 40%, etc.), and the duration is greater than or equal to a second target duration.

[0056] When a vehicle falls into water, the suspension load is reduced due to buoyancy, causing the vehicle body height to increase, thus increasing the suspension height. Therefore, the conditions for falling into water corresponding to suspension height can include: the suspension height corresponding to at least three wheels of the vehicle is greater than the target height (e.g., C mm), and the duration is greater than or equal to the second target duration.

[0057] When a vehicle falls into water, the contact conditions between the tires and the road surface change drastically, causing the vehicle speed to drop rapidly. Therefore, the conditions for a vehicle to fall into water corresponding to its longitudinal speed can include: the vehicle's longitudinal speed is less than the target speed (e.g., 3 km / h), and the duration is greater than or equal to the second target duration.

[0058] In some embodiments, when the water-falling conditions are met, the water-falling weight corresponding to the pitch angle, the water-falling weight corresponding to the roll angle, and the water-falling weight corresponding to the motor shaft end load can be greater than the water-falling weight corresponding to other water-falling parameters. For example, when the water-falling conditions are met, the water-falling weight corresponding to the pitch angle, the water-falling weight corresponding to the roll angle, and the water-falling weight corresponding to the motor shaft end load can all be 0.2, while the water-falling weight corresponding to the tire pressure, the water-falling weight corresponding to the drive wheel slip ratio and the drive wheel slip rate, the water-falling weight corresponding to the suspension height, and the water-falling weight corresponding to the vehicle longitudinal speed can all be 0.1.

[0059] S130. Compare the confidence level of falling into the water with the target confidence level. If the confidence level of falling into the water is greater than the target confidence level, proceed to step S140; otherwise, proceed to step S150.

[0060] The target confidence level can be based on the various water-falling parameters used when determining the water-falling confidence level, and the water-falling weights corresponding to each water-falling parameter when the water-falling conditions are met.

[0061] For example, the parameters used to determine the confidence level of a vehicle falling into water include: vehicle pitch angle, vehicle roll angle, tire pressure, motor shaft load, drive wheel slip ratio, drive wheel slip rate, suspension height, and vehicle longitudinal speed. When the conditions for falling into water are met, the weights for pitch angle, roll angle, and motor shaft load are all 0.2, while the weights for other parameters are all 0.1. The target confidence level can be 0.7, 0.8, etc.

[0062] If the confidence level of the vehicle falling into the water is greater than the target confidence level, it means that the conditions for falling into the water are met for a large number of the parameters, and therefore it can be determined that the vehicle has fallen into the water. If the confidence level of the vehicle falling into the water is less than or equal to the target confidence level, it means that the conditions for falling into the water are met for a small number of the parameters, and it cannot be determined whether the vehicle has fallen into the water. In this case, further testing can be performed to determine whether the vehicle has fallen into the water.

[0063] S140, Confirmed that the vehicle has fallen into the water.

[0064] If the confidence level of the vehicle falling into the water is greater than the target confidence level, it means that the conditions for falling into the water are met for a large number of the parameters, and therefore it can be determined that the vehicle has fallen into the water.

[0065] In some embodiments, after confirming that the vehicle has fallen into the water, the vehicle may also issue a water-fall warning message, such as a voice prompt or a screen prompt, to remind the user that the vehicle has fallen into the water.

[0066] S150. Determine whether the first and second conditions are met. If the first and second conditions are met, proceed to step S160; otherwise, repeat step S120.

[0067] If the confidence level of the vehicle falling into the water is less than or equal to the target confidence level, it can be further determined whether the first and second conditions are met in order to determine whether the vehicle has fallen into the water.

[0068] The first condition may include: the axle load of each motor of the vehicle is greater than the second load (e.g., B+20 Nm, B+30 Nm, etc.). The second condition may include: the change in the vehicle's pitch angle within the first target duration is less than the fifth angle (e.g., 8°, 10°, etc.) or the change in the vehicle's roll angle within the first target duration is less than the sixth angle (e.g., 8°, 10°, etc.).

[0069] When a vehicle falls into water, the load on the axle ends of each motor usually drops sharply, and the vehicle's pitch and roll angles usually change significantly. If the first and second conditions are met, it means that the load on the axle ends of each motor is large, and the changes in the vehicle's pitch and roll angles are small. In other words, the vehicle is likely not in the water at this time, so the water fall detection can be terminated.

[0070] If the first or second condition is not met, it indicates that the load on the shaft ends of each motor of the vehicle is small, and / or the pitch angle and roll angle of the vehicle change significantly. In this case, the confidence level of the vehicle falling into the water can be re-determined to determine whether the vehicle has fallen into the water.

[0071] S160, Exit water immersion detection.

[0072] If the first and second conditions are met, it indicates that the load on the shaft ends of each motor in the vehicle is relatively large, and the changes in the vehicle's pitch and roll angles are small. At this point, the vehicle is highly unlikely to have fallen into the water, so the water-fall test can be discontinued.

[0073] Figure 3 This is a schematic diagram of the water-fall detection process provided in the embodiments of this application, as shown below. Figure 3 As shown, the water-fall detection process provided in this embodiment may include the following steps: ①Activate the vehicle's water-fall detection function when any target event is detected.

[0074] The target event may include at least one of the following events: the tire pressure of any tire of the vehicle is less than A MPa, the change in the vehicle's pitch angle within 0.5s is greater than 12°, and the change in the vehicle's roll angle within 0.5s is greater than 12°.

[0075] ② Determine the waterfall weight corresponding to each waterfall parameter.

[0076] The parameters for water immersion can include the vehicle's pitch angle, roll angle, tire pressure, motor shaft load, drive wheel slip ratio, drive wheel slip rate, suspension height, and vehicle longitudinal speed.

[0077] Specifically, when the absolute value of the vehicle's pitch angle is greater than 30° and the duration is greater than or equal to 1 second, the weight of the water fall corresponding to the pitch angle is 0.2.

[0078] When the absolute value of the vehicle's roll angle is greater than 30° and the duration is greater than or equal to 1 second, the weight of the water impact corresponding to the pitch angle is 0.2.

[0079] If the tire pressure of at least three tires of a vehicle is less than A MPa and the duration is greater than or equal to 1 second, the weight of the water ingress corresponding to the tire pressure is 0.1.

[0080] When the load on the shaft end of any motor in the vehicle is less than B Nm and the duration is greater than or equal to 1s, the water drop weight corresponding to the load on the motor shaft end is 0.2.

[0081] When the drive wheel slip ratio and / or drive wheel slip rate of the vehicle is greater than 40% and the duration is greater than or equal to 1 second, the weight of the water fall corresponding to the drive wheel slip ratio and drive wheel slip rate is 0.05.

[0082] When the suspension height of at least three wheels of the vehicle is greater than C mm and the duration is greater than or equal to 1 second, the weight of the water fall corresponding to the suspension height is 0.1.

[0083] When the vehicle's longitudinal speed is less than 3 km / h and the duration is greater than or equal to 1 second, the weight of the water fall corresponding to the vehicle's longitudinal speed is 0.1.

[0084] ③ Calculate whether the sum of the weights of each falling water parameter is greater than 0.7.

[0085] ④ If the sum of the weights of all water-falling parameters is greater than 0.7, the vehicle is confirmed to have fallen into the water, and a water-falling warning message is sent.

[0086] ⑤ If the sum of the weights of the various water-falling parameters is less than or equal to 0.7, further determine the shaft end loads of each motor of the vehicle, as well as the pitch angle and roll angle of the vehicle.

[0087] If the shaft end load of each motor of the vehicle is greater than B+20 Nm, and the change value of the vehicle's roll angle or pitch angle within 0.5s is less than 10°, then execute ⑥ to exit the water-fall detection function; otherwise, execute ⑦ to re-determine the water-fall weight corresponding to each water-fall parameter.

[0088] The water-fall detection method provided in this application determines the vehicle's water-fall confidence level based on its water-fall parameters, and confirms that the vehicle has fallen into water if the water-fall confidence level is greater than a target confidence level. Each water-fall parameter can be acquired using the vehicle's built-in sensors. For example, pitch angle and roll angle can be acquired using airbag sensors, tire pressure can be acquired using tire pressure sensors, motor shaft load can be determined using a motor controller, drive wheel slip ratio, drive wheel slip rate, and vehicle longitudinal speed can be acquired using wheel speed sensors, and suspension height can be acquired using a vehicle height sensor. In other words, this application's solution can reuse the vehicle's built-in sensors to acquire water-fall parameters, avoiding the need for additional sensors for the water-fall detection function, thus achieving water-fall detection without increasing the overall vehicle cost. Furthermore, this application determines the vehicle's water-fall confidence level based on water-fall parameters from different dimensions, which improves the reliability of the water-fall confidence level, thereby improving the reliability of water-fall detection and reducing the false alarm rate of vehicle water-fall detection.

[0089] Those skilled in the art will understand that the above embodiments are exemplary and not intended to limit this application. Where possible, the execution order of one or more of the above steps can be adjusted, or they can be selectively combined to obtain one or more other embodiments. For example, in some embodiments, step S110 may be omitted; in some embodiments, steps S150 and S160 may be omitted; and in some embodiments, steps S110, S150, and S160 may all be omitted. Those skilled in the art can arbitrarily select and combine the above steps as needed, and all combinations that do not depart from the essence of this application fall within the protection scope of this application.

[0090] Based on the same concept, as an implementation of the above method, this application provides a water-fall detection device applied to a vehicle. This device embodiment corresponds to the aforementioned method embodiment. For ease of reading, this device embodiment will not repeat the details of the aforementioned method embodiment one by one, but it should be clear that the device in this embodiment can correspondingly implement all the contents of the aforementioned method embodiment.

[0091] Figure 4 This is a schematic diagram of the water-fall detection device provided in the embodiments of this application, as shown below. Figure 4 As shown, the water-fall detection device provided in this embodiment may include: The determination module 210 is used to determine the confidence level of the vehicle's fall into water. The confidence level is determined based on a variety of fall into water parameters, including: vehicle pitch angle, vehicle roll angle, tire pressure, motor shaft end load, drive wheel slip ratio, drive wheel slip ratio, suspension height, and vehicle longitudinal speed. If the confidence level of the vehicle falling into the water is greater than the target confidence level, then the vehicle is confirmed to have fallen into the water.

[0092] As an optional implementation, the determining module 210 is specifically used to: determine the confidence level of the vehicle's water-fall detection when the vehicle's water-fall detection function is activated; the device also includes an activation module 220, used to activate the vehicle's water-fall detection function when a target event is detected; the target event includes at least one of the following events: the tire pressure of any tire of the vehicle is less than the target tire pressure, the change value of the vehicle's pitch angle within a first target duration is greater than a first angle, and the change value of the vehicle's roll angle within a first target duration is greater than a second angle.

[0093] As an optional implementation method, the falling water parameters have corresponding falling water weights; the falling water confidence level is the sum of the falling water weights corresponding to multiple falling water parameters. For any falling water parameter, when the falling water parameter meets the corresponding falling water condition, the falling water weight corresponding to the falling water parameter is greater than 0; when the falling water parameter does not meet the corresponding falling water condition, the falling water weight corresponding to the falling water parameter is 0.

[0094] As an optional implementation, the conditions for falling into the water corresponding to the pitch angle include: the absolute value of the pitch angle is greater than the third angle, and the duration is greater than or equal to the duration of the second target. The conditions for landing on the water corresponding to the roll angle include: the absolute value of the roll angle is greater than the fourth angle, and the duration is greater than or equal to the duration of the second target. The conditions for falling into water corresponding to tire pressure include: at least three tires of the vehicle have tire pressures lower than the target tire pressure, and the duration of this condition is greater than or equal to the second target duration. The conditions for the water-fall conditions corresponding to the motor shaft end load include: the shaft end load of any motor in the vehicle is less than the first load, and the duration is greater than or equal to the second target duration; The conditions for falling into the water corresponding to the drive wheel slip ratio and drive wheel slip rate include: the drive wheel slip ratio and / or drive wheel slip rate of the vehicle are greater than the target percentage, and the duration is greater than or equal to the second target duration; The conditions for falling into water corresponding to suspension height include: the suspension height of at least 3 wheels of the vehicle is greater than the target height, and the duration is greater than or equal to the second target duration; The conditions for a vehicle to fall into the water at its longitudinal speed include: the vehicle's longitudinal speed is less than the target speed, and the duration of the fall is greater than or equal to the duration of the second target.

[0095] As an optional implementation, the water drop weight corresponding to the pitch angle, the water drop weight corresponding to the roll angle, and the water drop weight corresponding to the motor shaft end load are greater than the water drop weight corresponding to other water drop parameters.

[0096] As an optional implementation, the device also includes an exit module 230, which is used to exit the water fall detection if the first condition and the second condition are met when the water fall confidence is less than or equal to the target confidence. The determination module 210 is also used to: if the first condition or the second condition is not met, then redetermine the confidence level of the vehicle falling into the water; The first condition includes: the load on the axle end of each motor of the vehicle is greater than the second load; the second condition includes: the change in pitch angle within the first target duration is less than the fifth angle or the change in roll angle within the first target duration is less than the sixth angle.

[0097] As an optional implementation, the device also includes a prompting module 240 for issuing a water-falling warning message when the confidence level of falling into the water is greater than the target confidence level.

[0098] The device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0099] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0100] Based on the same concept, this application also provides a vehicle. Figure 5 This is a structural schematic diagram of the vehicle provided in the embodiments of this application, such as... Figure 5 As shown, the vehicle provided in this application embodiment may include: a memory 310 and a processor 320, wherein the memory 310 is used to store a computer program; and the processor 320 is used to implement the method described in the above method embodiment when the computer program is invoked.

[0101] The vehicle provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0102] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the methods described in the above-described method embodiments.

[0103] This application also provides a computer program product that, when run on an electronic device, causes the electronic device to implement the method described in the above-described method embodiments.

[0104] This application also provides a chip system including a processor coupled to a memory. The processor executes a computer program stored in the memory to implement the method described in the above-described method embodiments. The chip system may be a single chip or a chip module composed of multiple chips.

[0105] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, or magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0106] Those skilled in the art will understand that implementing all or part of the processes in the above embodiments can be accomplished by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium can include various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

[0107] The naming or numbering of steps in this application does not mean that the steps in the method flow must be executed in the time / logical order indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effect can be achieved.

[0108] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0109] In the embodiments provided in this application, it should be understood that the disclosed apparatus / devices and methods can be implemented in other ways. For example, the apparatus / device 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 system, 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 apparatuses or units may be electrical, mechanical, or other forms.

[0110] It should be understood that in the description of this application and the appended claims, the terms "comprising," "including," "having," and any variations thereof are intended to cover a non-exclusive inclusion and mean "including but not limited to," unless otherwise specifically emphasized. For example, a process, method, system, product, or apparatus that includes a series of steps or modules is not necessarily limited to those steps or modules that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0111] In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can mean A or B. "And / or" in this application is used to describe the relationship between the related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural.

[0112] Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0113] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0114] Furthermore, in the description of this application and the appended claims, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein; features defined as "first" or "second" may explicitly or implicitly include at least one of those features.

[0115] In the embodiments described in this application specification, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of this application specification should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0116] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this specification include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in still other embodiments" appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method of detecting falling into water, characterized by, Applied to vehicles, the method includes: The confidence level of the vehicle's fall into water is determined based on a number of fall-in parameters, including: the vehicle's pitch angle, the vehicle's roll angle, tire pressure, motor shaft end load, drive wheel slip ratio, drive wheel slip ratio, suspension height, and vehicle longitudinal speed. If the confidence level of the vehicle falling into the water is greater than the target confidence level, then the vehicle is determined to have fallen into the water.

2. The method of claim 1, wherein, With the vehicle's water-fall detection function activated, the confidence level of the vehicle's water-fall detection is determined; the method further includes: Upon detection of a target event, the vehicle's water-fall detection function is activated; the target event includes at least one of the following: the tire pressure of any tire of the vehicle is less than the target tire pressure, the change value of the vehicle's pitch angle within a first target duration is greater than a first angle, and the change value of the vehicle's roll angle within the first target duration is greater than a second angle.

3. The method according to claim 1 or 2, characterized in that, The waterfall parameters have corresponding waterfall weights; the waterfall confidence level is the sum of the waterfall weights corresponding to the various waterfall parameters; For any falling water parameter, when the falling water parameter meets the corresponding falling water condition, the falling water weight corresponding to the falling water parameter is greater than 0; when the falling water parameter does not meet the corresponding falling water condition, the falling water weight corresponding to the falling water parameter is 0.

4. The method of claim 3, wherein, The conditions for falling into the water corresponding to the pitch angle include: the absolute value of the pitch angle is greater than the third angle, and the duration is greater than or equal to the duration of the second target. The conditions for falling into the water corresponding to the roll angle include: the absolute value of the roll angle is greater than the fourth angle, and the duration is greater than or equal to the duration of the second target. The conditions for falling into water corresponding to the tire pressure include: the tire pressure of at least 3 tires of the vehicle is less than the target tire pressure, and the duration is greater than or equal to the second target duration; The conditions for the water immersion corresponding to the motor shaft end load include: the shaft end load of any motor of the vehicle is less than the first load, and the duration is greater than or equal to the second target duration; The conditions for falling into the water corresponding to the drive wheel slip ratio and the drive wheel slip rate include: the drive wheel slip ratio and / or drive wheel slip rate of the vehicle are greater than the target percentage, and the duration is greater than or equal to the second target duration; The conditions for falling into water corresponding to the suspension height include: the suspension height of at least 3 wheels of the vehicle is greater than the target height, and the duration is greater than or equal to the second target duration; The conditions for the vehicle's longitudinal speed to fall into the water include: the vehicle's longitudinal speed is less than the target speed, and the duration is greater than or equal to the second target duration.

5. The method according to claim 3 or 4, characterized in that, The water drop weight corresponding to the pitch angle, the water drop weight corresponding to the roll angle, and the water drop weight corresponding to the motor shaft end load are greater than the water drop weights corresponding to other water drop parameters.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: If the confidence level of the fall into the water is less than or equal to the target confidence level, and if the first condition and the second condition are met, the fall into the water detection is terminated. If the first or second condition is not met, the confidence level of the vehicle falling into the water is reassessed. The first condition includes: the axle end load of each motor of the vehicle is greater than the second load; the second condition includes: the change value of the pitch angle within the first target duration is less than the fifth angle or the change value of the roll angle within the first target duration is less than the sixth angle.

7. The method according to any one of claims 1 to 6, characterized in that, If the confidence level of falling into the water is greater than the target confidence level, the method further includes: issuing a falling into the water warning message.

8. A falling detection apparatus characterized by comprising: The device includes an application vehicle: The determination module is used to determine the confidence level of the vehicle's water immersion, which is determined based on a variety of water immersion parameters, including: the vehicle's pitch angle, the vehicle's roll angle, tire pressure, motor shaft end load, drive wheel slip ratio, drive wheel slip ratio, suspension height, and vehicle longitudinal speed. If the confidence level of the vehicle falling into the water is greater than the target confidence level, then the vehicle is determined to have fallen into the water.

9. The apparatus of claim 8, wherein, The determining module is specifically used to: determine the confidence level of the vehicle's water-fall detection when the vehicle's water-fall detection function is activated; the device also includes an activation module, which is used to: Upon detection of a target event, the vehicle's water-fall detection function is activated; the target event includes at least one of the following: the tire pressure of any tire of the vehicle is less than the target tire pressure, the change value of the vehicle's pitch angle within a first target duration is greater than a first angle, and the change value of the vehicle's roll angle within the first target duration is greater than a second angle.

10. The apparatus of claim 8 or 9, wherein, The waterfall parameters have corresponding waterfall weights; the waterfall confidence level is the sum of the waterfall weights corresponding to the various waterfall parameters; For any falling water parameter, when the falling water parameter meets the corresponding falling water condition, the falling water weight corresponding to the falling water parameter is greater than 0; when the falling water parameter does not meet the corresponding falling water condition, the falling water weight corresponding to the falling water parameter is 0.

11. The apparatus of claim 10, wherein, The conditions for falling into the water corresponding to the pitch angle include: the absolute value of the pitch angle is greater than the third angle, and the duration is greater than or equal to the duration of the second target. The conditions for falling into the water corresponding to the roll angle include: the absolute value of the roll angle is greater than the fourth angle, and the duration is greater than or equal to the duration of the second target. The conditions for falling into water corresponding to the tire pressure include: the tire pressure of at least 3 tires of the vehicle is less than the target tire pressure, and the duration is greater than or equal to the second target duration; The conditions for the water immersion corresponding to the motor shaft end load include: the shaft end load of any motor of the vehicle is less than the first load, and the duration is greater than or equal to the second target duration; The conditions for falling into the water corresponding to the drive wheel slip ratio and the drive wheel slip rate include: the drive wheel slip ratio and / or drive wheel slip rate of the vehicle are greater than the target percentage, and the duration is greater than or equal to the second target duration; The conditions for falling into water corresponding to the suspension height include: the suspension height of at least 3 wheels of the vehicle is greater than the target height, and the duration is greater than or equal to the second target duration; The conditions for the vehicle's longitudinal speed to fall into the water include: the vehicle's longitudinal speed is less than the target speed, and the duration is greater than or equal to the second target duration.

12. The apparatus of claim 10 or 11, wherein, The water drop weight corresponding to the pitch angle, the water drop weight corresponding to the roll angle, and the water drop weight corresponding to the motor shaft end load are greater than the water drop weights corresponding to other water drop parameters.

13. The device of any one of claims 8-12, wherein, The device further includes an exit module, which is used to: exit the water fall detection if the first condition and the second condition are met when the water fall confidence is less than or equal to the target confidence. The determining module is further configured to: if the first condition or the second condition is not met, then re-determine the confidence level of the vehicle falling into the water; The first condition includes: the axle end load of each motor of the vehicle is greater than the second load; the second condition includes: the change value of the pitch angle within the first target duration is less than the fifth angle or the change value of the roll angle within the first target duration is less than the sixth angle.

14. The apparatus according to any one of claims 8-13, characterized in that, The device also includes a prompting module, which is used to issue a water-falling warning message when the confidence level of the water-falling event is greater than the target confidence level.

15. A vehicle, characterized in that, include: At least one processor and a memory, the processor being coupled to the memory for reading and executing instructions in the memory to perform the method as claimed in any one of claims 1-7.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-7.

17. A computer program product, characterized in that, When the computer program product is run on a computer, it causes the computer to perform the method as described in any one of claims 1-7.

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