Vehicle control method and vehicle

Abstract

The application discloses a vehicle control method and a vehicle, and relates to the technical field of vehicle control. The method comprises the following steps: acquiring the running state of the vehicle; in response to the running state satisfying the triggering condition of a wading mode, controlling the vehicle to enter the wading mode, wherein the wading mode is used for controlling the vehicle to run in a wading area; and in the wading mode, controlling the engine of the vehicle to start according to a wading start request. The application solves the technical problem that the engine is easily damaged due to the blind restart of the engine in the wading working condition in the prior art.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and more specifically, to a vehicle control method and a vehicle. Background Technology

[0002] In scenarios where vehicles drive through water, they must traverse sections of road with varying depths of water. During this process, the engine air intake, exhaust pipe, electrical system, and electronic control unit are all exposed to high humidity, water pressure, and the potential risk of water ingress. Improperly triggering the engine start-stop system during wading can lead to engine damage.

[0003] No effective solution has yet been proposed to address the aforementioned technical issues. Summary of the Invention

[0004] This invention provides a vehicle control method and a vehicle to at least solve the technical problem in the related art where blindly restarting the engine under wading conditions can easily damage the engine.

[0005] According to one embodiment of the present invention, a vehicle control method is provided, comprising: acquiring the operating state of a vehicle; controlling the vehicle to enter a wading mode in response to the operating state meeting the triggering conditions of a wading mode, wherein the wading mode is used to control the vehicle to drive in a wading area; and controlling the vehicle's engine to start according to a wading start request in the wading mode.

[0006] Optionally, in response to the operating state meeting the triggering conditions for the wading mode, the vehicle is controlled to enter the wading mode, including: in response to the vehicle being in a high-voltage energized state and the vehicle currently being in any mode other than the wading mode and the transportation mode, obtaining a triggering command for the wading mode; and based on the triggering command, controlling the vehicle to enter the wading mode.

[0007] Optionally, the vehicle control method further includes: in wading mode, acquiring the vehicle's wading depth value, power battery charge, and engine fuel quantity; in response to the wading depth value being less than a first depth threshold, the power battery charge being less than a first charge threshold, and the engine fuel quantity being greater than a first fuel quantity threshold, determining the wading start request as a valid request; in response to the wading depth value being greater than a second depth threshold, or the power battery charge being greater than a second charge threshold, or the engine fuel quantity being less than a second fuel quantity threshold, determining the wading start request as an invalid request, wherein the second depth threshold is greater than the first depth threshold, the second charge threshold is greater than the first charge threshold, and the second fuel quantity threshold is less than the first fuel quantity threshold.

[0008] Optionally, the vehicle control method further includes: determining a total start request based on a wading start request and a preset start request, wherein the preset start request is used to represent a start request other than the wading start request; and determining that the total start request is valid in response to the wading start request being valid, or the preset start request being valid.

[0009] Optionally, controlling the engine start of the vehicle according to the wading start request includes: controlling the engine start in response to a wading depth value being less than a first depth threshold and a valid start request; or, controlling the engine start in response to a wading depth value being greater than a second depth threshold and a valid start request at a preset time.

[0010] Optionally, the vehicle control method further includes: controlling the engine to be in a stopped state in response to the vehicle not being in wading mode and the engine experiencing a preset fault; or, controlling the engine to be in a stopped state in response to the vehicle being in wading mode, the wading depth value being less than a first depth threshold, and the engine experiencing a preset fault; obtaining the number of occurrences of the preset fault; and in the stopped state, controlling the engine to restart after a preset shutdown time in response to the number of occurrences of the preset fault in the current driving cycle being less than a preset number threshold and the total start request continuing to exist.

[0011] Optionally, the vehicle control method further includes: in response to the vehicle being in wading mode, the wading depth value being greater than a second depth threshold, and the vehicle experiencing a preset fault, controlling the engine to be shut down.

[0012] Optionally, the vehicle control method further includes: in response to the vehicle being in wading mode, obtaining the vehicle's power battery charge; in response to the power battery charge being less than a third charge threshold and the engine not being in operation, prompting the vehicle to leave the wading area, wherein the third charge threshold is less than a second charge threshold; and in response to the power battery charge being less than a fourth charge threshold, prompting that the power battery charge is insufficient, wherein the fourth charge threshold is less than the third charge threshold.

[0013] Optionally, the vehicle control method further includes: in response to insufficient power of the power battery, controlling the vehicle to shut down the high voltage at a first moment, and controlling the vehicle to shut up the high voltage at a second moment, wherein the second moment is later than the first moment; obtaining the vehicle's operating mode at the first moment; in response to the operating mode being a wading mode, the wading depth value being greater than a second depth threshold and the total start request being invalid, controlling the vehicle to shut down the high voltage at a third moment, wherein the third moment is later than the second moment.

[0014] According to one embodiment of the present invention, a vehicle control device is also provided, comprising: an acquisition module for acquiring the operating state of a vehicle; a first control module for controlling the vehicle to enter a wading mode in response to the operating state meeting the triggering conditions of a wading mode, wherein the wading mode is used to control the vehicle to drive in a wading area; and a second control module for controlling the vehicle's engine to start according to a wading start request in the wading mode.

[0015] Optionally, the first control module is further configured to, in response to the vehicle being in a high-voltage power-on state and the vehicle currently being in any mode other than wading mode and transportation mode, acquire a trigger command for wading mode; and based on the trigger command, control the vehicle to enter wading mode.

[0016] Optionally, the vehicle control device further includes: a first determining module, configured to, in wading mode, acquire the wading depth value, the power battery charge, and the engine fuel quantity of the vehicle; in response to the wading depth value being less than a first depth threshold, the power battery charge being less than a first charge threshold, and the engine fuel quantity being greater than a first fuel quantity threshold, determine the wading start request as a valid request; in response to the wading depth value being greater than a second depth threshold, or the power battery charge being greater than a second charge threshold, or the engine fuel quantity being less than a second fuel quantity threshold, determine the wading start request as an invalid request, wherein the second depth threshold is greater than the first depth threshold, the second charge threshold is greater than the first charge threshold, and the second fuel quantity threshold is less than the first fuel quantity threshold.

[0017] Optionally, the vehicle control device further includes: a second determining module, configured to determine a total starting request based on a wading start request and a preset starting request, wherein the preset starting request is used to represent a starting request other than the wading start request; in response to the wading start request being valid, or the preset starting request being valid, the total starting request is determined to be valid.

[0018] Optionally, the second control module is further configured to control the engine to start in response to a wading depth value being less than a first depth threshold and a valid start request; or, to control the engine to start in response to a wading depth value being greater than a second depth threshold and a valid start request at a preset time.

[0019] Optionally, the vehicle control device further includes: a third control module, configured to control the engine to be in a stopped state in response to the vehicle not being in wading mode and the engine experiencing a preset fault; or, in response to the vehicle being in wading mode, the wading depth being less than a first depth threshold, and the engine experiencing a preset fault, control the engine to be in a stopped state; obtain the number of occurrences of the preset fault; and in the stopped state, in response to the number of occurrences of the preset fault in the current driving cycle being less than a preset number threshold and the total start request continuing to exist, control the engine to be stopped for a preset time and then restarted.

[0020] Optionally, the third control module is also used to control the engine to stop in response to the vehicle being in wading mode, the wading depth being greater than the second depth threshold, and the vehicle experiencing a preset fault.

[0021] Optionally, the vehicle control device further includes: a prompting module, used to obtain the vehicle's power battery charge in response to the vehicle being in wading mode; to prompt the vehicle to leave the wading area in response to the power battery charge being less than a third charge threshold and the engine not being in operation, wherein the third charge threshold is less than a second charge threshold; and to prompt that the power battery charge is insufficient in response to the power battery charge being less than a fourth charge threshold, wherein the fourth charge threshold is less than the third charge threshold.

[0022] Optionally, the vehicle control device further includes: a fourth control module, configured to control the vehicle to power down at a first moment and power up at a second moment in response to insufficient power in the power battery, wherein the second moment is later than the first moment; to obtain the vehicle's operating mode at the first moment; and to control the vehicle to power down at a third moment in response to the operating mode being wading mode, the wading depth value being greater than a second depth threshold and the total start request being invalid, wherein the third moment is later than the second moment.

[0023] According to one embodiment of the present invention, a vehicle is also provided, comprising: a memory storing an executable program; and a processor for running the executable program, wherein the executable program, when run on the processor, performs the vehicle control method described in any of the preceding claims.

[0024] According to one embodiment of the present invention, a computer-readable storage medium is also provided, wherein the storage medium stores a computer program, wherein the computer program is configured to execute the vehicle control method described above when run on a computer or processor.

[0025] According to one embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the vehicle control method described above.

[0026] According to one embodiment of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the vehicle control method described in any of the above claims.

[0027] In this embodiment of the invention, the vehicle's operating status is acquired; in response to the operating status meeting the triggering conditions of the wading mode, the vehicle is controlled to enter the wading mode, wherein the wading mode is used to control the vehicle to drive in the wading area; in the wading mode, the vehicle's engine is controlled to start according to the wading start request, thereby achieving the purpose of avoiding the risk of engine water ingress while ensuring power demand, thus realizing the technical effect of ensuring the safety of the engine under wading conditions, and solving the technical problem in related technologies that blindly restarting the engine under wading conditions can easily damage the engine. Attached Figure Description

[0028] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0029] Figure 1 This is a flowchart of a vehicle control method according to one embodiment of the present invention;

[0030] Figure 2 This is a controller signal interaction diagram according to one embodiment of the present invention;

[0031] Figure 3 This is a structural diagram of a dual-motor hybrid power system according to one embodiment of the present invention;

[0032] Figure 4 This is a structural block diagram of a vehicle control device according to one embodiment of the present invention;

[0033] Figure 5 This is a structural block diagram of an electronic device according to one embodiment of the present invention. Detailed Implementation

[0034] For ease of understanding, some concepts related to embodiments of the present invention are illustrated below for reference.

[0035] The wading mode is a special operating control mode that is actively triggered by the driver or automatically activated by the system, specifically designed for vehicles traversing flooded areas. In this mode, the Vehicle Control Unit (VCU) shuts down unnecessary high-voltage accessories, dynamically adjusts the battery starting threshold, monitors engine malfunction status, and implements preset safety strategies based on water depth to ensure that the powertrain operates in a safe and energy-efficient manner during wading.

[0036] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. In the description of these embodiments, unless otherwise stated, "a plurality of" means two or more. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0038] According to one embodiment of the present invention, an embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0039] This method embodiment can be executed in an electronic device, similar control device, or system that includes a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device for communication functions and a display device. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the electronic device. For example, the electronic device may include more or fewer components than described above, or have a different configuration than described above.

[0040] A processor may include one or more processing units. For example, a processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processing unit (NPU), a tensor processing unit (TPU), or an artificial intelligence (AI) processor. Different processing units may be independent components or integrated into one or more processors. In some instances, electronic devices may also include one or more processors.

[0041] The memory can be used to store computer programs, such as the computer program corresponding to the vehicle control method in this embodiment of the invention. The processor implements the vehicle control method by running the computer program stored in the memory. The memory may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to electronic devices via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0042] Communication devices are used to receive or send data via a network. Specific examples of such networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the communication device includes a network interface controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the communication device may be a radio frequency (RF) module used for wireless communication with the Internet.

[0043] Display devices can be, for example, touchscreen liquid crystal displays (LCDs) and touch displays (also referred to as "touchscreens" or "touch displays"). The LCD allows users to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), which allows users to interact with the GUI through finger contact and / or gestures on a touch-sensitive surface. Optional human-computer interaction functions include: creating web pages, drawing, word processing, creating electronic documents, playing games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital video, playing digital music, and / or web browsing, etc. Executable instructions for performing the above human-computer interaction functions are configured / stored in one or more processor-executable computer program products or readable storage media.

[0044] This embodiment provides a vehicle control method operating on an electronic device. Figure 1 This is a flowchart of a vehicle control method according to one embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps:

[0045] Step S10: Obtain the vehicle's operating status;

[0046] In this embodiment of the invention, the operating status refers to a set of multi-dimensional dynamic parameters that are directly related to the vehicle's operating condition and are collected in real time to determine whether the wading mode triggering conditions and subsequent control strategies are met. Specifically, these parameters include, but are not limited to, the high-pressure system status, the current mode status, wading depth information, and driver commands.

[0047] Obtaining the vehicle's operating status can be understood as the vehicle control unit collecting and integrating dynamic data from multiple onboard sensors and controllers in real time to comprehensively perceive the vehicle's current electrical, mechanical, environmental, and operating conditions, thereby providing accurate and reliable basic information for decision-making.

[0048] It can be seen that the dynamic perception of the entire vehicle system operation, including the synchronous acquisition and validity verification of key information such as whether the high-voltage system is ready, the power battery charge level, wading depth, and driver intention, is the premise and foundation for achieving accurate identification and safe control of wading modes.

[0049] Step S12: In response to the operating state meeting the triggering conditions of the wading mode, control the vehicle to enter the wading mode, wherein the wading mode is used to control the vehicle to drive in the wading area.

[0050] In this embodiment of the invention, the triggering condition refers to the logical criterion used by the vehicle control unit to determine whether the vehicle should enter the wading mode. It consists of necessary conditions and triggering conditions, and takes effect only when all necessary conditions are met and at least one triggering condition is met. For example, the necessary conditions include: (1) the vehicle's high-voltage system is powered on (ON position or drive high-voltage activation); (2) the vehicle is not currently in wading mode; and (3) the vehicle is not in transport mode. The triggering conditions include: (1) the driver manually selects the wading mode in the off-road mode submenu through the Human-Machine Interface (HMI); and (2) the vehicle's voice assistant receives and recognizes the command to enter the wading mode or an equivalent voice command.

[0051] The wading mode is a safety operation strategy activated by the vehicle control unit when the vehicle enters a flooded area. Its purpose is to maximize the use of battery energy, extend the pure electric range, and prevent water intrusion risk caused by a second start due to misoperation or system abnormality, while ensuring the safety of the engine system.

[0052] Responding to the fact that the operating state meets the triggering conditions for the wading mode, controlling the vehicle to enter the wading mode can be understood as controlling the vehicle to start the wading mode when the current operating state of the vehicle meets the triggering conditions for the wading mode.

[0053] For example, the vehicle control unit is internally designed with a wading mode recognition module. This module includes the following necessary conditions for wading mode recognition: a) high voltage is applied in the ON position, or high voltage is applied to the drive; b) the current mode is non-wading mode; c) the vehicle mode is not transportation mode. The triggering conditions for wading mode are: a) the driver switches to the off-road mode sub-interface in the human-machine interface and selects wading mode; b) wading mode is entered through the voice assistant. When the necessary conditions are met and the triggering conditions are valid, the vehicle control unit determines that it has entered wading mode and sends feedback to the human-machine interface: "VCU_WadeMdRsp=1 indicates that the vehicle control unit has entered wading mode."

[0054] As can be seen, by intelligently recognizing driver commands or environmental conditions through the above steps, the wading mode is accurately triggered, effectively preventing the engine from starting accidentally in high water depth areas, preventing water damage, improving wading safety and range, and enhancing the reliability of the vehicle in complex water environments.

[0055] Step S14: In wading mode, control the vehicle's engine to start according to the wading start request.

[0056] In this embodiment of the invention, the wading start request is an engine start decision signal generated by the vehicle control unit based on a comprehensive judgment of the vehicle's operating status, and is used in wading mode.

[0057] In wading mode, controlling the vehicle's engine to start based on a wading start request can be understood as the vehicle control unit only allowing the engine to start under multiple constraints, such as water depth safety, sufficient state of charge (SOC) of the power battery, and sufficient fuel. This decision is independent of the conventional start logic and prioritizes system safety in wading environments.

[0058] As can be seen, by responding to the request to start the engine in water through this step, the engine is allowed to start only under the triple safety constraints of water depth, power, and fuel level. This avoids accidental starting in water that could lead to water ingress, engine stalling, or electrical failure, thus balancing power demand and system safety and improving the reliability of the vehicle under water conditions.

[0059] Through the above steps, the vehicle's operating status is first obtained. When the operating status meets the triggering conditions for the wading mode, the vehicle is controlled to enter the wading mode. The wading mode is used to control the vehicle to drive in the wading area. Then, in the wading mode, the vehicle's engine is controlled to start according to the wading start request. This achieves the purpose of ensuring power demand while avoiding the risk of water entering the engine, thus realizing the technical effect of ensuring the safety of the engine under wading conditions. This solves the technical problem in related technologies where blindly restarting the engine under wading conditions can easily damage the engine.

[0060] Optionally, in step S12, controlling the vehicle to enter the wading mode in response to the operating state meeting the triggering conditions of the wading mode may include the following execution steps:

[0061] In response to the vehicle being powered on at high voltage and currently in any mode other than wading mode and transport mode, obtain the wading mode trigger command.

[0062] Based on the trigger command, the vehicle is controlled to enter the wading mode.

[0063] In this embodiment of the invention, the high-voltage power-on state refers to the ready state in which the vehicle's high-voltage power battery system has completed self-test and closed the main positive / main negative relays to supply power to high-voltage components such as the drive motor and electronic control system. This is a prerequisite for the vehicle to have power output capability.

[0064] Transportation mode refers to a special mode activated by a vehicle to meet the needs of logistics transportation, trailer or long-distance transfer. It usually limits power output, disables some energy-consuming equipment, and may lock the driving mode switching function in order to reduce energy consumption and ensure transportation safety, and is separate from daily driving or off-road working conditions.

[0065] In response to the vehicle being powered on at high voltage and currently in any mode other than wading mode and transport mode, the trigger command for wading mode is obtained only when the vehicle has the ability to operate under high voltage (i.e., powered on at high voltage) and is not in a special non-off-road state (such as transport mode) or wading mode. This ensures that wading mode is only actively triggered manually or by voice in reasonable and safe driving scenarios, avoiding accidental activation under unsuitable conditions, thereby ensuring driving safety.

[0066] Based on the trigger command, controlling the vehicle to enter the wading mode can be understood as the vehicle control unit controlling the vehicle to enter the wading mode after confirming that the trigger command is legal and valid. For example, it can immediately lock the system strategy under the wading condition, including disabling the engine automatic start-stop, adjusting the energy management threshold, shutting down unnecessary high-voltage loads, activating the wading status indicator, etc. There are no restrictions here, so as to ensure that the vehicle always follows the principle of wading safety priority in subsequent operation.

[0067] It can be seen that by strictly limiting the activation conditions of the wading mode, responding to the trigger command only when the vehicle is powered on at high voltage and not in transportation or wading mode, the risk of accidentally activating the wading mode under unsuitable conditions (such as high-speed transportation or already wading) is effectively avoided, ensuring the safety and necessity of mode switching. Combined with the active triggering mechanism of human-machine interaction or voice commands, and with the vehicle control unit uniformly verifying the system status to prevent misoperation, a safe prerequisite is provided for energy management and start-stop control under subsequent wading conditions.

[0068] Optionally, the vehicle control method may include the following execution steps:

[0069] In wading mode, the vehicle's wading depth, battery charge, and engine fuel level are obtained.

[0070] In response to the wading depth being less than a first depth threshold, the power battery charge being less than a first charge threshold, and the engine fuel level being greater than a first fuel level threshold, the wading start request is determined to be a valid request.

[0071] In response to the wading depth value being greater than a second depth threshold, or the power battery charge being greater than a second charge threshold, or the engine fuel level being less than a second fuel level threshold, the wading start request is determined to be an invalid request, wherein the second depth threshold is greater than the first depth threshold, the second charge threshold is greater than the first charge threshold, and the second fuel level threshold is less than the first fuel level threshold.

[0072] In this embodiment of the invention, the wading depth value refers to the vertical depth of the water surface relative to the vehicle body reference surface, which is detected in real time by the wading sensor at the bottom of the vehicle.

[0073] The power battery charge refers to the current remaining charge percentage provided by the Battery Management System (BMS), reflecting the reserve level of the vehicle's pure electric driving capability.

[0074] Engine fuel level refers to the amount of fuel remaining in the fuel tank as monitored by the Engine Management System (EMS), reflecting the fuel availability for the engine to continue operating.

[0075] The first depth threshold is used to represent the upper limit of water depth for safe wading start. It is usually slightly lower than the lowest point of the engine exhaust pipe or air intake to ensure that there is no risk of water entering when starting the engine. For example, the first depth threshold can be represented as d1, which is not limited here.

[0076] The first battery threshold is used to represent the minimum battery level required to start the engine. When the battery level is below this value, the system considers that the battery is insufficient to support pure electric range and the engine needs to be started to replenish the battery. For example, the first battery threshold can be represented as SOC1, but this is not limited here.

[0077] The first fuel quantity threshold is used to represent the minimum fuel supply required for starting the engine, ensuring that the engine has enough fuel to keep running after starting and avoiding stalling. For example, the first fuel quantity threshold can be represented as Lv1, which is not limited here.

[0078] The second depth threshold is used to indicate the lower limit of water depth at which starting the engine is prohibited. It is higher than the first depth threshold and usually approaches or exceeds the wading safety limit. At this point, starting the engine is strictly prohibited to prevent water ingress. For example, the second depth threshold can be represented as d2, but this is not limited here.

[0079] The second battery threshold is used to represent the battery redundancy value that does not require starting the engine. If it is higher than the first battery threshold, it indicates that the battery is sufficient to maintain pure electric driving without starting the engine. For example, the second battery threshold can be represented as SOC2, but this is not limited here.

[0080] The second fuel level threshold is used to represent the critical value of fuel depletion at which starting is prohibited. If it is lower than the first fuel level threshold, it indicates insufficient fuel, and the engine cannot continue to run after starting, so starting is prohibited. For example, the second fuel level threshold can be represented as Lv2, but this is not limited here.

[0081] In wading mode, acquiring the vehicle's wading depth, battery charge, and engine fuel level can be understood as the vehicle control unit collecting key status parameters from the wading sensor, battery management system, and engine control unit in real time as input for determining whether the engine can be started, ensuring that the decision is based on real and dynamic operating condition data.

[0082] Determining that the water-crossing engine start request is a valid request in response to the water depth value being less than the first depth threshold, the power battery power being less than the first power threshold, and the engine fuel quantity being greater than the first fuel quantity threshold can be understood as that only when the vehicle is at a safe water depth, the battery power is insufficient to support pure electric driving, and the fuel reserve is sufficient to maintain the engine operation, it is determined that the vehicle has the necessity and safety to start the engine in the water-crossing area.

[0083] Determining that the water-crossing engine start request is an invalid request in response to the water depth value being greater than the second depth threshold, or the power battery power being greater than the second power threshold, or the engine fuel quantity being less than the second fuel quantity threshold can be understood as that when the water depth threatens the safety of the engine, the battery still has sufficient power for pure electric driving, or the fuel is too scarce to support stable operation, the system will automatically disable the engine start logic to avoid engine water ingress damage, energy waste or engine stalling risk caused by improper start, and ensure the safety of the water-crossing process.

[0084] Exemplarily, an engine start / stop decision module is designed inside the vehicle control unit. When VCU_WadeMdRsp = 1, the vehicle control unit makes judgments related to water-crossing engine start. If the water depth sensor value BCMWdDpth reported by the body control module (BCM) < d1 (d1 can be determined by referring to the distance from the engine exhaust pipe to the ground and considering the vehicle slope angle), and the state of charge SOC of the power battery < SOC1, and the engine fuel quantity FuelLvl > Lv1, then the water-crossing engine start request WadeEngStrt = 1. If SOC > SOC2 or BCMWdDpth > d2 or FuelLvl < Lv2, then the water-crossing engine start request WadeEngStrt = 0.

[0085] It can be seen that through the above steps, engine start is allowed only when the water depth is within the safety threshold, the power is insufficient and the fuel is sufficient, ensuring the necessity of power compensation. When the water depth exceeds the standard, the power is abundant or the fuel is scarce, engine start is prohibited, effectively avoiding major risks such as engine water ingress, battery resource waste or fuel exhaustion and engine stalling, taking into account water-crossing safety and endurance, and improving the environmental adaptability of the vehicle.

[0086] Optionally, the vehicle control method may include the following execution steps:

[0087] Determine the total engine start request based on the water-crossing engine start request and the preset engine start request, where the preset engine start request is used to represent the engine start request other than the water-crossing engine start request;

[0088] Determine that the total engine start request is valid in response to the water-crossing engine start request being valid, or the preset engine start request being valid.

[0089] In this embodiment of the invention, the preset start request refers to the engine start request triggered by normal driving needs under normal operating conditions, excluding wading mode. Examples include: low battery power (below the normal SOC start threshold), insufficient drive power, air conditioning heating needs, or manual start request by the driver. It is the general start logic on which the whole vehicle maintains normal operation in non-wading conditions.

[0090] The master start request is the final start decision signal generated by the vehicle control unit after integrating all start sources (including wading start requests and preset start requests), and is used to uniformly arbitrate whether the engine should perform the start operation.

[0091] Determining the total start request based on the wading start request and the preset start request can be understood as the vehicle control unit logically merging the start request in wading mode with the start request in normal driving scenarios to form a unified start decision signal, thus obtaining the total start request. For example, the vehicle control unit combines the wading start request with other start requests into a total start request, EngStrtCmb.

[0092] Responding to a valid water wading start request, or pre-setting a valid start request, determining that the overall start request is valid can be understood as determining that the overall start request is valid when the vehicle is in a safe water wading environment and there is a need to start the engine, or when there is a normal power or energy demand in a non-water wading scenario. This ensures the vehicle's basic power response capability and operational reliability in complex environments while ensuring water wading safety.

[0093] As can be seen, by logically superimposing the wading start request with the preset start request through the above steps, a total start request is constructed, improving the system's adaptability and safety under complex operating conditions. In wading mode, the system allows the engine to be started to replenish energy when the water depth is safe and energy is low, while retaining the start permission for traditional power needs (such as low battery or insufficient power), avoiding power interruption due to mode switching and ensuring that the vehicle still has reliable power output in extreme environments.

[0094] Optionally, in step S14, controlling the vehicle's engine to start according to the wading start request may include the following execution steps:

[0095] In response to a wading depth value being less than a first depth threshold and a valid start request, control the engine to start; or...

[0096] In response to a wading depth value greater than the second depth threshold and a valid start request at a preset time, the engine is controlled to start.

[0097] In an embodiment of the present invention, controlling the engine to start in response to the water depth value being less than the first depth threshold and the total engine start request being valid can be understood as follows: when the vehicle is within the safe water depth range (not reaching the critical point of water ingress risk), and it is comprehensively judged that there is a necessary engine start requirement (such as insufficient battery power or lack of power), the engine is allowed to start to maintain power output and system stability, ensuring the balance between energy replenishment and performance guarantee in a controllable environment.

[0098] Controlling the engine to start in response to the water depth value being greater than the second depth threshold and the total engine start request being valid at a preset moment can be understood as follows: when the vehicle has entered a high-risk deep water area, and the engine has been running previously, and there is still a valid engine start request at a preset moment (such as when the system monitors continuous power demand or is about to exit the water-crossing area), to prevent the inability to start again after stalling, the system allows the engine to maintain its running state, avoiding serious risks such as stalling in water, failure to restart after a second start, or vehicle entrapment caused by forced shutdown.

[0099] Exemplarily, when BCMWdDpth < d1, the water-crossing engine start request WadeEngStrt = 1 is valid or other engine start requests are valid, then the vehicle control unit controls the engine to start; when BCMWdDpth > d2, if the total engine start request EngStrtCmb at the previous moment of the engine is valid, the starting mode is maintained, and if the total engine start request EngStrtCmb at the previous moment is invalid, the VCU does not control the engine to start.

[0100] It can be seen that through the above steps, when the water depth is within the safe range and there is a need to start the engine, the engine is allowed to start to supplement electric energy or provide power to improve passability; and when the water depth exceeds the danger threshold, if the engine has been running previously and still needs to maintain power at a preset moment (such as before exiting the water-crossing mode), it is allowed to continue running, avoiding the risk of being unable to restart after an accidental stalling in water. The above steps not only avoid water ingress damage caused by starting the engine in deep water but also prevent the risk of vehicle entrapment caused by shutdown, thus enhancing the safety and reliability of hybrid vehicles in water-crossing scenarios.

[0101] Optionally, the vehicle control method may include the following execution steps:

[0102] In response to the vehicle not being in the water-crossing mode and the engine having a preset fault, control the engine to be in the shutdown state; or,

[0103] In response to the vehicle being in the water-crossing mode, the water depth value being less than the first depth threshold, and the engine having a preset fault, control the engine to be in the shutdown state;

[0104] Obtain the occurrence times of the preset fault;

[0105] In the shutdown state, in response to the fact that the number of preset faults occurring in the current driving cycle is less than the preset number threshold and the total start request continues to exist, the engine is controlled to be shut down for a preset time before restarting.

[0106] In this embodiment of the invention, the preset fault refers to the key fault types that may affect water safety during engine operation, including but not limited to engine misfire (no torque output), abnormal stall (speed suddenly drops below idle speed), and start-up failure (start-up time exceeds time).

[0107] The shutdown state refers to the control state in which the vehicle control unit actively stops fuel injection and ignition after detecting a preset fault, causing the engine to stop running. This is used to prevent the fault from escalating or to prevent the risk of water intrusion in wading environments.

[0108] The current driving cycle refers to the complete usage cycle from the time the vehicle is powered on and started with high voltage until the next complete power-off (engine shutdown and disconnection of high voltage), serving as a time benchmark for fault counting and fault tolerance assessment.

[0109] The preset number threshold refers to the maximum number of preset faults allowed to occur within a single driving cycle. It is used to balance system fault tolerance and safety, and to avoid frequent invalid starts.

[0110] The preset duration refers to a fixed time interval (e.g., t1: 3~10 seconds) after the engine stops. This is used to ensure that residual water vapor or fault disturbances in the cylinder dissipate before attempting to restart the engine, thereby improving the success rate of restarting and reducing the risk of mechanical damage.

[0111] In response to a vehicle not being in wading mode and an engine malfunction occurring, controlling the engine to shut down can be understood as follows: in normal driving scenarios, once a critical malfunction such as engine misfire, abnormal shutdown, or failure to start is detected, the engine immediately shuts down to prevent the malfunction from continuing or causing further damage to the power system, thus ensuring driving safety.

[0112] When the vehicle is in wading mode, the wading depth is less than the first depth threshold, and the engine experiences a preset fault, controlling the engine to stop can be understood as prioritizing engine shutdown within the safe wading depth if an engine fault occurs, thus preventing continued operation under fault conditions from exacerbating the risk of water ingress and ensuring driving safety.

[0113] Obtaining the occurrence count of preset faults can be understood as the vehicle control unit continuously counting the number of times various preset faults are triggered within the current driving cycle, thereby achieving fault tolerance management.

[0114] In the stopped state, in response to the number of occurrences of a preset fault within the current driving cycle being less than a preset number threshold and the total engine start request continuously existing, controlling the engine to stop for a preset duration and then start again. It can be understood that the control system of the present invention allows an attempt to restore power within a limited fault tolerance range, reduces the probability of secondary failure by delaying restart, avoids the vehicle losing power due to a single instantaneous fault, and improves the usability and reliability under complex working conditions.

[0115] Exemplarily, an engine fault monitoring module in the vehicle control unit can monitor faults such as engine misfire (the engine idles without generating torque), abnormal shutdown (the engine speed is pulled down below the idle speed), and failed start (the start time is too long) during driving. When VCU_WadeMdRsp = 0, that is, when the vehicle is in a non-wading mode, when an engine misfire fault, a failed start fault, or an abnormal shutdown fault occurs, the vehicle control unit performs a shutdown operation. When the system start request continuously exists, it stops for a time t1 and then starts again. The vehicle control unit performs a fault counting operation on the system and allows a certain number of errors to occur in one driving cycle; when VCU_WadeMdRsp = 1, that is, when the vehicle is in a wading mode: when BCMWdDpth < d1, when an engine misfire fault, a failed start fault, or an abnormal shutdown fault occurs, the vehicle control unit performs a shutdown operation on the engine. When the system start request continuously exists, it stops for a time t1 and then starts again. The vehicle control unit performs a fault counting operation on the system and allows a certain number of errors to occur in one driving cycle.

[0116] It can be seen that through the above steps, in the non-wading mode or low-risk wading mode, when the engine has a fault, it stops immediately to avoid the risk of water ingress. At the same time, it counts the number of faults within a single driving cycle, combines the preset threshold and the delayed restart strategy, avoids the complete loss of power due to instantaneous faults, and also ensures the continuous provision of power support within a reasonable range, especially improving the self-recovery ability of the vehicle during the critical stage of wading and getting out of trouble.

[0117] Optionally, the vehicle control method may include the following execution steps:

[0118] In response to the vehicle being in a wading mode, the wading depth value being greater than a second depth threshold, and the vehicle having a preset fault, control the engine to be in a stopped state.

[0119] In this embodiment of the invention, responding to the vehicle being in wading mode, the wading depth value being greater than the second depth threshold, and the vehicle experiencing a preset fault, controlling the engine to be in a shutdown state can be understood as follows: when the vehicle has entered a high-risk deep water area, in order to minimize the risk of water entering the engine, all engine start and run commands are immediately disabled and a permanent shutdown is executed, and no further attempts are made to restart, thereby avoiding consequences such as the vehicle being trapped or the power system being damaged due to a faulty restart.

[0120] For example, when BCMWdDpth>d2, if an engine misfire, start-up failure, or abnormal shutdown occurs, the vehicle control unit will perform a shutdown operation and will not restart the engine.

[0121] As can be seen, through the above steps, when the wading depth exceeds the safety threshold and the engine malfunctions, the engine is controlled to stop and restart is prohibited, blocking the possibility of the engine running in deep water or being reignited, effectively preventing risks such as water entering the engine, thereby improving the safety of the vehicle under extreme wading conditions.

[0122] Optionally, the vehicle control method may include the following execution steps:

[0123] In response to the vehicle being in wading mode, the power battery charge of the vehicle is obtained;

[0124] In response to the power battery charge being less than the third charge threshold and the engine not being in operation, a prompt is made to leave the wading area, wherein the third charge threshold is less than the second charge threshold;

[0125] In response to the power battery charge being less than the fourth charge threshold, a message is displayed indicating that the power battery charge is insufficient, wherein the fourth charge threshold is less than the third charge threshold.

[0126] In this embodiment of the invention, the third battery threshold is used to represent the critical value for triggering a battery warning in wading mode. When the battery level falls below the third battery threshold, the driver is prompted to leave the wading area as soon as possible to ensure that sufficient energy is reserved for extrication and safe driving before the battery is depleted. For example, the third battery threshold can be represented as SOCEV-Δ1, but this is not limited to that.

[0127] The fourth battery threshold represents the minimum safe battery level in wading mode. When the battery level falls below the fourth threshold, the system determines that the battery energy is insufficient to support the operation of the basic high-voltage system, issues an emergency warning of insufficient battery power, and lowers the high voltage to prevent loss of control or system failure due to power depletion. For example, the third battery threshold can be represented as SOCboost, which is not limited here.

[0128] In response to the vehicle being in wading mode, obtaining the vehicle's power battery charge can be understood as the vehicle control unit reading the current charge value of the high-voltage battery provided by the battery management system in real time when the vehicle is in wading mode.

[0129] The prompt to leave the wading area when the battery charge is less than the third charge threshold and the engine is not running can be understood as reminding the driver to leave the wading area as soon as possible when the battery charge is close to the critical level and cannot be recharged by the engine, so as to avoid losing power and control system support due to the battery running out of power.

[0130] The system's warning that the battery power is insufficient can be understood as the system issuing a mandatory warning when the battery power drops below the system's minimum safe operating line, in order to prevent the vehicle from losing control or the electronic system from failing due to power depletion.

[0131] For example, the vehicle control unit design includes a battery energy management module for managing charge thresholds under various modes and whether each component is allowed to use battery energy. Relevant to this invention are the charge start-up threshold SOCEV, the minimum available charge threshold SOCboost, and the battery charge life threshold SOCLifLow, where SOCEV > SOCboost > SOCLifLow. The charge difference SOCbl between SOCboost and SOCLifLow should be designed to ensure a certain number of high-voltage start-ups to test the energy EngSrt of each start-up. If designed for 3 start-ups, then SOCbl = EngSrt. 3 / BatEng 100% f; where BatEng is the energy used by the battery, and f is the system internal resistance correction coefficient = 1 - 1.2.

[0132] When VCU_WadeMdRsp=1, the energy management module shifts the charge-based start-up threshold SOCEV downwards by Δ1. When the charge level is below SOCEV-Δ1 and the engine is not running (a low charge start-up request is issued when the charge level is below SOCEV-Δ1), the vehicle control unit sends a low-battery warning (HVLowWarning) to the human-machine interface, urging the driver to leave the wading area as soon as possible. Simultaneously, it issues a request to disable unnecessary high-voltage components (HCU_HVAccoryEnbl=0). (Unnecessary high-voltage accessories mainly refer to high-voltage components unrelated to driving or wading, such as high-pressure air conditioning (AC) and positive temperature coefficient heaters (PTC). When HCU_HVAccoryEnbl=0, these accessories stop working, reducing system power consumption.) As the charge level continues to decrease, and falls below SOCboost, the vehicle control unit sends a low-battery warning to the human-machine interface.

[0133] As can be seen from the above steps, when the battery charge falls below the third charge threshold (and the engine is not running), the system issues an early warning, prompting the driver to promptly leave the danger zone and avoid being passively stranded in the water due to low battery levels. When the charge further drops to the lower fourth charge threshold, the system issues a mandatory "low battery" warning and shuts down unnecessary high-voltage loads, reserving a buffer for high voltage operation under safe conditions and preventing control system failure due to power depletion. This tiered battery monitoring mechanism enhances vehicle safety in water-crossing conditions, reduces secondary risks caused by battery depletion, and ensures occupant safety and vehicle durability.

[0134] Optionally, the vehicle control method may include the following execution steps:

[0135] In response to insufficient power battery charge, the vehicle is controlled to cut off the high voltage at the first moment and to cut off the high voltage at the second moment, wherein the second moment is later than the first moment.

[0136] Obtain the vehicle's operating mode at the first moment;

[0137] In response to the operating mode being wading mode, the wading depth value being greater than the second depth threshold and the total start request being invalid, the vehicle is controlled to be powered down at a third time, where the third time is later than the second time.

[0138] In this embodiment of the invention, responding to insufficient power battery charge, controlling the vehicle to cut off the high voltage at the first moment and controlling the vehicle to power on the high voltage at the second moment can be understood as follows: when the battery energy is lower than the safe operating threshold, the system immediately cuts off the high voltage power supply at the first moment to protect the battery cells and electrical system and avoid over-discharge damage; after external conditions allow (such as leaving the water area and the power is restored), the system controls the vehicle to power on again at the second moment.

[0139] Obtaining the vehicle's operating mode at the first moment can be understood as reading and recording the current working state of the vehicle control unit in real time before the high voltage is cut off, in order to determine whether it is in wading mode, and to provide a basis for subsequent differentiated control strategies.

[0140] In response to the vehicle being in wading mode, with the wading depth exceeding the second depth threshold and the main start request being invalid, controlling the vehicle to cut off the high voltage at the third moment can be understood as follows: if the vehicle is still in wading mode at the first moment, and the vehicle is currently in a deep water area and the main start request is invalid, controlling the vehicle to cut off the high voltage can avoid the risk of engine restart due to misoperation or system fluctuations.

[0141] For example, in wading mode, the high voltage is lowered due to low battery power. The vehicle control unit remembers the wading mode. When the driver re-enters the high voltage, if the system detects that the previous mode was wading mode, and BCMWdDpth>d2, and EngStrtCmb=0, then the system will not perform the high voltage operation and will send an instrument prompt: "Wading mode, low battery power, high voltage prohibited."

[0142] As can be seen, through the above steps, the high-voltage power-on and power-off strategy, which is implemented in a time-sharing and condition-based manner, achieves intelligent closed-loop management. Especially in deep-water wading mode, the combination of dual verification of engine start request status prevents the risk of engine misstart, significantly improves the safety of the electrical system under wading conditions, and effectively avoids water ingress damage or safety hazards caused by misoperation or system fluctuations.

[0143] Figure 2 This is a controller signal interaction diagram according to one embodiment of the present invention, such as... Figure 2 As shown, a) is the enable signal sent by the VCU to the AC / PTC controller; b) is the signal exchanged between the VCU and EMS, including the start-up control and torque / speed control signals from the VCU to the EMS, and the fuel quantity, actual speed, and torque signals from the EMS to the VCU; c) is the signal exchanged between the VCU and HMI, including the wading mode signal sent by the HMI to the VCU, and the relevant prompt signals from the VCU to the HMI; d) is the engine delayed ignition and torque command exchanged between the VCU and the BMS.

[0144] Figure 3 This is a structural diagram of a dual-motor hybrid power system according to one embodiment of the present invention, such as... Figure 3As shown, 1 is the engine, 2 is the generator, 3 is the torque converter damper, 4 is the transmission gear, 5 is the disengagement clutch, 6 is the drive motor, and 7 is the main reducer. Engine 1 is connected to torque converter damper 3, transmission gear 4 is connected to generator 2, torque converter damper 3, and disengagement clutch 5 respectively, and drive motor 6 is connected to disengagement clutch 5 and main reducer 7 respectively.

[0145] When the dual-motor hybrid system is in pure electric mode, engine 1 is off and clutch 5 is disengaged. When the dual-motor hybrid system is in start-up mode, the TM drive motor 6 provides power to the driver, clutch 5 is disengaged, and the GM generator 2 operates in electric mode to drive engine 1 to its injection ignition speed. After successful injection and ignition of engine 1, the GM generator 2 operates in generator mode. Engine 1, GM generator 2, and battery work together to provide power to the TM drive motor 6 to drive the vehicle. When the dual-motor hybrid system is in series mode, engine 1, GM generator 2, and battery work together to provide power to the TM drive motor 6 to drive the vehicle. When the dual-motor hybrid system is in parallel mode, clutch 5 is engaged, and engine 1 directly drives the vehicle. Clutch disengagement is the process of system speed regulation, clutch 5 engagement is the process of system speed regulation, and clutch 5 disengagement is the process of clutch engagement. When the dual-motor hybrid system is in shutdown mode, the VCU controls the engine to a certain low speed via GM control, then the VCU stops the engine's injection command, and the engine adjusts to zero speed by inertia.

[0146] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0147] This embodiment also provides a vehicle control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0148] Figure 4 This is a structural block diagram of a vehicle control device according to one embodiment of the present invention, such as... Figure 4 As shown, a vehicle control device 400 is used as an example. The device includes: an acquisition module 401 for acquiring the operating status of the vehicle; a first control module 402 for controlling the vehicle to enter the wading mode in response to the operating status meeting the triggering conditions of the wading mode, wherein the wading mode is used to control the vehicle to drive in a wading area; and a second control module 403 for controlling the vehicle's engine to start according to a wading start request in the wading mode.

[0149] Optionally, the first control module 402 is further configured to, in response to the vehicle being in a high-voltage power-on state and the vehicle currently being in any mode other than wading mode and transportation mode, obtain a trigger command for wading mode; and based on the trigger command, control the vehicle to enter wading mode.

[0150] Optionally, the vehicle control device further includes: a first determining module, configured to, in wading mode, acquire the wading depth value, the power battery charge, and the engine fuel quantity of the vehicle; in response to the wading depth value being less than a first depth threshold, the power battery charge being less than a first charge threshold, and the engine fuel quantity being greater than a first fuel quantity threshold, determine the wading start request as a valid request; in response to the wading depth value being greater than a second depth threshold, or the power battery charge being greater than a second charge threshold, or the engine fuel quantity being less than a second fuel quantity threshold, determine the wading start request as an invalid request, wherein the second depth threshold is greater than the first depth threshold, the second charge threshold is greater than the first charge threshold, and the second fuel quantity threshold is less than the first fuel quantity threshold.

[0151] Optionally, the vehicle control device further includes: a second determining module, configured to determine a total starting request based on a wading start request and a preset starting request, wherein the preset starting request is used to represent a starting request other than the wading start request; in response to the wading start request being valid, or the preset starting request being valid, the total starting request is determined to be valid.

[0152] Optionally, the second control module 403 is further configured to control the engine to start in response to a wading depth value being less than a first depth threshold and a valid start request; or, to control the engine to start in response to a wading depth value being greater than a second depth threshold and a valid start request at a preset time.

[0153] Optionally, the vehicle control device further includes: a third control module, configured to control the engine to be in a stopped state in response to the vehicle not being in wading mode and the engine experiencing a preset fault; or, in response to the vehicle being in wading mode, the wading depth being less than a first depth threshold, and the engine experiencing a preset fault, control the engine to be in a stopped state; obtain the number of occurrences of the preset fault; and in the stopped state, in response to the number of occurrences of the preset fault in the current driving cycle being less than a preset number threshold and the total start request continuing to exist, control the engine to be stopped for a preset time and then restarted.

[0154] Optionally, the third control module is also used to control the engine to stop in response to the vehicle being in wading mode, the wading depth being greater than the second depth threshold, and the vehicle experiencing a preset fault.

[0155] Optionally, the vehicle control device further includes: a prompting module, used to obtain the vehicle's power battery charge in response to the vehicle being in wading mode; to prompt the vehicle to leave the wading area in response to the power battery charge being less than a third charge threshold and the engine not being in operation, wherein the third charge threshold is less than a second charge threshold; and to prompt that the power battery charge is insufficient in response to the power battery charge being less than a fourth charge threshold, wherein the fourth charge threshold is less than the third charge threshold.

[0156] Optionally, the vehicle control device further includes: a fourth control module, configured to control the vehicle to power down at a first moment and power up at a second moment in response to insufficient power in the power battery, wherein the second moment is later than the first moment; to obtain the vehicle's operating mode at the first moment; and to control the vehicle to power down at a third moment in response to the operating mode being wading mode, the wading depth value being greater than a second depth threshold and the total start request being invalid, wherein the third moment is later than the second moment.

[0157] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0158] Embodiments of the present invention also provide a vehicle, comprising: a memory storing an executable program; and a processor for running the executable program, wherein the executable program performs the steps of any of the above method embodiments when running on the processor.

[0159] Optionally, in this embodiment, the processor in the vehicle can be configured to run a computer program to perform the following steps:

[0160] Step S10: Obtain the vehicle's operating status;

[0161] Step S12: In response to the operating state meeting the triggering conditions of the wading mode, control the vehicle to enter the wading mode, wherein the wading mode is used to control the vehicle to drive in the wading area.

[0162] Step S14: In wading mode, control the vehicle's engine to start according to the wading start request.

[0163] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when run on a computer or processor.

[0164] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0165] Step S10: Obtain the vehicle's operating status;

[0166] Step S12: In response to the operating state meeting the triggering conditions of the wading mode, control the vehicle to enter the wading mode, wherein the wading mode is used to control the vehicle to drive in the wading area.

[0167] Step S14: In wading mode, control the vehicle's engine to start according to the wading start request.

[0168] Optionally, in this embodiment, the computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0169] Figure 5 This is a structural block diagram of an electronic device according to one embodiment of the present invention, such as... Figure 5 As shown, embodiments of the present invention also provide an electronic device 500, including a memory 501 and a processor 502. The memory 501 stores a computer program, and the processor 502 is configured to run the computer program to perform the steps in any of the above method embodiments.

[0170] Optionally, in this embodiment, the processor 502 in the above-described electronic device may be configured to run a computer program to perform the following steps:

[0171] Step S10: Obtain the vehicle's operating status;

[0172] Step S12: In response to the operating state meeting the triggering conditions of the wading mode, control the vehicle to enter the wading mode, wherein the wading mode is used to control the vehicle to drive in the wading area.

[0173] Step S14: In wading mode, control the vehicle's engine to start according to the wading start request. Embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the steps in any of the above method embodiments.

[0174] Optionally, in this embodiment, the computer program in the above-described computer program product can be configured to perform the following steps when executed by a processor:

[0175] Step S10: Obtain the vehicle's operating status;

[0176] Step S12: In response to the operating state meeting the triggering conditions of the wading mode, control the vehicle to enter the wading mode, wherein the wading mode is used to control the vehicle to drive in the wading area.

[0177] Step S14: In wading mode, control the vehicle's engine to start according to the wading start request. Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0178] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0179] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0180] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be 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 displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0181] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0182] Furthermore, the functional units in the various embodiments of the present invention 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.

[0183] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0184] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that, include: Obtain the vehicle's operating status; In response to the operating state meeting the triggering conditions of the wading mode, the vehicle is controlled to enter the wading mode, wherein the wading mode is used to control the vehicle to drive in the wading area; In the wading mode, the vehicle's engine is started according to a wading start request.

2. The method according to claim 1, characterized in that, The step of controlling the vehicle to enter the wading mode in response to the operating state meeting the triggering conditions of the wading mode includes: In response to the vehicle being in a high-voltage power-on state and the vehicle currently being in any mode other than the wading mode and the transportation mode, the trigger command for the wading mode is obtained. Based on the trigger command, the vehicle is controlled to enter the wading mode.

3. The method according to claim 1, characterized in that, The method further includes: In the wading mode, the vehicle's wading depth, power battery charge, and engine fuel level are obtained. In response to the wading depth value being less than a first depth threshold, the power battery charge being less than a first charge threshold, and the engine fuel quantity being greater than a first fuel quantity threshold, the wading start request is determined to be a valid request. In response to the wading depth value being greater than a second depth threshold, or the power battery charge being greater than a second charge threshold, or the engine fuel level being less than a second fuel level threshold, the wading start request is determined to be an invalid request, wherein the second depth threshold is greater than the first depth threshold, the second charge threshold is greater than the first charge threshold, and the second fuel level threshold is less than the first fuel level threshold.

4. The method according to claim 3, characterized in that, The method further includes: The total start request is determined based on the water-wading start request and the preset start request, wherein the preset start request is used to represent start requests other than the water-wading start request; In response to the validity of the water-based start request, or the validity of the preset start request, the validity of the overall start request is determined.

5. The method according to claim 4, characterized in that, The step of controlling the engine start of the vehicle according to the request to start the engine in water includes: In response to the wading depth value being less than the first depth threshold and the overall start request being valid, control the engine to start; or... In response to the wading depth value being greater than the second depth threshold and the overall start request being valid at a preset time, the engine is controlled to start.

6. The method according to claim 1, characterized in that, The method further includes: In response to the vehicle not being in the wading mode and the engine experiencing a preset fault, the engine is controlled to be shut down; or... In response to the vehicle being in the wading mode, the wading depth being less than a first depth threshold, and the engine experiencing a preset fault, the engine is controlled to be shut down. Obtain the number of times the preset fault occurs; In the shutdown state, in response to the fact that the number of times the preset fault occurs within the current driving cycle is less than a preset number threshold and the total start request continues to exist, the engine is controlled to be shut down for a preset time and then restarted.

7. The method according to claim 6, characterized in that, The method further includes: In response to the vehicle being in the wading mode, the wading depth value being greater than the second depth threshold, and the vehicle experiencing the preset fault, the engine is controlled to be in the shutdown state.

8. The method according to claim 1, characterized in that, The method further includes: In response to the vehicle being in the wading mode, the power battery charge of the vehicle is obtained; In response to the power battery charge being less than a third charge threshold and the engine not being in operation, a prompt is made to leave the wading area, wherein the third charge threshold is less than a second charge threshold; In response to the power battery charge being less than a fourth charge threshold, a message is sent indicating that the power battery charge is insufficient, wherein the fourth charge threshold is less than the third charge threshold.

9. The method according to claim 8, characterized in that, The method further includes: In response to insufficient power in the power battery, the vehicle is controlled to shut down the high voltage at a first moment and to shut down the high voltage at a second moment, wherein the second moment is later than the first moment; Obtain the operating mode of the vehicle at the first moment; In response to the operating mode being the wading mode, the wading depth value being greater than the second depth threshold and the total start request being invalid, the vehicle is controlled to be powered down at a third time, wherein the third time is later than the second time.

10. A vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the executable program, wherein the executable program, when run on the processor, performs the vehicle control method as described in any one of claims 1 to 9.

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