Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium. In the method, whether the vehicle falls into water or not can be detected based on detection data of a plurality of sensors; if it is detected that the vehicle falls into water, a vehicle door is controlled to be opened; acquiring accident information of the vehicle, and sending the accident information to the alarm receiving platform; wherein the vehicle accident information comprises position information, environment information and vehicle information. According to the method, whether the vehicle falls into water is judged according to the detection data of the multiple sensors, and the accuracy of vehicle falling-into-water identification is improved; after the vehicle falls into water, the vehicle door is automatically controlled to be opened, and the self-rescue success rate of people in the vehicle is increased; and the accident information can be sent to the alarm receiving platform, so that the rescue efficiency of external personnel is improved, the problems of response lag, single function and the like of a traditional safety system in a complex falling scene can be effectively solved, and the personnel self-rescue capability and the external rescue efficiency in the falling accident are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle control method and device, a vehicle and a storage medium. BACKGROUND

[0002] Vehicle falling into water accidents are sudden and highly dangerous, and the traditional vehicle safety system has many deficiencies in dealing with such emergencies. On the one hand, water pressure will quickly act on the vehicle door after the vehicle falls into water, making it difficult for the people inside to manually open the door to escape; on the other hand, in the panic and closed environment of falling into water, the driver and passengers often cannot send a distress signal to the outside world in time and accurately, missing the golden rescue time.

[0003] However, the current vehicle cannot meet the actual rescue needs. SUMMARY

[0004] Therefore, the embodiments of the present application provide a vehicle control method and device, a vehicle and a storage medium.

[0005] The first aspect of the present application provides a vehicle control method, comprising detecting whether the vehicle falls into water based on detection data of a plurality of sensors; if it is detected that the vehicle is in a falling into water state, controlling the vehicle door to open; obtaining vehicle accident information and sending the accident information to a police receiving platform; wherein the vehicle accident information includes location information, environmental information and vehicle information.

[0006] In one embodiment, detecting whether the vehicle falls into water based on the detection data of the plurality of sensors comprises: performing weighted calculation on the detection data of the plurality of sensors to obtain a falling into water confidence; if the falling into water confidence is greater than or equal to a confidence threshold, it is determined that the vehicle falls into water.

[0007] In one embodiment, the vehicle includes a main power supply and a backup power supply which are independent of each other; if it is detected that the vehicle is in a falling into water state, controlling the vehicle door to open comprises: if it is detected that the vehicle is in a falling into water state, cutting off the connection between the main power supply and the vehicle, and starting the backup power supply to supply power to the vehicle; controlling the vehicle door to open under the condition of backup power supply.

[0008] In one embodiment, the vehicle further includes a sunroof; and the control method further comprises, under the condition of detecting that the vehicle is in a falling into water state, controlling the sunroof to open under the condition of backup power supply.

[0009] In one embodiment, if it is detected that the vehicle is in a falling into water state, controlling the vehicle door to open comprises: if it is detected that the vehicle is in a falling into water state, controlling a first target vehicle door to open; wherein the first target vehicle door is a main driver door; if the first target vehicle door fails to open within a preset time, controlling a second target vehicle door to open; wherein the second target vehicle door is a co-driver door.

[0010] In an embodiment, if it is detected that the vehicle is in a falling-into-water state, the control of the opening of the door comprises: if it is detected that the vehicle is in a falling-into-water state, confirming a cancel button state of the vehicle, the cancel button being used to stop the execution of the step of controlling the opening of the door; if the cancel button is not responsive or the response time is less than a preset time, executing the step of controlling the opening of the door; and if the cancel button is continuously responsive for a preset time, stopping the execution of the step of controlling the opening of the door.

[0011] In an embodiment, the control method further comprises: sending the accident information to a preset contact person.

[0012] The second aspect of the present application provides a control device of a vehicle, comprising a detection module configured to detect whether the vehicle is falling into water based on detection data of a plurality of sensors; a control module configured to control the opening of a door if it is detected that the vehicle is in a falling-into-water state; and a distress call module configured to acquire accident information of the vehicle and send the accident information to a police receiving platform; wherein the vehicle information comprises location information, environmental information and vehicle information.

[0013] The third aspect of the present application provides a vehicle comprising one or more processors and a memory; one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs being configured to execute the control method described above.

[0014] The fourth aspect of the present application provides a computer-readable storage medium storing processor-executable program code, the computer-readable storage medium comprising stored program code, wherein the control method described above is executed when the program code is running.

[0015] The present application provides a control method and device of a vehicle, a vehicle and a storage medium. In the method, whether the vehicle is falling into water can be detected based on detection data of a plurality of sensors; if it is detected that the vehicle is in a falling-into-water state, the opening of a door is controlled; accident information of the vehicle is acquired and sent to a police receiving platform; and the vehicle accident information comprises location information, environmental information and vehicle information. The above method can determine whether the vehicle is falling into water according to the detection data of a plurality of sensors, improve the accuracy of vehicle falling-into-water identification, automatically control the opening of the door after detecting that the vehicle is falling into water, improve the self-rescue success rate of the people in the vehicle, and send the accident information to the police receiving platform to improve the rescue efficiency of external personnel, i.e., effectively solve the problems of response lag and single function of the traditional safety system in a complex falling-into-water scenario, and significantly improve the self-rescue ability of the people in the vehicle and the external rescue efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative effort.

[0017] Figure 1 is a schematic diagram of an application environment of a vehicle control method provided by the present application.

[0018] Figure 2 is a flowchart of a vehicle control method provided by the first embodiment of the present application.

[0019] Figure 3 is a flowchart of a vehicle control method provided by the second embodiment of the present application.

[0020] Figure 4 is a flowchart of a vehicle control method provided by the third embodiment of the present application.

[0021] Figure 5 is a flowchart of a vehicle control method provided by the fourth embodiment of the present application.

[0022] Figure 6 is a flowchart of a vehicle control method provided by the fifth embodiment of the present application.

[0023] Figure 7 is a structural block diagram of a vehicle control device provided by the present application.

[0024] Figure 8 is a structural block diagram of a vehicle provided by the present application.

[0025] Figure 9 is a structural block diagram of a computer readable storage medium provided by the embodiments of the present application. DETAILED DESCRIPTION

[0026] Vehicle falling into water accidents have suddenness and high risk, and the traditional vehicle safety system has many deficiencies in dealing with such emergency situations. On the one hand, the water pressure will act on the vehicle door after the vehicle falls into water, making it difficult for the people in the vehicle to manually open the door to escape; on the other hand, in the panic and closed water environment, the driver and passengers often cannot send a distress signal to the outside world in time and accurately, missing the golden rescue time. Vehicle falling into water accidents have strong suddenness and high fatality rate. Relevant statistics show that when the vehicle is completely submerged in water, the time window for opening the door is only between 30 to 60 seconds.

[0027] Although some vehicles in the prior art are equipped with water-falling detection devices, the functions are single, lack of automatic opening of escape passage and integration ability of multi-dimensional information transmission, and cannot meet the actual rescue demand. It is impossible to realize functions such as automatic opening of doors and windows, multi-channel precise help-seeking, and the like. Specifically, the traditional safety system has three big thorny pain points: (1) the opening of the escape passage is blocked: after the vehicle falls into water, a water pressure difference of 2-3 tons per square meter is formed inside and outside the vehicle door, and the success rate of manually opening the vehicle door is less than 15%. Moreover, the existing mechanical unlocking mechanism is prone to failure due to circuit short circuit. (2) environmental information judgment is wrong: the use of water level sensors or accelerometers alone is easily disturbed by road water, bumping over the bump, and the like, and the false positive rate of the traditional detection algorithm is as high as 12%. (3) the help-seeking information is insufficient: the current help-seeking system can only send positioning data, lacks key rescue information such as personnel state (such as coma, injury condition), environmental parameters (such as water depth, water flow speed), and the like, and causes the deployment efficiency of rescue forces to be very low.

[0028] To solve the above problems, the present application provides a vehicle control method, device, vehicle and storage medium. In the method, whether the vehicle falls into water can be detected based on the detection data of multiple sensors; if it is detected that the vehicle is in a water-falling state, the vehicle door is controlled to be opened; accident information of the vehicle is obtained and sent to a police receiving platform; wherein the vehicle accident information includes location information, environmental information and vehicle information. The above method judges whether the vehicle falls into water according to the detection data of multiple sensors, improves the accuracy of vehicle water-falling identification; after detecting that the vehicle falls into water, the vehicle door is automatically controlled to be opened, and the self-rescue success rate of the people inside the vehicle is improved; the accident information is also sent to the police receiving platform, improving the rescue efficiency of external personnel, that is, the problems such as response lag and single function of the traditional safety system in complex water-falling scenarios can be effectively solved, and the personnel self-rescue ability and external rescue efficiency in water-falling accidents are significantly improved.

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0030] In addition, in order to better illustrate the present application, a large number of specific details are given in the specific embodiments below. Those skilled in the art should understand that the present application can also be implemented without some specific details. In some examples, methods and means familiar to those skilled in the art are not described in detail in order to highlight the main idea of the present application.

[0031] It should be noted that like reference numerals and characters refer to like elements throughout the following description and the claims attached hereto. Note that for the purposes of this description, the directionality of the terms up, down, right, left, front, back, rear, etc., are described with respect to the objects as shown in the drawings.

[0032] In addition, if the terms "first", "second" and the like are used herein, they are used only for distinguishing between similar elements, and not for describing or implying relative importance of the elements.

[0033] Unless the context clearly requires otherwise, throughout the description, the words "plurality", "comprise", "comprising", "include", "including", and the like mean "including, but not limited to". As used herein, the terms "one embodiment", "some embodiments", "an exemplary embodiment", "an example", "specific example", or "some examples" means that a particular feature, structure, material, or characteristic is included in at least one embodiment or example of the present disclosure, but not necessarily all embodiments or examples. The appearance of the phrases "in one embodiment", "in some embodiments", "in an exemplary embodiment", "an example", "specific example" or "some examples" in various places in the specification are not necessarily referring to the same embodiment or example.

[0034] Exemplary embodiments of the present application will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it is understood that the present application can be embodied in various forms without being limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

[0035] In order to facilitate a detailed description of the scheme of the present application, the application environment in the embodiments of the present application will be introduced first in conjunction with the accompanying drawings. Please refer to Figure 1 , Figure 1 is a schematic diagram of an application environment of a vehicle control method proposed by the present application. As Figure 1 shown, the vehicle control method provided by the present application is applied to a vehicle 10. The vehicle 10 can be an electric vehicle, a fuel vehicle, or a hybrid vehicle in terms of energy, and the present application does not limit this.

[0036] The vehicle 10 can include a vehicle controller 110, a control system 120, and a communication system 130. In the method provided by the embodiments of the present application, the vehicle controller 110, the control system 120, and the communication system 130 can be connected to each other in communication or / and in electrical connection. The vehicle controller 110 is configured to control the control system 120 to open the vehicle door and control the communication system 130 to alarm after determining that the vehicle is in a water-falling state according to the detection data of the sensor.

[0037] The vehicle controller 110 can be a center console of the vehicle, and the explicit level of control can be embodied by a large screen of the center console of the vehicle 10 or / and a console. In other embodiments, for example, for an autonomous vehicle, the vehicle controller 110 can also be formed based on a server, a microcomputer control chip, etc. The server can be a stand-alone physical server, or a server cluster or distributed system formed by multiple physical servers. The microcomputer control chip can be an analog integrated circuit chip, a digital integrated circuit chip, or a mixed-signal integrated circuit chip. The vehicle controller 110 can be provided with a transceiver or a signal transmission interface, and the vehicle controller 110 can receive detection data sent by sensors configured on the vehicle 10 through the transceiver or the signal transmission interface, and send an opening instruction to the control system 120 and an alarm instruction to the communication system 130.

[0038] The control system 120 is used to control the opening of the vehicle door and sunroof. The control system 120 can be provided with a transceiver, and the control system 120 can receive the opening instruction sent by the vehicle controller 110 through the transceiver.

[0039] The communication system 130 is used to send the accident information of the vehicle to the police receiving platform. The communication system 130 can be provided with a transceiver, and the control system 120 can receive the alarm instruction sent by the vehicle controller 110 through the transceiver.

[0040] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0041] Please refer to Figure 2 , Figure 2 is a flowchart of a control method of a vehicle provided by the first embodiment of the present application. The method can include the following steps S210 to S230.

[0042] Step S210: detecting whether the vehicle falls into water based on the detection data of the plurality of sensors.

[0043] The vehicle can include a plurality of sensors, including but not limited to a water pressure sensor, a visual sensor, an acceleration sensor, and a current sensor.

[0044] In some embodiments, the sensors include a water pressure sensor, which can be installed on the chassis of the vehicle (for example, the water pressure sensor can be distributed on the chassis longitudinal beam and the door bottom beam), and is used to collect water static pressure and dynamic pressure signals in real time, and monitor the water pressure change around the vehicle in real time.

[0045] In some embodiments, the sensors include an acceleration sensor, which includes but is not limited to a three-axis accelerometer, a three-axis gyroscope, etc. The acceleration sensor can be installed at the center of gravity of the vehicle, and is used to detect the acceleration change of the vehicle, for example, the acceleration sensor can detect the impact acceleration when the vehicle falls into water and the change of the attitude angle.

[0046] In some embodiments, the sensors include a visual sensor, which is used to monitor the external environment and the status of the people in the vehicle. For example, the visual sensor can include a front-view camera and a side-view camera. The front-view camera can be equipped with a water level recognition algorithm to detect the height of the water mark on the front windshield by means of a YOLOv5 model. The side-view camera can monitor the submersion depth of the tires.

[0047] In some embodiments, the sensors include a current sensor, which can be installed on the door of the vehicle. The current sensor is used to collect the current of the door lock motor in real time, monitor the current change of the door, and detect the abnormal short circuit of the door lock motor.

[0048] As a way, the vehicle controller can compare the detection data of the multiple sensors with the data threshold value to detect whether the vehicle falls into water. For example, if the detection data of at least two sensors is abnormal (e.g., greater than the data threshold value), it is determined that the vehicle falls into water.

[0049] As a way, the vehicle controller can perform weighted calculation on the detection data of the multiple sensors to obtain a water-falling confidence, and detect whether the vehicle falls into water through the water-falling confidence. For example, if the water-falling confidence is greater than a confidence threshold value, it is determined that the vehicle falls into water.

[0050] Step S220: If it is detected that the vehicle is in a water-falling state, the door is controlled to be opened.

[0051] As a way, if the vehicle controller detects that the vehicle is in a water-falling state, the connection between the main power supply and the vehicle is cut off, and the backup power supply is started to supply power to the vehicle. Specifically, the vehicle controller can cut off the connection between the main power supply and the vehicle by triggering the main power supply relay or the bursting fuse. Further, the vehicle controller starts the backup power supply to supply power to the vehicle. Under the condition of backup power supply, the door is controlled to be opened.

[0052] As a way, under the condition of backup power supply, the sunroof is controlled to be opened.

[0053] As a manner, the vehicle controller detects that the vehicle is in the falling into water state, and controls the first target vehicle door to open. The first target vehicle door is the vehicle door with the highest opening priority. If the vehicle controller determines that the first target vehicle door fails to open within a preset time, the second target vehicle door is controlled to open. The second target vehicle door is the vehicle door with a lower priority than the first target vehicle door.

[0054] As a manner, the vehicle controller detects that the vehicle is in the falling into water state, and determines the cancel button state of the vehicle. If the cancel button is not responsive or the response time is less than a preset time, the step of controlling the vehicle door to open is executed. If the cancel button is continuously responsive for a preset time, the step of controlling the vehicle door to open is stopped.

[0055] Step S230: Obtain accident information of the vehicle, and send the accident information to the police receiving platform.

[0056] The accident information includes location information, environment information and vehicle information.

[0057] The location information can include coordinate information of the location where the vehicle is located, which can be obtained by GPS L1 / L5 and Beidou B1 / B2 dual-frequency positioning.

[0058] The environment information can include environment parameters of the environment where the vehicle is located, and the environment parameters can include water depth parameters, water flow parameters, etc., which can be obtained by water pressure sensors, cameras and microphones installed in the vehicle.

[0059] The vehicle information can include license plate information of the vehicle, state information of the personnel in the vehicle, and in-vehicle video, etc. The state information of the personnel in the vehicle can be obtained by seat pressure sensors and infrared thermal imaging cameras, and the in-vehicle video can be obtained by cameras.

[0060] As a manner, after the vehicle controller obtains the accident information of the vehicle, the content of the accident information is synthesized into a voice package and broadcast to the police receiving platform. For example, the vehicle controller can synthesize the accident information into a voice package by text-to-speech technology, such as a voice package including a license plate (e.g. "Zhe A12345"), personnel state ("2 people are awake / 1 person is unconscious"), and environment parameters (water depth 1.2 meters, water flow speed 0.5 m / s). The voice package is broadcast to the 110 police receiving platform at a volume of 85 dB.

[0061] As a way, the vehicle controller obtains the accident information of the vehicle, synthesizes the content of the accident information into text information, and sends the text information to the police receiving platform. For example, the vehicle controller can synthesize text information including rescue data frame format (RS-DF1.0) containing 12-bit vehicle state code, 8-bit personnel state code, and 32-bit geographic coordinates, and send the text information to the 110 police receiving platform.

[0062] Specifically, in this embodiment, the vehicle controller can automatically dial the 110 emergency call. During the dialing process, the real-time position information of the vehicle is obtained through the vehicle positioning system, and the position information is automatically broadcast to the police receiving personnel. At the same time, the camera and microphone installed in the vehicle collect the situation of the members in the vehicle in real time, including the number of personnel, whether injured, and other information, as well as the environmental image and video around the vehicle, and upload these information to the emergency rescue platform through the mobile network, so that the rescue personnel can more comprehensively understand the on-site situation and formulate a rescue plan.

[0063] Further, the control method further comprises sending the accident information to a preset contact person.

[0064] As a way, the vehicle controller obtains the accident information of the vehicle, synthesizes the content of the accident information into text information, and sends the text information to the police receiving platform. For example, the vehicle controller can synthesize text information including rescue data frame format (RS-DF1.0) containing 12-bit vehicle state code, 8-bit personnel state code, and 32-bit geographic coordinates, and send the text information to the 110 police receiving platform.

[0065] As a way, the vehicle controller obtains the accident information of the vehicle, synthesizes the content of the accident information into text information, and sends the text information to the police receiving platform. For example, the vehicle controller can synthesize text information including rescue data frame format (RS-DF1.0) containing 12-bit vehicle state code, 8-bit personnel state code, and 32-bit geographic coordinates, and send the text information to the 110 police receiving platform.

[0066] Among them, the preset contact person can be one or more.

[0067] Specifically, in this embodiment, the vehicle controller automatically sends an alarm message and dials a voice call to the family through the family contact information stored in the vehicle system in advance. The content of the message and the voice includes information such as the vehicle falling into the water, the current position, and the general situation of the members in the vehicle, so that the family can timely understand the situation and take corresponding measures.

[0068] In some embodiments, the control method further comprises sending the accident information to the municipal emergency platform and the urban intelligent water conservancy system, and linking and scheduling professional rescue equipment such as nearby drainage vehicles and assault boats.

[0069] Further, in some embodiments, the accident information is sent to the police receiving platform and the preset contact person in an encrypted manner. For example, the vehicle controller can use the SM4 algorithm to encrypt the accident information; for another example, the vehicle controller can perform Gaussian blur processing (blur radius 5px) on the facial image collected by the in-vehicle camera in the edge computing unit, and only keep the body posture features for personnel state judgment. For another example, the vehicle controller can automatically delete accident data 72 hours ago and not store any audio and video information.

[0070] The present application provides a control method of a vehicle. In the method, whether the vehicle is in a water-falling state can be detected based on detection data of multiple sensors; if it is detected that the vehicle is in a water-falling state, the vehicle door is controlled to be opened; accident information of the vehicle is obtained and sent to a police receiving platform; wherein the vehicle accident information includes location information, environmental information and vehicle information. The above method judges whether the vehicle is in a water-falling state according to the detection data of multiple sensors, improves the accuracy of water-falling identification of the vehicle; after detecting that the vehicle is in a water-falling state, the vehicle door is automatically controlled to be opened, improving the self-rescue success rate of the personnel in the vehicle; the accident information is also sent to the police receiving platform, improving the rescue efficiency of external personnel, that is, the problems of response lag and single function of the traditional safety system in a complex water-falling scene can be effectively solved, and the self-rescue ability of personnel and the external rescue efficiency in a water-falling accident are significantly improved.

[0071] Please refer to Figure 3 , Figure 3 is a flowchart of a control method of a vehicle provided by the second embodiment of the present application. Based on the detection data of multiple sensors, whether the vehicle is in a water-falling state is detected (step S210), which includes: Step S310: Weighted calculation is performed on the detection data of multiple sensors to obtain a water-falling confidence.

[0072] As a way, the vehicle controller can perform weighted calculation on the detection data of multiple sensors by a multi-source information fusion model construction method of D-S (Dempster-Shafer) evidence theory to obtain a water-falling confidence. Specifically, the D-S (Dempster-Shafer) evidence theory refers to converting uncertain, incomplete and even conflicting environmental perception information provided by each sensor into a unified basic probability distribution function, and outputting a comprehensive and high-confidence recognition result through evidence synthesis rule and weight mechanism.

[0073] Further, in order to overcome the limitation of equal treatment of all evidence sources in the traditional D-S theory, the application can introduce a dynamic weight coefficient matrix, each element of the matrix corresponding to the confidence weight of the data of each sensor at different times.

[0074] Specifically, the weight factor is not a fixed constant, but is adaptively adjusted according to real-time environmental state parameters and sensor characteristics. The adjustment strategy includes but is not limited to: When the ambient illumination is lower than a set threshold (such as entering the night or a tunnel), the system automatically increases the weight of the visual sensor (for example, from the baseline 0.3 to 0.4) to enhance the value of the evidence processed by the low-light enhancement algorithm.

[0075] When the vehicle speed exceeds a certain threshold, which may affect the effective detection range and accuracy of sensors such as ultrasonic waves, the system correspondingly adjusts the weight of the sensor, and increases the weight of sensors such as millimeter wave radars which have strong anti-relative speed interference capability.

[0076] Some sensors can output their own confidence indicators (such as image sharpness, radar signal-to-noise ratio), which are used as inputs for weight fine-tuning by the model.

[0077] Step S320: If the confidence in falling into water is greater than or equal to the confidence threshold, it is determined that the vehicle has fallen into water.

[0078] In this embodiment, the vehicle controller can be provided with a confidence threshold, which is a specific confidence value set. The confidence threshold can be a default setting of the vehicle controller, or a user-defined setting. Generally, the confidence threshold can be 70%, 80%, 85%, 90%, 95%, etc. For example, the confidence threshold can be 85%.

[0079] If the vehicle controller determines that the confidence in falling into water is greater than or equal to the confidence threshold, the vehicle controller determines that the vehicle has fallen into water. For example, if the vehicle controller calculates that the confidence in falling into water is 90%, it is determined that the confidence in falling into water is greater than the confidence threshold, and the vehicle controller determines that the vehicle has fallen into water.

[0080] If the vehicle controller determines that the confidence in falling into water is less than the confidence threshold, the vehicle controller determines that the vehicle has not fallen into water. For example, if the vehicle controller calculates that the confidence in falling into water is 50%, it is determined that the confidence in falling into water is less than the confidence threshold, and the vehicle controller determines that the vehicle has not fallen into water.

[0081] The application provides a control method of a vehicle. In the method, the detection data of multiple sensors is weighted and calculated to obtain a confidence in falling into water; if the confidence in falling into water is greater than or equal to a confidence threshold, it is determined that the vehicle has fallen into water. The above method determines whether it is a real falling into water scene through an intelligent weighting algorithm, thereby reducing the false triggering rate.

[0082] Please refer toFigure 4 , Figure 4 is a flowchart of a control method of a vehicle provided by a third embodiment of the present application. In this embodiment, the vehicle includes a main power supply and a backup power supply that are independent of each other. If it is detected that the vehicle is in a sinking state, the vehicle door is controlled to be opened (step S220), which includes: Step S410: If it is detected that the vehicle is in a sinking state, the connection between the main power supply and the vehicle is cut off, and the backup power supply is started to supply power to the vehicle.

[0083] In this embodiment, the main power supply refers to a vehicle starting battery (such as a 12V lead-acid battery or a lithium-ion battery) and its associated generator (alternator), main power distribution unit, and wiring harness. The main power supply supplies power to all conventional loads of the vehicle, including the engine ECU, the body controller, the vehicle lights, the infotainment system, and the like, and is responsible for providing the large current required for engine starting. The backup power supply refers to a backup battery or supercapacitor group that is physically isolated from the main power supply and has an independent circuit. The backup power supply serves as a redundant backup and automatically or manually takes over the power supply of specific critical loads when the main power supply fails due to failure (such as battery failure, generator damage, or severe collision leading to main circuit disconnection).

[0084] The vehicle controller detects that the vehicle is in a sinking state, cuts off the connection between the main power supply and the vehicle, and starts the backup power supply to supply power to the vehicle. Specifically, the vehicle controller can cut off the connection between the main power supply and the vehicle by triggering the main power supply relay or the bursting fuse.

[0085] Further, the vehicle controller starts the backup power supply to supply power to the vehicle. Specifically, the backup power supply system is usually in a "hot standby" state. When it is detected that the main power supply bus voltage disappears or an explicit instruction is received from the vehicle controller, its solid-state switching switch is immediately closed to achieve seamless power supply.

[0086] Further, in some embodiments, after the vehicle controller starts the backup power supply to supply power to the vehicle, it immediately cuts off unnecessary loads such as the entertainment system and the air conditioner to ensure that energy is preferentially supplied to the escape and communication modules.

[0087] Step S420: Control the vehicle door to be opened under the backup power supply.

[0088] Under the backup power supply, the vehicle controller sends an open door instruction to the control system, and the control system opens the door after reading the open door instruction.

[0089] In some embodiments, the vehicle includes a sunroof. In the case where it is detected that the vehicle is in a sinking state, the control method further includes: controlling the sunroof to be opened under the backup power supply.

[0090] Specifically, in the case of backup power supply, the vehicle controller sends an open sunroof instruction to the control system, and the control system opens the sunroof after reading the open sunroof instruction.

[0091] Further, in order to balance the air pressure inside and outside the vehicle, the control system can first control the sunroof to perform a micro-opening operation (for example, opening 30mm), and then open the sunroof completely.

[0092] Further, the vehicle also includes an anti-pinch sensor for preventing people from being pinched by the sunroof and avoiding secondary injury to people.

[0093] Further, in order to ensure that the vehicle can still provide a reliable escape channel in extreme cases (such as collision, falling into water causing the main ECU to lose power), the vehicle can also use a redundant unlocking design based on relay hard-wire connection. In this design, the emergency unlocking switch and the door lock actuator are directly physically connected through the contacts of a normally closed relay. When the main ECU is normally powered, the relay remains attracted, and this path is disconnected; once the ECU loses power, the relay resets, the contacts close, and the emergency switch is directly connected to the execution circuit. At this time, the electrical signal generated by the passenger operating switch will bypass all control systems and directly drive the door lock to unlock through this purely physical line, realizing failure safety protection in the case of power failure.

[0094] The application provides a control method of a vehicle. In the method, if it is detected that the vehicle is in a falling-into-water state, the connection between the main power supply and the vehicle is cut off, the backup power supply is started to supply power to the vehicle, and the vehicle door is controlled to be opened in the case of backup power supply. The above method enables the backup power supply after confirming that the vehicle is falling into water, ensures the continuous operation of the vehicle controller and the control system, and improves the guarantee for self-rescue of people in the vehicle and external rescue.

[0095] Please refer to Figure 5 , Figure 5 is a flowchart of a control method of a vehicle provided by the fourth embodiment of the application. If it is detected that the vehicle is in a falling-into-water state, the vehicle door is controlled to be opened (step S220), which includes: Step S510: If it is detected that the vehicle is in a falling-into-water state, the first target vehicle door is controlled to be opened.

[0096] The vehicle controller detects that the vehicle is in a falling-into-water state, and then controls the first target vehicle door to be opened.

[0097] In this embodiment, the first target vehicle door is the vehicle door with the highest opening priority.

[0098] The application does not limit the judgment form of the opening priority of the vehicle door.

[0099] For example, in some embodiments, the opening priority of the vehicle door is from high to low as the driver door, the front passenger door, the rear door, etc., and the first target door is the driver door.

[0100] For example, in some embodiments, the opening priority of the vehicle door is determined by judging whether there is a person beside the door, and the opening priority of the vehicle door is from high to low as the door beside which there is a person and the door beside which there is no person, and the first target door is the door beside which there is a person.

[0101] For example, in some embodiments, the opening priority of the vehicle door is determined by the abnormality degree of the detection data of the sensor, and the higher the abnormality degree of the sensor data, the higher the opening priority of the corresponding vehicle door, and the lower the abnormality degree of the sensor data, the lower the opening priority of the corresponding vehicle door, and the first target door is the door corresponding to the sensor with the highest abnormality degree.

[0102] As a way, after the vehicle controller detects that the vehicle is in a water-falling state, the opening instruction is sent to the control system again, the opening instruction carries the information of the first target door, and after the control system reads the opening instruction, the first target door is opened.

[0103] Step S520: If the first target door fails to open within a preset time, the second target door is controlled to open.

[0104] The vehicle controller determines to control the second target door to open in the case that the first target door fails to open within a preset time.

[0105] The second target door is a door with a lower priority than the first target door, for example, the second target door is the front passenger door.

[0106] The preset time can be a default setting of the vehicle controller or a user-defined design, and in general, the preset time can be 300 milliseconds, 350 milliseconds, 400 milliseconds, 500 milliseconds, 600 milliseconds, etc., and the preset time can be 500 milliseconds, for example.

[0107] The vehicle controller controls the second target door to open in the case that the first target door fails to open within 500 milliseconds.

[0108] As a way, the vehicle controller determines that the first target door fails to open within a preset time, and sends the opening instruction to the control system again, the opening instruction carries the information of the second target door, and after the control system reads the opening instruction, the second target door is opened.

[0109] The application provides a control method of a vehicle. In the method, if it is detected that the vehicle is in a falling water state, a first target door is controlled to be opened; and if the first target door fails to be opened within a preset time, a second target door is controlled to be opened. The above method first opens the first target door with a higher priority, and in the case that the first target door with the higher priority fails to be opened, the second target door with a lower priority is opened, thereby providing multiple guarantees for self-rescue of people in the vehicle.

[0110] Please refer to Figure 6 , Figure 6 is a flowchart of a control method of a vehicle provided by the fifth embodiment of the application. If it is detected that the vehicle is in a falling water state, a door is controlled to be opened (step S220), which comprises: Step S610: If it is detected that the vehicle is in a falling water state, a cancel button state of the vehicle is confirmed.

[0111] The cancel button is used to inform the step of controlling the door to be opened. Further, in order to prevent false touch, the cancel button needs to exert a pressure greater than or equal to a pressure threshold. The pressure threshold can be a default setting of a vehicle controller or can be designed by a user. Generally, the pressure threshold can be 2N, 3N, 5N, 8N, 10N, etc. For example, the pressure threshold can be 5N.

[0112] The vehicle controller detects the cancel button state of the vehicle in the case that the vehicle is in a falling water state.

[0113] Step S620: If the cancel button is not responsive or the response time is less than a preset time, the step of controlling the door to be opened is performed.

[0114] The vehicle controller confirms that the cancel button is not responsive or the response time is less than the preset time, and then the step of controlling the door to be opened is performed.

[0115] The preset time can be a default setting of the vehicle controller or can be designed by the user. Generally, the preset time can be 10 seconds, 20 seconds, 24 seconds, 30 seconds, 35 seconds, 40 seconds, etc. For example, the preset time can be 30 seconds.

[0116] The vehicle controller confirms that the cancel button is not responsive or the response time is less than 30 seconds, and then the step of controlling the door to be opened is performed.

[0117] Step S630: If the cancel button continuously responds for the preset time, the step of controlling the door to be opened is stopped.

[0118] The vehicle controller confirms that the cancel button continuously responds for the preset time, and then the step of controlling the door to be opened is stopped.

[0119] The preset time can be a default setting of the vehicle controller or a user-defined design. In general, the preset time can be 10 seconds, 20 seconds, 24 seconds, 30 seconds, 35 seconds, 40 seconds, etc. For example, the preset time can be 30 seconds.

[0120] If the vehicle controller confirms that the continuous response lasts for 30 seconds, the step of controlling the door to open is stopped.

[0121] Further, the vehicle controller records the time of triggering / cancelling operation, the original sensor data, and the decision process in real time, providing strong support for post-tracing analysis.

[0122] The application provides a control method of a vehicle. In the method, if it is detected that the vehicle is in a falling water state, the state of a cancel button of the vehicle is confirmed. If the cancel button does not respond or the response time is less than a preset time, a step of controlling the door to open is performed. If the cancel button continuously responds for the preset time, the step of controlling the door to open is stopped. The above method sets a cancel button to avoid misidentification of the vehicle controller and mis-touch of the person in the vehicle, and improves the accuracy of the vehicle in different falling water scenes.

[0123] Please refer to Figure 7 , Figure 7 is a structural block diagram of a vehicle control device provided by the application. The structural block diagram of the vehicle control device provided by the application includes a detection module 710, a control module 720, and a help-seeking module 730.

[0124] The detection module 710 is configured to detect whether the vehicle falls into water based on detection data of a plurality of sensors. The control module 720 is configured to control the door to open if it is detected that the vehicle is in a falling water state. The help-seeking module 730 is configured to acquire accident information of the vehicle and send the accident information to a police receiving platform. The vehicle information includes location information, environmental information, and vehicle information.

[0125] The application provides a control device of a vehicle. In the device, whether the vehicle falls into water can be detected based on detection data of a plurality of sensors. If it is detected that the vehicle is in a falling water state, the door is controlled to open. Accident information of the vehicle is acquired and sent to a police receiving platform. The vehicle accident information includes location information, environmental information, and vehicle information. The above device determines whether the vehicle falls into water according to the detection data of the plurality of sensors, improves the accuracy of vehicle falling water identification, automatically controls the door to open after detecting that the vehicle falls into water, improves the self-rescue success rate of the person in the vehicle, and sends the accident information to the police receiving platform to improve the rescue efficiency of the external personnel. That is, the above device can effectively solve the problems of response lag and single function of the traditional safety system in a complex falling water scene, and significantly improve the self-rescue ability of the personnel and the external rescue efficiency in a falling water accident.

[0126] In some embodiments, the detection module 710 is further configured to perform a weighted calculation on the detection data of the plurality of sensors to obtain a water-falling confidence; and determine that the vehicle is in the water-falling state if the water-falling confidence is greater than or equal to a confidence threshold.

[0127] In some embodiments, the vehicle comprises a main power supply and a backup power supply which are independent of each other; and the control module 720 is further configured to control the vehicle door to open if it is detected that the vehicle is in the water-falling state, including: cutting off the connection between the main power supply and the vehicle, and starting the backup power supply to supply power to the vehicle if it is detected that the vehicle is in the water-falling state; and controlling the vehicle door to open in the case of backup power supply.

[0128] In some embodiments, the vehicle further comprises a sunroof; and the control module 720 is further configured to control the sunroof to open in the case of backup power supply.

[0129] In some embodiments, the control module 720 is further configured to control a first target vehicle door to open if it is detected that the vehicle is in the water-falling state; and the first target vehicle door is a main driver door; and control a second target vehicle door to open if the first target vehicle door fails to open within a preset time; and the second target vehicle door is a co-driver door.

[0130] In some embodiments, the control module 720 is further configured to confirm a cancel button state of the vehicle if it is detected that the vehicle is in the water-falling state, the cancel button being used to stop performing the step of controlling the vehicle door to open; and perform the step of controlling the vehicle door to open if the cancel button is not responsive or the response time is less than a preset time; and stop performing the step of controlling the vehicle door to open if the cancel button is continuously responsive for the preset time.

[0131] In some embodiments, the distress module 730 is further configured to send the accident information to a preset contact person.

[0132] The application provides a structural block diagram of a vehicle control device, and it should be noted that the device embodiments in the application correspond to the foregoing method embodiments, the specific implementation principles of each unit in the device embodiments are similar to the principles in the foregoing method embodiments, and the specific content in the device embodiments can be referred to the method embodiments, and will not be described herein again.

[0133] Please refer to Figure 8 , Figure 8 which is a structural block diagram of a vehicle provided by the application.

[0134] Based on the above vehicle control method and device, the embodiment of the present application further provides another vehicle 800 which can execute the vehicle control method. The vehicle 800 can be an electric vehicle, a fuel vehicle, or the like which can run an application. The vehicle 800 includes one or more (only one is shown in the figure) processors 810, a memory 820 which are coupled with each other. The memory 820 stores programs which can execute the content in the foregoing embodiments, and the processor 810 can execute the programs stored in the memory 820.

[0135] The processor 810 can include one or more cores for processing data. The processor 810 connects various parts in the vehicle 800 by various interfaces and lines, executes various functions of the vehicle 800 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 820, and calling data stored in the memory 820. Optionally, the processor 810 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 810 can be integrated with a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU is mainly used to process an operating system, a user interface, and an application program; the GPU is used to render and draw display content; and the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 810, but can be implemented by a separate communication chip.

[0136] The memory 820 can include a random access memory (RAM) and a read-only memory (ROM). The memory 820 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 820 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing each of the methods described below, etc.

[0137] The embodiments of the present application can divide the vehicle into functional modules according to the above method embodiments. For example, each functional module can be provided, or two or more functions can be integrated into one processing module. The integrated module can be implemented in the form of hardware. It should be noted that the division of the modules in the embodiments is illustrative, and is only a logical functional division. In actual implementation, another division manner can be used. In the case of dividing each functional module according to each function, the vehicle can include a processing module, a communication module, and the like.

[0138] It should be noted that all related contents of each step involved in the above method embodiments can be cited in the functional description of the corresponding functional module, which will not be repeated here. The vehicle provided in the embodiments is used to execute the above vehicle control method, and thus the same effect as the above implementation method can be achieved.

[0139] Please refer to Figure 9 , Figure 9 is a structural block diagram of a computer readable storage medium provided in the embodiments of the present application. The computer readable medium 900 stores program codes, which can be invoked by a processor to execute the methods described in the above method embodiments.

[0140] The computer readable storage medium 900 can be an electronic storage such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer readable storage medium 900 includes a non-transitory computer readable medium. The computer readable storage medium 900 has a storage space for program codes 99 for executing any method steps in the above methods. These program codes can be read from or written into one or more computer program products. The program codes 89 can be compressed in an appropriate form, for example.

[0141] It should be noted that the above description of the storage medium, device and equipment embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium, storage medium and equipment embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0142] The application provides a vehicle control method and device, a vehicle and a storage medium. In the method, whether the vehicle falls into water is detected based on detection data of multiple sensors; if it is detected that the vehicle is in a falling-into-water state, a vehicle door is controlled to be opened; accident information of the vehicle is acquired and sent to a police receiving platform; wherein the vehicle accident information includes location information, environment information and vehicle information. The above method judges whether the vehicle falls into water according to the detection data of multiple sensors, improves the accuracy of vehicle falling-into-water identification; after detecting that the vehicle falls into water, the vehicle door is automatically controlled to be opened, and the self-rescue success rate of the people in the vehicle is improved; the accident information is also sent to the police receiving platform, and the rescue efficiency of external personnel is improved, that is, the problems of response lag and single function of the traditional safety system in a complex falling-into-water scene can be effectively solved, and the self-rescue ability of the people in the falling-into-water accident and the external rescue efficiency are significantly improved.

[0143] The above describes the basic principles of the application in combination with specific embodiments, but it should be pointed out that the advantages, advantages, effects and the like mentioned in the application are only examples and are not limited, and these advantages, advantages, effects and the like cannot be considered as the must-have of each embodiment of the application. In addition, the above specific details are only for the purpose of example and for the purpose of understanding, and are not limited to the application must use the above specific details to realize.

[0144] The above description has been given for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain modifications, alterations, changes, additions and sub-combinations thereof.

Claims

1. A method for controlling a vehicle, characterized in that, include: Based on detection data from multiple sensors, it is determined whether the vehicle has fallen into the water; If the vehicle is detected to be submerged in water, the door is opened. The system acquires the accident information of the vehicle and sends the accident information to the emergency response platform; wherein the vehicle accident information includes location information, environmental information, and vehicle information.

2. The control method according to claim 1, characterized in that, The detection of whether the vehicle has fallen into the water, based on detection data from multiple sensors, includes: The confidence level of falling into the water is obtained by weighting the detection data from multiple sensors. If the confidence level of the vehicle falling into the water is greater than or equal to the confidence threshold, then it is determined that the vehicle has fallen into the water.

3. The control method according to claim 1, characterized in that, The vehicle includes independent main power and backup power; the step of controlling the door to open if the vehicle is detected to be submerged in water includes: If the vehicle is detected to be submerged in water, the connection between the main power supply and the vehicle is cut off, and the backup power supply is activated to supply power to the vehicle. When the backup power supply is in operation, the door is controlled to open.

4. The control method according to claim 3, characterized in that, The vehicle also includes a sunroof; and in the event that the vehicle is detected to be in a state of submersion, the control method further includes: When the backup power supply is in operation, the sunroof is opened.

5. The control method according to claim 1, characterized in that, The step of controlling the door to open if the vehicle is detected to be submerged in water includes: If the vehicle is detected to be submerged in water, the first target door is opened; wherein, the first target door is the driver's side door. If the first target door fails to open within a preset time, the second target door is controlled to open; wherein, the second target door is the passenger side door.

6. The control method according to claim 1, characterized in that, The step of controlling the door to open if the vehicle is detected to be submerged in water includes: If the vehicle is detected to be in a state of being submerged in water, the cancel button status of the vehicle is confirmed. The cancel button is used to stop the execution of the step of controlling the opening of the vehicle door. If the cancel button does not respond or the response time is less than the preset time, then the step of controlling the door to open is executed; If the cancel button continues to respond for the preset time, the step of controlling the opening of the car door will stop.

7. The control method according to claim 1, characterized in that, The control method further includes: The accident information will be sent to a pre-defined contact person.

8. A vehicle control device, characterized in that, include: The detection module is used to detect whether the vehicle has fallen into the water based on detection data from multiple sensors; The control module is used to control the door to open if the vehicle is detected to be in a state of being submerged in water. The emergency call module is used to obtain accident information of the vehicle and send the accident information to the emergency call platform; wherein, the vehicle information includes location information, environmental information, and vehicle information.

9. A vehicle, characterized in that, Includes one or more processors and memory; One or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs being configured to perform the control method according to any one of claims 1-7.

10. A computer-readable storage medium storing processor-executable program code, characterized in that, The computer-readable storage medium includes stored program code, wherein the control method of any one of claims 1-7 is executed when the program code is run.

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