Vehicle control method, medium, controller and vehicle

Abstract

A vehicle control method, a medium, a controller and a vehicle. The method comprises: determining water surface information of a vehicle driving road surface, wherein the water surface information comprises the height of a vehicle preset component from water and / or the water depth; and on the basis of the water surface information and the current working state of a vehicle related component, controlling an action of the vehicle related component.

Description

Vehicle control method, medium, controller and vehicle

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to the Chinese patent application filed with the China Patent Office on September 13, 2023, with application number 202311191955.5 and titled “Vehicle Control Method, Medium, Controller and Vehicle,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present disclosure relates to the field of vehicles, and in particular, to a vehicle control method, a medium, a controller, and a vehicle. Background Art

[0004] Vehicles encounter various road conditions while driving. For general passenger vehicles, ensuring safe driving when passing through flooded sections has always been a major issue in the automotive industry. Currently, no relevant technology has proposed a control strategy to protect vehicles from wading.

[0005] Summary of the Invention

[0006] The purpose of the present disclosure is to provide a vehicle control method, a medium, a controller and a vehicle to improve the safety of the vehicle during wading.

[0007] In order to achieve the above objectives, the present disclosure provides a vehicle control method according to a first aspect, comprising:

[0008] Determining water surface information of a road surface on which the vehicle is traveling, wherein the water surface information includes the height and / or water depth of a preset component of the vehicle;

[0009] The actions of the vehicle-related components are controlled according to the water surface information and the current working status of the vehicle-related components.

[0010] A second aspect of the present disclosure provides a vehicle control device, comprising:

[0011] A first determining module is configured to determine water surface information of a road surface on which the vehicle is traveling, wherein the water surface information includes a height and / or a water depth of a preset component of the vehicle;

[0012] The first control module is used to control the actions of the vehicle-related components according to the water surface information and the current working status of the vehicle-related components.

[0013] A third aspect of the present disclosure provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method provided in the first aspect of the present disclosure.

[0014] A fourth aspect of the present disclosure provides a controller, comprising:

[0015] a memory having a computer program stored thereon;

[0016] The computer program, when executed by the processor, implements the steps of the method provided in the first aspect of the present disclosure.

[0017] The fifth aspect of the present disclosure provides a vehicle for implementing the steps of the method provided in the first aspect of the present disclosure.

[0018] In the above technical solution, water surface information of the road surface on which the vehicle is traveling is determined, wherein the water surface information includes the height and / or water depth of the vehicle's preset components from the water. The operation of the vehicle's relevant components is controlled based on the water surface information and the current operating status of the vehicle's relevant components. In this way, the likelihood of water intrusion into the vehicle's preset components can be determined based on the height and / or water depth, thereby clarifying the likelihood that the vehicle's relevant components (such as the engine) will be affected by the water entering the vehicle's preset components, that is, determining the likelihood that the vehicle's relevant components can operate safely. In this way, controlling the operation of the vehicle's relevant components based on the likelihood of safe operation and the current operating status of the vehicle's relevant components can improve the safety of the vehicle's relevant components' operation, reduce the risk of damage to the vehicle's relevant components, and enhance the safety of the vehicle's wading.

[0019] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0021] FIG1 is a flowchart of a vehicle control method provided by an exemplary embodiment of the present disclosure.

[0022] FIG2 is a flowchart of a vehicle control method provided by an exemplary embodiment of the present disclosure.

[0023] FIG3 is a flowchart of a vehicle control method provided by an exemplary embodiment of the present disclosure.

[0024] FIG4 is a flowchart of a vehicle control method provided by an exemplary embodiment of the present disclosure.

[0025] FIG5 is a flowchart of a vehicle control method provided by an exemplary embodiment of the present disclosure.

[0026] FIG6 is a flowchart of a vehicle control method provided by an exemplary embodiment of the present disclosure.

[0027] FIG. 7 is a block diagram of a vehicle control device according to an exemplary embodiment of the present disclosure.

[0028] FIG8 is a block diagram of a controller provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0030] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the corresponding data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0031] FIG1 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present disclosure. The method can be applied to a controller provided on a vehicle. As shown in FIG1 , the method can include S101 to S102.

[0032] S101, determining water surface information of the road on which the vehicle is traveling.

[0033] The water surface information includes the height and / or water depth of a preset component of the vehicle, and the preset component of the vehicle includes at least one of an exhaust port and an air inlet.

[0034] For example, a water height signal can be obtained by a water depth acquisition device pre-installed on the vehicle. Water surface information at the corresponding location can then be determined based on the water height signal. The water height refers to the distance between the location of a preset component of the vehicle and the water surface, and the water depth refers to the water depth in the vertical direction of the location of the preset component of the vehicle. For the same preset component of the vehicle, the water height and water depth are a set of interrelated data, both of which can be used to reflect the possibility of water intrusion into the preset component of the vehicle. The water depth acquisition device can be a contact sensor, such as a float-type, capacitive-type, or other liquid level depth detection sensor, or a non-contact sensor, such as an ultrasonic, laser, or radar-type sensor. Due to the relatively large size of the vehicle, the actual water depth of various parts of the vehicle may vary significantly when the vehicle body is tilted. Therefore, multiple contact sensors and / or non-contact sensors can be set at different locations on the vehicle to improve the accuracy of the determined water surface information.

[0035] For example, two non-contact water depth sensors can be placed at the front and rear of the vehicle. Another example is two contact water depth sensors can be placed on the left and right rearview mirrors. Another example is two contact water depth sensors at the front and rear of the vehicle, and two non-contact water depth sensors on the left and right rearview mirrors. This approach combines the advantages of both contact and non-contact water depth sensors to improve the accuracy of water surface information.

[0036] S102, controlling the actions of the vehicle-related components according to the water surface information and the current working status of the vehicle-related components.

[0037] For example, water surface information can reflect the possibility of water entering the vehicle's preset components. When the vehicle passes through a flooded section, the distance between the water surface and the vehicle (height from the water) may be too small (which can also be understood as too much water depth), causing water to enter the vehicle's preset components, which in turn may cause vehicle-related components (such as the engine) to come into contact with water, affecting the operational safety of the vehicle-related components. Among them, the smaller the height from the water and the deeper the water depth, the lower the possibility of safe operation of vehicle-related components. The current working status of vehicle-related components includes operating status and shutdown status. According to the water surface information and the current working status of vehicle-related components, the operation of vehicle-related components is controlled, so that the vehicle-related components can be operated under higher safety conditions and cannot be restarted under lower safety conditions, thereby reducing the risk of damage to vehicle-related components and improving the safety of vehicle wading.

[0038] For example, the likelihood of safe operation of vehicle-related components can be determined by setting a first distance threshold corresponding to a preset vehicle component. If the height above the water level of any preset vehicle component is less than the corresponding first distance threshold, the likelihood of safe operation of the vehicle-related component can be determined to be low. Based on the current operating status of the vehicle-related component, the operation of the vehicle-related component can be controlled to place it in a shutdown state and prohibit restarting. If the height above the water level of all preset vehicle components is not less than the corresponding first distance threshold, the likelihood of safe operation of the vehicle-related component can be determined to be high. Based on the current operating status of the vehicle-related component, the operation of the vehicle-related component can be controlled to maintain the operating state at the previous moment or to place it in an operating state.

[0039] In the above technical solution, water surface information of the road surface on which the vehicle is traveling is determined, wherein the water surface information includes the height and / or water depth of the vehicle's preset components from the water. The operation of the vehicle's relevant components is controlled based on the water surface information and the current operating status of the vehicle's relevant components. In this way, the likelihood of water intrusion into the vehicle's preset components can be determined based on the height and / or water depth, thereby clarifying the likelihood that the vehicle's relevant components (such as the engine) will be affected by the water entering the vehicle's preset components, that is, determining the likelihood that the vehicle's relevant components can operate safely. In this way, controlling the operation of the vehicle's relevant components based on the likelihood of safe operation and the current operating status of the vehicle's relevant components can improve the safety of the vehicle's relevant components' operation, reduce the risk of damage to the vehicle's relevant components, and enhance the safety of the vehicle's wading.

[0040] Optionally, the vehicle-related component may be an engine. Accordingly, S102 may include:

[0041] Control the start and stop of the engine according to the water surface information and the current working status of the engine.

[0042] In an optional embodiment, controlling the start and stop of the engine according to the water surface information and the current working state of the engine may include:

[0043] If the current working state of the engine is the running state, the engine is controlled to maintain the running state;

[0044] If the current working state of the engine is a shutdown state, the start and stop of the engine are controlled according to the water surface information and the first threshold value.

[0045] For example, if the engine's current operating state is running, it can be determined that the engine is still functioning normally, indicating that the engine's operation has not been affected by water and that no operational impairment has occurred. Even if the engine may have been exposed to water from outside, the specific contact point between the water and the engine may indicate that the engine's actual operation has not been affected by water. In this case, the engine can be controlled to continue running to ensure that the vehicle can continue to move forward.

[0046] In another optional embodiment, controlling the start and stop of the engine according to the water surface information and the current working state of the engine may include:

[0047] If the current working state of the engine is the running state, controlling the start and stop of the engine according to the water surface information and the fourth threshold;

[0048] If the current working state of the engine is a shutdown state, the start and stop of the engine are controlled according to the water surface information and the first threshold value.

[0049] If the current working state of the engine is the running state, controlling the start and stop of the engine according to the water surface information and the fourth threshold value may include:

[0050] When the current working state of the engine is the running state, if a first condition is met, the engine is prohibited from starting, the first condition including: the height of the vehicle preset component from the water is less than a fourth distance threshold, or the water depth is greater than a fourth water depth threshold;

[0051] When the current working state of the engine is the running state, if the second condition is met, the engine is controlled to maintain operation, and the second condition includes: the height of the vehicle preset component from the water is greater than the fourth distance threshold, or the water depth is less than the fourth water depth threshold.

[0052] The fourth distance threshold in the fourth threshold is smaller than the first distance threshold in the first threshold, and the fourth water depth threshold in the fourth threshold is larger than the first water depth threshold in the first threshold. For example, the first and fourth thresholds corresponding to a preset vehicle component can be pre-set, wherein the first threshold includes the first distance threshold and the first water depth threshold, and the fourth threshold includes the fourth distance threshold and the fourth water depth threshold. Taking the vehicle preset component as an air intake as an example, the first and fourth distance thresholds corresponding to the air intake can be set based on the nozzle height of the exhaust port, wherein the fourth distance threshold is smaller than the first distance threshold; the first and fourth water depth thresholds corresponding to the air intake can be set based on the nozzle height of the exhaust port, wherein the fourth water depth threshold is larger than the first water depth threshold.

[0053] If the engine's current operating state is running, it can be determined that the engine is still operating normally, meaning that the engine's operation is not currently affected by water. In this case, the fourth threshold can be combined to further determine the likelihood of the engine's safe operation. If the first condition is met, it can be determined that the engine is highly likely to have been affected by water and subsequently stalled. To ensure safe operation, the engine can be prohibited from starting (i.e., restarting) or shut down. If the second condition is met, it can be determined that the engine is relatively less likely to have been affected by water and subsequently stalled. In this case, the engine can be controlled to continue running to ensure continued vehicle movement.

[0054] In the present disclosure, if the vehicle preset components may include multiple components, in order to ensure the safe operation of the engine, the engine can be prohibited from starting when any vehicle preset component meets the corresponding conditions; when each vehicle preset component meets the corresponding conditions, the engine can be controlled to start.

[0055] In the above embodiment, if the current working state of the engine is the shutdown state, controlling the start and stop of the engine according to the water surface information and the first threshold value may include:

[0056] When the current working state of the engine is the shutdown state, if a third condition is met, the engine is prohibited from starting, the third condition including: the height of the vehicle preset component from the water is less than the first distance threshold, or the water depth is greater than the first water depth threshold;

[0057] When the current working state of the engine is the shutdown state, if the fourth condition is met, the engine is controlled to start. The fourth condition includes: the height of the vehicle preset component from the water is greater than the first distance threshold, or the water depth is less than the first water depth threshold.

[0058] If the height of a predetermined vehicle component from water is less than the first distance threshold corresponding to the air intake, or the water depth is greater than the first water depth threshold, it can be determined that water may flow directly into the predetermined vehicle component, or that water may splash into the predetermined vehicle component due to the vehicle's forward movement, and there is a high probability that the engine will shut down due to external water ingress. If the engine is currently in a shutdown state and the third condition is met, it is determined that there is a high probability that the engine will shut down due to external water ingress, and engine startup can be prohibited, that is, restarting the engine after a shutdown can be prohibited to ensure engine safety and reduce the risk of engine damage.

[0059] Conversely, if the engine is currently in a stopped state and the fourth condition is met, the likelihood of the engine shutting down again, or even stalling, due to water ingress is low, and the likelihood of the engine being able to safely operate is high. The previous shutdown may have been caused by minor water ingress. If the water level is low, the engine can be started and exhaust removed from the exhaust pipe. Therefore, the engine can be controlled to start and run, ensuring continued vehicle movement.

[0060] FIG2 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present disclosure. FIG2 provides a clearer understanding of the implementation process of the vehicle control method provided by the present disclosure. As shown in FIG2 , the method may include steps S201 to S205.

[0061] S201, determine whether the current working state of the engine is running. If so, execute S202; if not, execute S203.

[0062] S202, controlling the engine to maintain a running state.

[0063] S203: Determine whether the height of the vehicle's preset component from the water is less than a first distance threshold. If so, execute S204; if not, execute S205.

[0064] S204, prohibiting engine starting.

[0065] S205, controlling the engine to start.

[0066] FIG3 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present disclosure. FIG3 provides a clearer understanding of the implementation process of the vehicle control method provided by the present disclosure. As shown in FIG3, the method may include steps S201 to S207.

[0067] S201, determine whether the current working state of the engine is running. If so, execute S206; if not, execute S203.

[0068] S206: Determine whether the height of the vehicle's preset component from the water is less than a fourth distance threshold. If so, execute S207; if not, execute S202.

[0069] S207: Control the engine to stop and prohibit restarting.

[0070] S203: Determine whether the height of the vehicle's preset component from the water is less than a first distance threshold. If so, execute S204; if not, execute S205.

[0071] S204, prohibiting engine starting.

[0072] S205, controlling the engine to start.

[0073] The specific manner of performing the operations in each step has been described in detail in the embodiments of the method and will not be elaborated on here. In this way, the safety of engine operation can be improved, the risk of engine damage can be reduced, and the safety of vehicle wading can be improved.

[0074] Optionally, after executing step S102, the vehicle control method provided by the present disclosure may further include:

[0075] Control the start and stop of the engine based on whether the engine has stalled.

[0076] In an optional embodiment, controlling the start and stop of the engine according to whether the engine stalls may include:

[0077] If the engine stalls, the engine is prohibited from starting.

[0078] For example, an engine stall event occurs, that is, a vehicle stall event occurs. After the stall event occurs, the engine is in a stalled state. During the vehicle wading, the cause of the engine stall event is most likely that the engine operation is seriously affected by water entering from the outside. Therefore, when the vehicle stalls, the engine can be prohibited from restarting to reduce the risk of engine damage. The engine is different in a stopped state and a stalled state. During the vehicle wading, the vehicle engine in the present disclosure may not be controlled by a stall instruction, that is, the vehicle stall at this time is not a controlled stall, that is, the stall in the present disclosure may indicate an accidental shutdown of the engine, rather than a controlled cessation of operation. The stall indicates that the operation state stops, and does not reflect whether the reason for the stall is an accident.

[0079] For example, whether an engine stall event has occurred can be determined in the following manner: during a vehicle wading through water, if the vehicle's engine was not in a stalled state at the previous moment, if the engine's working state at the previous moment was in a running state and the current working state is a stopped state, then it can be determined that a vehicle stall event has occurred at the current moment. During a vehicle wading through water, if the vehicle's engine was not in a stalled state at the previous moment, if the engine's working state at the previous moment was in a stopped state, or if the engine's working state at the previous moment was in a running state and the current working state is a running state, then it can be determined that a vehicle stall event has not occurred at the current moment.

[0080] In an optional embodiment, controlling the start and stop of the engine according to whether the engine stalls may include:

[0081] When the vehicle has not stalled and the current operating state of the engine is a shutdown state, if the fifth condition is met, the engine is controlled to start. The fifth condition includes: the height of the vehicle's preset component from the water is greater than the second distance threshold, or the water depth is less than the second water depth threshold.

[0082] The second distance threshold is greater than the first distance threshold, and the second water depth threshold is less than the first water depth threshold.

[0083] For example, if the vehicle has not experienced a stall, it can be determined that the engine has not been significantly affected by water entering from outside and may still continue to operate without damage. The second distance threshold corresponding to a pre-set component of the vehicle can be pre-set. For example, the second distance threshold corresponding to the air intake can be set based on the intake nozzle height, and the second distance threshold corresponding to the exhaust can be set based on the exhaust nozzle height. The second distance threshold corresponding to the same pre-set component of the vehicle is greater than the first distance threshold. The setting of the second water depth threshold is similar to that of the second distance threshold and will not be further described here.

[0084] If the fifth condition is met, it can be determined that the vehicle is a certain distance away from the water surface, or the water depth is small, and the possibility of water entering the vehicle's preset components is low. At this time, the engine is more likely to operate safely, and the engine can be controlled to start and run to ensure that the vehicle can continue to move forward.

[0085] In an optional embodiment, controlling the start and stop of the engine according to whether the engine stalls may include:

[0086] When the vehicle does not stall, if the sixth condition is met, the engine is controlled to maintain the working state at the previous moment.

[0087] The sixth condition includes: the current working state of the engine is the running state, or the current working state of the engine is the stopped state and the height of the vehicle's preset components from the water is not greater than the second distance threshold, or the current working state of the engine is the stopped state and the water depth is greater than the second water depth threshold.

[0088] For example, when the vehicle has not stalled, if the current working state of the engine is running, it can be determined that the engine is still able to operate normally, that is, it can be determined that the operation of the engine is not affected by water and there is no operating obstacle. To ensure that the vehicle can continue to move forward, the working state of the engine at the previous moment can be maintained, that is, the engine is controlled to be in the running state.

[0089] When the vehicle has not stalled, if the current working state of the engine is a shutdown state, it can be determined that the conditions for controlling the engine to start and run were not met at the previous moment. If it is determined that the current working state of the engine is a shutdown state and the height of the vehicle's preset component from the water is not greater than the second distance threshold, or, the current working state of the engine is a shutdown state and the water depth is greater than the second water depth threshold, it can be determined that if the engine is controlled to run at this time, the engine still has the possibility of shutting down due to contact with water entering from the outside, that is, the possibility of the engine running safely is insufficient, but the possibility of the engine shutting down due to contact with water entering from the outside is not sufficient to directly control the engine to prohibit restarting. At this time, in order to ensure the safe operation of the engine itself, the working state of the engine at the previous moment can be maintained, that is, the engine is controlled to be in a shutdown state.

[0090] Figure 4 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present disclosure. This figure provides a clearer understanding of the implementation process of the vehicle control method provided by the present disclosure during wading. As shown in Figure 4, the method may include steps S204, S205, and S208 through S211.

[0091] S208: Determine whether the engine has stalled. If so, execute step S204 in FIG. 2 ; if not, execute step S209.

[0092] S209: Determine whether the current working state of the engine is the running state. If so, execute S211; if not, execute S210.

[0093] S210: Determine whether the height of the vehicle's preset component from the water is greater than a second distance threshold. If so, execute S205; if not, execute S211.

[0094] S211, controlling the engine to maintain the working state at the last moment.

[0095] The specific manner in which each step is performed has been described in detail in the embodiments of the method and will not be elaborated upon here. In this way, during a vehicle wading, the engine start and stop can be controlled based on the possibility of safe engine operation, the current operating state of the engine, and the shutdown state of the engine, thereby improving engine operating safety, reducing the risk of engine damage, and enhancing vehicle wading safety.

[0096] Optionally, the vehicle control method provided by the present disclosure may further include:

[0097] According to the water surface information, the vehicle is controlled to enter the wading mode;

[0098] When entering the wading mode, the steps of controlling the actions of the vehicle-related components are executed according to the water surface information and the current working status of the vehicle-related components.

[0099] For example, the vehicle can be controlled to autonomously enter wading mode when the height of a preset vehicle component from the water, as included in the water surface information, is less than a standard distance threshold, or when the water depth of the preset vehicle component, as included in the water surface information, is greater than a standard water depth threshold. For another example, a user can control the vehicle to enter wading mode by pressing a button to activate wading mode based on the water surface information. This button can be a physical button for wading mode or a virtual button on a smart tablet or smartphone, without limitation.

[0100] Optionally, before controlling the vehicle to enter the wading mode, the vehicle control method provided by the present disclosure may further include S301 to S303 as shown in FIG5 :

[0101] S301, in response to receiving a start instruction of the wading mode, generating an engine verification instruction according to water surface information and the current working state of the engine, the engine verification instruction is used to control the operating state of the engine.

[0102] For example, if a user presses a button to activate wading mode, a wading mode activation command may be generated. Alternatively, if the height of a pre-set vehicle component from water is less than a standard distance threshold for a duration threshold, the vehicle controller may automatically generate a wading mode activation command. Furthermore, if the depth of a pre-set vehicle component from water is greater than a standard depth threshold for a duration threshold, the vehicle controller may automatically generate a wading mode activation command.

[0103] Optionally, before the start instruction is generated, the vehicle control method provided by the present disclosure may further include:

[0104] If the height of the preset component of the vehicle from the water is less than the third distance threshold, or the water depth is greater than the third water depth threshold, a start request for the wading mode is generated, and the start request is used to prompt the user to issue a start instruction for the wading mode.

[0105] The third distance threshold is greater than the second distance threshold, the second distance threshold is greater than the first distance threshold, the third water depth threshold is less than the second water depth threshold, and the second water depth threshold is less than the first water depth threshold.

[0106] For example, if the height of a vehicle's preset component from water is less than a third distance threshold, or if the water depth is greater than a third depth threshold, it can be determined that the vehicle is traversing a flooded section and that the current water depth may affect vehicle driving safety. In this case, a start request can be generated. For example, a start request such as "Request to Enter Wading Mode" can be displayed on the vehicle's display screen. In another example, a speaker can be provided in the vehicle to announce the start request via voice, providing a user prompt and improving vehicle driving safety.

[0107] The third distance threshold can be pre-set. For example, the third distance threshold corresponding to the air intake can be set based on the height of the air intake nozzle, and the third distance threshold corresponding to the exhaust can be set based on the height of the exhaust nozzle. The third distance threshold corresponding to the same vehicle preset component is greater than the second distance threshold, and the second distance threshold is greater than the first distance threshold. The setting of the third water depth threshold is similar to that of the third distance threshold and will not be repeated here. In this way, by dividing the vehicle into different distance thresholds / water depth thresholds, the possibility of water ingress into the vehicle's preset components can be distinguished when the vehicle passes through a flooded section, so that the vehicle can execute the corresponding control steps, improving the safety of the vehicle's wading.

[0108] Returning to step S301, the engine verification instruction may include an engine shutdown instruction and an engine operation instruction. The engine verification instruction may be generated according to the water height and the current working state of the engine in the following manner:

[0109] When the current working state of the engine is the shutdown state, if the seventh condition is met, an engine shutdown instruction is generated, wherein the seventh condition includes: the height of the vehicle preset component from the water is less than the first distance threshold, or the water depth corresponding to the vehicle preset component is greater than or equal to the first water depth threshold;

[0110] When the current working state of the engine is the shutdown state, if the eighth condition is met, then the engine operation instruction is generated, the eighth condition including: the height of the vehicle preset component from the water is greater than the first distance threshold, or the water depth is less than the first water depth threshold;

[0111] When the current working state of the engine is the running state, an engine running instruction is generated.

[0112] If the current operating state of the engine is a running state, it can be determined that the engine is still able to operate normally, that is, it can be determined that the operation of the engine is not affected by water, there is no operating obstruction, and the engine is in a safe operating state, and an engine running instruction can be generated. If the current operating state of the engine is a stopped state, the possibility of the engine stopping due to contact with water entering from the outside can be determined based on the relationship between the height from the water and the first distance threshold, or the relationship between the water depth and the first water depth threshold. If the seventh condition is met, it can be determined that the engine is likely to stop due to contact with water entering from the outside. To ensure engine safety, an engine stop instruction can be generated to control the engine to stop. The engine stop instruction can also be used to prohibit the engine from restarting, reducing the risk of engine damage. Conversely, if the eighth condition is met, it can be determined that the engine is unlikely to stop due to contact with water entering from the outside. An engine running instruction can be generated to control the engine operation to ensure that the vehicle can continue to move forward.

[0113] In this way, by generating the engine verification instruction, the engine's own operating safety can be ensured before the vehicle enters the wading mode.

[0114] S302: Determine whether there is any abnormality in the engine based on the engine's operating status after a preset period of time.

[0115] For example, the preset time length can be pre-set, for example, can be set to 3s. By setting the preset time length, the execution of components such as the engine can be provided with response time, thereby improving the accuracy of the result of determining whether the engine has an abnormality.

[0116] Among them, the following methods can be used to determine whether there is an abnormality in the engine:

[0117] If the engine verification instruction is an engine running instruction, and the working state of the engine after the preset time is a running state, it is determined that there is no abnormality in the engine;

[0118] If the engine verification instruction is an engine shutdown instruction, and the operating state of the engine after the preset time period is a shutdown state, it is determined that there is no abnormality in the engine.

[0119] If the desired engine state matches the engine's operating state after the preset time, the system can be determined to be operating normally, ensuring the engine can be used normally before entering wading mode. Conversely, if the above-mentioned conditions for determining that the engine is operating normally are not met, the system can be determined to be operating abnormally and uncontrolled, generating a corresponding engine out-of-control warning message to inform the user of the abnormal engine condition and facilitate prompt repairs.

[0120] S303: If it is determined that there is no abnormality in the engine, the vehicle is controlled to enter the wading mode.

[0121] In this way, by generating the engine verification instruction, the engine's own operation safety can be ensured before the vehicle enters the wading mode, while determining whether the engine has any abnormalities, ensuring that the engine can be used normally before entering the wading mode.

[0122] Figure 6 is a flow chart of a vehicle control method according to an exemplary embodiment of the present disclosure. This figure provides a clearer understanding of the implementation process of the vehicle control method according to the present disclosure before the vehicle enters wading mode. As shown in Figure 6, the method may include steps S401 to S408.

[0123] S401, in response to receiving the wading mode start instruction, determining whether the current working state of the engine is the running state. If so, execute S402; if not, execute S403.

[0124] S402: Generate an engine operation instruction to control the engine to be in an operating state.

[0125] S403: Determine whether the height of the vehicle's preset component from the water is greater than a first distance threshold. If so, execute S402; if not, execute S404.

[0126] S404: Generate an engine shutdown instruction to control the engine to be in a shutdown state.

[0127] S405: Obtain the working status of the engine after a preset time period.

[0128] S406: If the engine verification instruction is an engine operation instruction, and the working state of the engine after the preset time is the operation state, it is determined that there is no abnormality in the engine.

[0129] S407: If the engine verification instruction is an engine shutdown instruction, and the engine's operating state after the preset time period is a shutdown state, it is determined that there is no abnormality in the engine.

[0130] S408: If it is determined that there is no abnormality in the engine, the vehicle is controlled to enter the wading mode.

[0131] The specific manner in which each step is performed has been described in detail in the embodiments of the method and will not be elaborated on here. In this way, the safe operation of the engine itself can be ensured before the vehicle enters the wading mode, and the engine can be determined to be abnormal, ensuring that the engine can be used normally before entering the wading mode.

[0132] Optionally, the vehicle is provided with at least one water depth acquisition device, and the vehicle control method provided in the present disclosure further includes:

[0133] Acquire the signal collected by each water depth collection device;

[0134] The water surface information is determined based on the signals collected by each water depth collection device.

[0135] Optionally, a first water depth collecting device may be provided on the left side of the vehicle, and a second water depth collecting device may be provided on the right side of the vehicle; the vehicle preset components include at least one of an exhaust port and an air inlet;

[0136] Determining the water clearance of pre-determined vehicle components may include:

[0137] Acquire a first water height signal collected by the first water depth acquisition device and a second water height signal collected by the second water depth acquisition device;

[0138] determining the height of the air inlet from the water according to the first water height signal, the second water height signal, and the position of the air inlet;

[0139] The height of the exhaust port from the water is determined according to the first height-from-water signal, the second height-from-water signal, and the position of the exhaust port.

[0140] For example, the first water height signal and the second water height signal are both valid signals, that is, the specific water height values ​​in the signals do not exceed the water height range allowed to be collected by the water depth collection device. IL =S L -P IL_Z cos(α)cos(β)-P IL_X sin(α)cos(β) h IR =S R -P IR_Z cos(α)cos(β)-P IR_X sin(α)cos(β)

[0141] Among them, h I is the height of the air inlet from the water, h IL h is the height of the air inlet from the water at the projection point of the first water depth acquisition device, IR S is the height of the air inlet from the water at the projection point of the second water depth acquisition device, L is the first water height signal, S R is the second water height signal, α is the vehicle body pitch angle, β is the vehicle body roll angle, P IL_Z P is the Z-direction height from the air inlet to the first water depth acquisition device, IL_X P is the X-axis height from the air inlet to the first water depth acquisition device, IL_Y P is the Y-axis height from the air inlet to the first water depth acquisition device, IR_Z is the Z-direction height from the air inlet to the second water depth acquisition device, P IR_XP is the X-axis height from the air inlet to the second water depth collection device, IR_Y It is the Y-axis height from the air inlet to the second water depth collection device.

[0142] For example, the height of the exhaust port from the water can be determined by the following formula: h VL =S L -P VL_Z cos(α)cos(β)-P VL_X sin(α)cos(β) h VR =S R -P VR_Z cos(α)cos(β)-P VR_X sin(α)cos(β)

[0143] Among them, h V is the height of the exhaust port from the water, h VL h is the height of the exhaust port from the water at the projection point of the first water depth acquisition device, VR S is the height of the exhaust port from the water at the projection point of the second water depth acquisition device. L is the first water height signal, S R is the second water height signal, α is the vehicle body pitch angle, β is the vehicle body roll angle, P VL_Z P is the Z-direction height from the exhaust port to the first water depth collection device, VL_X P is the X-axis height from the exhaust port to the first water depth collection device, VL_Y P is the Y-axis height from the exhaust port to the first water depth collection device, VR_Z P is the Z-axis height from the exhaust port to the second water depth collection device, VR_X P is the X-axis height from the exhaust port to the second water depth collection device, VR_Y It is the Y-axis height from the exhaust port to the second water depth collection device.

[0144] The three-dimensional coordinate system involved in the above formula can be the vehicle coordinate system. The origin of the vehicle coordinate system coincides with the vehicle's center of mass. When the vehicle is stationary on a level road, the X-axis is parallel to the ground and points forward, the Z-axis passes through the vehicle's center of mass and points upward, and the Y-axis points to the driver's left.

[0145] Optionally, when the preset vehicle component includes an exhaust port, the vehicle control method provided by the present disclosure may further include:

[0146] If the water surface information corresponding to the exhaust port satisfies a ninth condition and the current operating state of the engine is the running state, determining the target power of the engine according to the water surface information corresponding to the exhaust port, wherein the ninth condition includes: the height of the exhaust port from the water is less than a fifth distance threshold, or the water depth corresponding to the exhaust port is greater than or equal to the fifth water depth threshold;

[0147] Control the engine operation according to the target power.

[0148] For example, the fifth distance threshold and the fifth water depth threshold can be pre-set. If the ninth condition is met, it can be determined that the vehicle is in the process of wading. The target power of the engine can be determined based on the water surface information corresponding to the exhaust port in the following manner:

[0149] determining the target power corresponding to the current height of the exhaust port above the water according to a predetermined correspondence between the height of the exhaust port above the water and the target power;

[0150] Alternatively, the target power corresponding to the water depth corresponding to the current exhaust port is determined based on a predetermined correspondence between the water depth corresponding to the exhaust port and the target power.

[0151] The correspondence between the height of the exhaust port from the water and the target power of the engine, as well as the correspondence between the water depth corresponding to the exhaust port and the target power can be preset based on test results. This correspondence can be represented, for example, by a function, a mapping table, or the like. The corresponding target power can be found through this correspondence. The height of the exhaust port from the water and the target power are negatively correlated, while the water depth corresponding to the exhaust port and the target power are positively correlated. The engine can operate at the speed and torque corresponding to the target power. In this way, the operating power of the engine can be controlled based on the water surface information at the exhaust port when the vehicle is wading, which can improve the accuracy of the engine power control requirements and the robustness of the function, so that the back pressure of the engine exhaust pipe is greater than the water pressure, thereby allowing the engine exhaust to run smoothly and stably.

[0152] Optionally, when the preset vehicle component includes an air intake, the vehicle control method provided by the present disclosure may further include:

[0153] Based on the water surface information and air inlet position corresponding to the air inlet, an air inlet water ingress warning message is generated. The air inlet water ingress warning message is used to remind the user that there is a possibility of water ingress at the air inlet.

[0154] For example, the water ingress warning distance and water depth of the air inlet can be determined based on the position of the air inlet. If the height of the air inlet from the water is less than the water inlet warning distance, or the water depth corresponding to the air inlet is greater than the water inlet warning depth, then an air inlet water ingress warning message can be generated. The warning message "There is a risk of water ingress into the air inlet" can be displayed on the vehicle display screen. Alternatively, a speaker can be provided in the vehicle, and the above-mentioned warning message can be voice broadcasted through the speaker. In this way, when there is a risk of water ingress into the vehicle's air inlet, the user can be prompted to improve vehicle driving safety. The warning message can also include the actual values ​​of the air inlet's height from the water and / or the water depth to help users better understand the water wading situation of the air inlet, thereby preventing the engine from being damaged by water ingress into the air inlet and improving the user experience.

[0155] Optionally, in S102, controlling the actions of vehicle-related components according to the water surface information and the current working status of the vehicle-related components may include:

[0156] The actions of the vehicle-related components are controlled based on the water surface information, the current working status of the vehicle-related components and the warning thresholds corresponding to the vehicle-related components.

[0157] Vehicle-related components may include at least one of air conditioning, active suspension, and wet area components. The engine compartment and lower portion of the vehicle, which are exposed to the air and frequently affected by rain and water, are referred to as wet areas. Components located within these areas are referred to as wet area components. For example, wet area components may include electrical equipment such as audio equipment and fans.

[0158] For example, based on the water surface information, the current working status of the vehicle-related components, and the warning thresholds corresponding to the vehicle-related components, the following may be included:

[0159] If the water height of the vehicle's preset components is less than the water height warning threshold corresponding to the air conditioner, or the water depth is not less than the water depth warning threshold corresponding to the air conditioner, and the air conditioner is currently in external circulation mode, the air conditioner is controlled to enter internal circulation mode;

[0160] If the height of the vehicle's preset component above the water level is less than the water height warning threshold corresponding to the active suspension, or if the water depth is not less than the water depth warning threshold corresponding to the active suspension, and the active suspension is not in the preset position, the active suspension is controlled to rise to the preset position;

[0161] If the height of the vehicle's preset components from water is less than the water height warning threshold corresponding to the wet area components, or the water depth is not less than the water depth warning threshold corresponding to the wet area components, and the wet area components are in the energized state, the wet area components are controlled to shut down and the power supply is cut off.

[0162] For example, the water height and depth warning thresholds for the air conditioner can be determined based on the actual location of the air intake or exhaust vent. If the height of the vehicle's pre-set components below the water height warning threshold for the air conditioner, or if the water depth is at least the water depth warning threshold for the air conditioner, the vehicle can be determined to be at risk of flooding. The air conditioner can be controlled to enter internal recirculation mode, closing the airflow channels inside and outside the vehicle to reduce the risk of water intrusion.

[0163] For example, the water height and depth warning thresholds for the active suspension can be determined based on the active suspension's actual position within the vehicle. The preset position can be the active suspension's maximum suspension height. If the vehicle's preset component's water height is less than the active suspension's corresponding water height warning threshold, or if the water depth is not less than the active suspension's corresponding water depth warning threshold, it can be determined that the active suspension may be affected by water entering the vehicle. To minimize damage to the active suspension, the active suspension can be controlled to rise to the preset position.

[0164] For example, the water height warning threshold and water depth warning threshold corresponding to the wet area component can be determined based on the actual position of the wet area component within the vehicle. If the height of the vehicle component above the water is less than the corresponding water height warning threshold, or the water depth is not less than the corresponding water depth warning threshold, it can be determined that the wet area component is likely to be affected by water entering the vehicle. To ensure the safe operation of the wet area component and prevent a short circuit in the wet area component's control circuit, the wet area component can be controlled to shut down and power can be cut off.

[0165] Based on the same inventive concept, the present disclosure also provides a vehicle control device. FIG7 is a block diagram of a vehicle control device provided by an exemplary embodiment of the present disclosure. Referring to FIG7 , the vehicle control device 600 may include:

[0166] A first determining module 601 is configured to determine water surface information of a road surface on which a vehicle is traveling, wherein the water surface information includes the height and / or water depth of a preset component of the vehicle;

[0167] The first control module 602 is configured to determine water surface information of a road surface on which the vehicle is traveling, wherein the water surface information includes the height and / or water depth of a preset component of the vehicle from the water.

[0168] In the above technical solution, water surface information of the road surface on which the vehicle is traveling is determined, wherein the water surface information includes the height and / or water depth of the vehicle's preset components from the water. The operation of the vehicle's relevant components is controlled based on the water surface information and the current operating status of the vehicle's relevant components. In this way, the likelihood of water intrusion into the vehicle's preset components can be determined based on the height and / or water depth, thereby clarifying the likelihood that the vehicle's relevant components (such as the engine) will be affected by the water entering the vehicle's preset components, that is, determining the likelihood that the vehicle's relevant components can operate safely. In this way, controlling the operation of the vehicle's relevant components based on the likelihood of safe operation and the current operating status of the vehicle's relevant components can improve the safety of the vehicle's relevant components' operation, reduce the risk of damage to the vehicle's relevant components, and enhance the safety of the vehicle's wading.

[0169] Optionally, the vehicle-related component is an engine, and the first control module 602 is configured to control the operation of the vehicle-related component in the following manner, including:

[0170] The start and stop of the engine are controlled according to the water surface information and the current working state of the engine.

[0171] Optionally, the first control module 602 includes:

[0172] a first control submodule, configured to control the engine to maintain the running state if the current working state of the engine is the running state;

[0173] The second control submodule is used to control the start and stop of the engine according to the water surface information and a first threshold value if the current working state of the engine is a shutdown state.

[0174] Optionally, the first control module 602 includes:

[0175] a third control submodule, configured to control the start and stop of the engine according to the water surface information and a fourth threshold value if the current working state of the engine is a running state;

[0176] The fourth control submodule is used to control the start and stop of the engine according to the water surface information and the first threshold value if the current working state of the engine is the shutdown state.

[0177] Optionally, the third control submodule is configured to control the start and stop of the engine according to the water surface information and a fourth threshold value in the following manner:

[0178] When the current working state of the engine is the running state, if a first condition is satisfied, starting the engine is prohibited, the first condition including: the height of the vehicle preset component from the water is less than the fourth distance threshold, or the water depth is greater than the fourth water depth threshold;

[0179] When the current working state of the engine is the running state, if the second condition is met, the engine is controlled to maintain operation, and the second condition includes: the height of the vehicle preset component from the water is greater than the fourth distance threshold, or the water depth is less than the fourth water depth threshold.

[0180] Optionally, the second control submodule or the fourth control submodule is configured to control the start and stop of the engine according to the water surface information and the first threshold value in the following manner:

[0181] When the current working state of the engine is the shutdown state, if a third condition is met, the engine is prohibited from starting, the third condition including: the height of the vehicle preset component from the water is less than a first distance threshold, or the water depth is greater than a first water depth threshold;

[0182] When the current working state of the engine is a shutdown state, if a fourth condition is met, the engine is controlled to start, and the fourth condition includes: the height of the vehicle preset component from the water is greater than the first distance threshold, or the water depth is less than the first water depth threshold.

[0183] Optionally, the apparatus 600 further includes:

[0184] The second control module is used to control the start and stop of the engine according to whether the engine stalls.

[0185] Optionally, the second control module includes:

[0186] The fifth control submodule is configured to prohibit starting the engine if a flameout event occurs in the engine.

[0187] Optionally, the second control module includes:

[0188] The sixth control submodule is used to control the engine to start if a fifth condition is met when the vehicle has not stalled and the current operating state of the engine is a shutdown state, and the fifth condition includes: the height of the vehicle's preset component from the water is greater than a second distance threshold, or the water depth is less than a second water depth threshold, wherein the second distance threshold is greater than the first distance threshold, and the second water depth threshold is less than the first water depth threshold.

[0189] Optionally, the second control module includes:

[0190] The seventh control submodule is used to control the engine to maintain the working state at the previous moment if a sixth condition is met when the vehicle has not stalled, and the sixth condition includes: the current working state of the engine is a running state, or the current working state of the engine is a stopped state and the height of the vehicle's preset component from the water is not greater than a second distance threshold, or the current working state of the engine is a stopped state and the water depth is greater than a second water depth threshold.

[0191] Optionally, the apparatus 600 further includes:

[0192] a third control module, configured to control the vehicle to enter a wading mode according to the water surface information;

[0193] The first control module is used to execute the step of controlling the actions of the vehicle-related components according to the water surface information and the current working status of the vehicle-related components when entering the wading mode.

[0194] The vehicle-related component is an engine, and the third control module includes:

[0195] a generating submodule, configured to generate, in response to receiving a start instruction for the wading mode, an engine verification instruction according to the water surface information and the current working state of the engine, wherein the engine verification instruction is used to control the operating state of the engine;

[0196] a determination submodule, configured to determine whether the engine has an abnormality according to the working state of the engine after a preset period of time;

[0197] An eighth control submodule is configured to control the vehicle to enter the wading mode if it is determined that there is no abnormality in the engine.

[0198] Optionally, the apparatus 600 further includes:

[0199] a request module, configured to generate a wading mode start request if the height of the vehicle preset component from the water is less than a third distance threshold, or if the water depth is greater than a third water depth threshold, wherein the start request is used to prompt a user to issue a wading mode start instruction;

[0200] The third distance threshold is greater than the second distance threshold, the second distance threshold is greater than the first distance threshold, the third water depth threshold is less than the second water depth threshold, and the second water depth threshold is less than the first water depth threshold.

[0201] Optionally, the engine verification instruction includes an engine shutdown instruction and an engine operation instruction, and the generating submodule is configured to generate the engine verification instruction in the following manner:

[0202] When the current working state of the engine is the shutdown state, if a seventh condition is satisfied, the engine shutdown instruction is generated, wherein the seventh condition includes: the height of the vehicle preset component from the water is less than a first distance threshold, or the water depth corresponding to the vehicle preset component is greater than or equal to a first water depth threshold;

[0203] When the current working state of the engine is the shutdown state, if an eighth condition is satisfied, the engine operation instruction is generated, the eighth condition including: the height of the vehicle preset component from the water is greater than the first distance threshold, or the water depth is less than the first water depth threshold;

[0204] When the current working state of the engine is the running state, the engine running instruction is generated.

[0205] Optionally, the determination submodule is configured to determine whether the engine has an abnormality by:

[0206] If the engine verification instruction is the engine running instruction, and the working state of the engine after the preset time period is the running state, it is determined that there is no abnormality in the engine;

[0207] If the engine verification instruction is the engine shutdown instruction, and the operating state of the engine after the preset time period is a shutdown state, it is determined that there is no abnormality in the engine.

[0208] Optionally, at least one water depth acquisition device is provided on the vehicle, and the device 600 further includes:

[0209] An acquisition module, configured to acquire the signal collected by each of the water depth acquisition devices;

[0210] The second determining module is used to determine the water surface information according to the signal collected by each of the water depth collecting devices.

[0211] Optionally, the water depth acquisition device includes a first water depth acquisition device and a second water depth acquisition device; the vehicle preset component includes at least one of an exhaust port and an air inlet; and the second determination module is configured to determine the height of the vehicle preset component from the water by:

[0212] Acquire a first water height signal collected by the first water depth acquisition device and a second water height signal collected by the second water depth acquisition device;

[0213] determining the height of the air inlet from the water according to the first water height signal, the second water height signal, and the position of the air inlet;

[0214] The height of the exhaust port from the water is determined according to the first height-from-water signal, the second height-from-water signal, and the position of the exhaust port.

[0215] Optionally, the vehicle preset component includes an exhaust port, the vehicle-related component is an engine, and the device 600 further includes:

[0216] a third determining module, configured to determine a target power of the engine based on the water surface information corresponding to the exhaust port if the water surface information corresponding to the exhaust port satisfies a ninth condition and the current operating state of the engine is a running state, wherein the ninth condition includes: the height of the exhaust port from the water is less than a fifth distance threshold, or the water depth corresponding to the exhaust port is greater than or equal to a fifth water depth threshold;

[0217] A fourth control module is configured to control the operation of the engine according to the target power.

[0218] Optionally, the third determining module is configured to determine the target power of the engine according to the water surface information corresponding to the exhaust port in the following manner:

[0219] determining a target power corresponding to the current height of the exhaust port above the water according to a predetermined correspondence between the height of the exhaust port above the water and the target power, wherein the height of the exhaust port above the water and the target power are negatively correlated;

[0220] Alternatively, the target power corresponding to the water depth corresponding to the current exhaust port is determined based on a predetermined correspondence between the water depth corresponding to the exhaust port and the target power, wherein the water depth corresponding to the exhaust port and the target power are positively correlated.

[0221] Optionally, the vehicle preset component includes an air intake, and the device 600 further includes:

[0222] The early warning module is used to generate air inlet water ingress early warning information based on the water surface information corresponding to the air inlet and the air inlet position. The air inlet water ingress early warning information is used to remind the user that there is a possibility of water ingress at the air inlet.

[0223] Optionally, the first control module 602 further includes:

[0224] The ninth control submodule is configured to control the actions of the vehicle-related components according to the water surface information, the current working status of the vehicle-related components and the warning thresholds corresponding to the vehicle-related components.

[0225] Optionally, the ninth control submodule includes:

[0226] The tenth control submodule is used to control the air conditioner to enter the internal circulation mode if the water height of the preset component of the vehicle is less than the water height warning threshold corresponding to the air conditioner or the water depth is not less than the water depth warning threshold corresponding to the air conditioner, and the air conditioner is currently in the external circulation mode.

[0227] Optionally, the ninth control submodule includes:

[0228] An eleventh control submodule is configured to control the active suspension to rise to a preset position if the water height of the preset component of the vehicle is less than a water height warning threshold corresponding to the active suspension or the water depth is not less than a water depth warning threshold corresponding to the active suspension, and the active suspension is not in a preset position.

[0229] Optionally, the ninth control submodule includes:

[0230] The eleventh and twelfth control submodules are used to control the wet area component to shut down and cut off the power supply if the water height of the preset component of the vehicle is less than the water height warning threshold corresponding to the wet area component or the water depth is not less than the water depth warning threshold corresponding to the wet area component, and the wet area component is in an energized state.

[0231] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0232] FIG8 is a block diagram of a controller 700 according to an exemplary embodiment of the present disclosure. As shown in FIG8 , the controller 700 may include a processor 701 and a memory 702. The controller 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0233] The processor 701 is used to control the overall operation of the controller 700 to complete all or part of the steps in the above-mentioned vehicle control method. The memory 702 is used to store various types of data to support the operation of the controller 700. Such data may include, for example, instructions for any application or method operating on the controller 700, as well as application-related data, such as contact information, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 702 or transmitted via the communication component 705. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules. The aforementioned other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the controller 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more thereof, is not limited here. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0234] In an exemplary embodiment, the controller 700 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the above-mentioned vehicle control method.

[0235] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When executed by a processor, the program instructions implement the steps of the vehicle control method described above. For example, the computer-readable storage medium may be the aforementioned memory 702 including the program instructions. The program instructions may be executed by the processor 701 of the controller 700 to perform the vehicle control method described above.

[0236] The present disclosure also provides a vehicle, including the vehicle control device 600 provided by the present disclosure, or the controller 700 provided by the present disclosure, to implement the above-mentioned vehicle control method, wherein the preset components of the vehicle include an air intake and an exhaust port.

[0237] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0238] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0239] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle control method, characterized in that: include: Determining water surface information of a road surface on which the vehicle is traveling, wherein the water surface information includes the height of a preset component of the vehicle from water and / or the water depth; The actions of the vehicle-related components are controlled according to the water surface information and the current working status of the vehicle-related components.

2. The method according to claim 1, characterized in that The vehicle-related component is an engine, and controlling the operation of the vehicle-related component according to the water surface information and the current working state of the vehicle-related component includes: The start and stop of the engine are controlled according to the water surface information and the current working state of the engine.

3. The method according to claim 2, characterized in that The controlling the start and stop of the engine according to the water surface information and the current working state of the engine comprises: If the current working state of the engine is a running state, controlling the engine to maintain the running state; If the current working state of the engine is a shutdown state, the start and stop of the engine are controlled according to the water surface information and the first threshold value.

4. The method according to claim 2, characterized in that: The controlling the start and stop of the engine according to the water surface information and the current working state of the engine comprises: If the current working state of the engine is the running state, controlling the start and stop of the engine according to the water surface information and a fourth threshold value; If the current working state of the engine is a shutdown state, the start and stop of the engine are controlled according to the water surface information and the first threshold value.

5. The method according to claim 4, characterized in that If the current working state of the engine is the running state, controlling the start and stop of the engine according to the water surface information and the fourth threshold value includes: When the current working state of the engine is the running state, if a first condition is met, the engine is prohibited from starting, the first condition comprising: the height of the vehicle preset component from the water is less than a fourth distance threshold, or the water depth is greater than a fourth water depth threshold; When the current working state of the engine is the running state, if the second condition is met, the engine is controlled to maintain running, and the second condition includes: the height of the vehicle preset component from the water is greater than the fourth distance threshold, or the water depth is less than the fourth water depth threshold.

6. The method according to claim 3 or 4, characterized in that: If the current working state of the engine is a shutdown state, controlling the start and stop of the engine according to the water surface information and a first threshold value includes: When the current working state of the engine is the shutdown state, if a third condition is met, the engine is prohibited from starting, and the third condition includes: the height of the vehicle preset component from the water is less than a first distance threshold, or the water depth is greater than a first water depth threshold; When the current working state of the engine is a shutdown state, if a fourth condition is met, the engine is controlled to start, and the fourth condition includes: the height of the vehicle preset component from the water is greater than the first distance threshold, or the water depth is less than the first water depth threshold.

7. The method according to any one of claims 2 to 6, characterized in that: After controlling the start and stop of the engine, the method further includes: The start and stop of the engine are controlled according to whether a flameout event occurs in the engine.

8. The method according to claim 7, characterized in that The controlling the start and stop of the engine according to whether the engine has a flameout event comprises: If a flameout event occurs in the engine, starting of the engine is prohibited.

9. The method according to claim 7, characterized in that: The controlling the start and stop of the engine according to whether the engine has a flameout event comprises: When the vehicle has not been turned off and the current working state of the engine is a shutdown state, if a fifth condition is met, the engine is controlled to start, and the fifth condition includes: the height of the preset component of the vehicle from the water is greater than a second distance threshold, or the water depth is less than a second water depth threshold; The second distance threshold is greater than the first distance threshold, and the second water depth threshold is less than the first water depth threshold.

10. The method according to claim 7, characterized in that The method further comprises: controlling the start and stop of the engine according to whether the engine has a flameout event. When the vehicle does not stall, if the sixth condition is met, the engine is controlled to maintain the working state at the last moment. The sixth condition includes: the current working state of the engine is the running state, or the current working state of the engine is the stopping state and the height of the vehicle preset component from the water is not greater than the second distance threshold, or the current working state of the engine is the stopping state and the water depth is greater than the second water depth threshold.

11. The method according to any one of claims 1 to 10, characterized in that The method further comprises: According to the water surface information, controlling the vehicle to enter a wading mode; When entering the wading mode, the step of controlling the actions of the vehicle-related components according to the water surface information and the current working status of the vehicle-related components is executed.

12. The method according to claim 11, characterized in that The vehicle-related component is an engine, and controlling the vehicle to enter a wading mode according to the water surface information includes: In response to receiving a start instruction of the wading mode, generating an engine verification instruction according to the water surface information and the current working state of the engine, wherein the engine verification instruction is used to control the operating state of the engine; Determining whether the engine is abnormal according to the working state of the engine after a preset period of time; If it is determined that there is no abnormality in the engine, the vehicle is controlled to enter the wading mode.

13. The method according to claim 12, characterized in that The method further comprises: If the height of the preset component of the vehicle from the water is less than a third distance threshold, or the water depth is greater than a third water depth threshold, a start request for the wading mode is generated, and the start request is used to prompt the user to issue a start instruction for the wading mode. The third distance threshold is greater than the second distance threshold, the second distance threshold is greater than the first distance threshold, the third water depth threshold is less than the second water depth threshold, and the second water depth threshold is less than the first water depth threshold.

14. The method according to claim 12, characterized in that The engine verification instruction includes an engine shutdown instruction and an engine operation instruction; The generating of the engine verification instruction according to the water surface information and the current working state of the engine comprises: When the current working state of the engine is the shutdown state, if the seventh condition is met, the engine The stop instruction, wherein the seventh condition includes: the height of the vehicle preset component from water is less than a first distance threshold, or the water depth corresponding to the vehicle preset component is greater than or equal to a first water depth threshold; When the current working state of the engine is the shutdown state, if the eighth condition is met, the engine operation instruction is generated, and the eighth condition includes: the height of the vehicle preset component from the water is greater than the first distance threshold, or the water depth is less than the first water depth threshold; When the current working state of the engine is the running state, the engine running instruction is generated.

15. The method according to claim 12, characterized in that The engine verification instruction includes an engine shutdown instruction and an engine operation instruction; The determining whether the engine is abnormal according to the working state of the engine after a preset time period includes: If the engine verification instruction is the engine running instruction, and the working state of the engine after the preset time period is the running state, it is determined that there is no abnormality in the engine; If the engine verification instruction is the engine shutdown instruction, and the working state of the engine after the preset time period is a shutdown state, it is determined that there is no abnormality in the engine.

16. The method according to any one of claims 1 to 15, characterized in that At least one water depth acquisition device is arranged on the vehicle, and the method further comprises: Acquire the signal collected by each of the water depth collection devices; The water surface information is determined according to the signals collected by each of the water depth collection devices.

17. The method according to claim 16, characterized in that The water depth collection device includes a first water depth collection device and a second water depth collection device; the vehicle preset component includes at least one of an exhaust port and an air inlet; The water surface information includes the height from the water, and determining the height from the water of the preset components of the vehicle includes: Acquire a first water height signal collected by the first water depth acquisition device and a second water height signal collected by the second water depth acquisition device; Determining the height of the air inlet from the water according to the first height-from-water signal, the second height-from-water signal, and the position of the air inlet; The height of the exhaust port from the water is determined according to the first height-from-water signal, the second height-from-water signal, and the position of the exhaust port.

18. The method according to any one of claims 1 to 17, characterized in that The vehicle preset component includes an exhaust port, the vehicle related component is an engine, and the method further includes: If the water surface information corresponding to the exhaust port satisfies the ninth condition and the current working state of the engine is the running state, the target power of the engine is determined according to the water surface information corresponding to the exhaust port, wherein the ninth condition includes: the height of the exhaust port from the water is less than the fifth distance threshold, or the water depth corresponding to the exhaust port is greater than or equal to the fifth water depth threshold; The engine is controlled to operate according to the target power.

19. The method according to claim 18, characterized in that The step of determining the target power of the engine according to the water surface information corresponding to the exhaust port comprises: Determining the target power corresponding to the current height of the exhaust port from the water according to a predetermined correspondence between the height of the exhaust port from the water and the target power, wherein the height of the exhaust port from the water and the target power are negatively correlated; Alternatively, the target power corresponding to the water depth corresponding to the current exhaust port is determined based on a predetermined correspondence between the water depth corresponding to the exhaust port and the target power, wherein the water depth corresponding to the exhaust port and the target power are positively correlated.

20. The method according to any one of claims 1 to 19, characterized in that: The vehicle preset component includes an air intake, and the method further includes: According to the water surface information corresponding to the air inlet and the position of the air inlet, air inlet water ingress warning information is generated, and the air inlet water ingress warning information is used to remind the user that water may ingress into the air inlet.

21. The method according to any one of claims 1 to 20, characterized in that The controlling the actions of the vehicle-related components according to the water surface information and the current working states of the vehicle-related components comprises: The actions of the vehicle-related components are controlled according to the water surface information, the current working status of the vehicle-related components and the warning thresholds corresponding to the vehicle-related components.

22. The method according to claim 21, characterized in that The vehicle-related components include an air conditioner, and controlling the actions of the vehicle-related components according to the water surface information, the current working state of the vehicle-related components, and the warning thresholds corresponding to the vehicle-related components includes: If the water height of the vehicle's preset component is less than the water height warning threshold corresponding to the air conditioner or the water depth is not less than the water depth warning threshold corresponding to the air conditioner, and the air conditioner is currently in the external circulation mode, the air conditioner is controlled to enter the internal circulation mode.

23. The method according to claim 21 or claim 22, characterized in that: The vehicle-related components include an active suspension, and controlling the actions of the vehicle-related components according to the water surface information, the current working state of the vehicle-related components, and the warning thresholds corresponding to the vehicle-related components includes: If the water height of the vehicle preset component is less than the water height warning threshold corresponding to the active suspension or the water depth is not less than the water depth warning threshold corresponding to the active suspension, and the active suspension is not in the preset position, the active suspension is controlled to rise to the preset position.

24. The method according to any one of claims 21 to 23, characterized in that The vehicle-related components include wet area components, and controlling the actions of the vehicle-related components according to the water surface information, the current working state of the vehicle-related components, and the warning thresholds corresponding to the vehicle-related components includes: If the water height of the preset component of the vehicle is less than the water height warning threshold corresponding to the wet area component or the water depth is not less than the water depth warning threshold corresponding to the wet area component, and the wet area component is in an energized state, the wet area component is controlled to be turned off and the power supply is cut off.

25. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 24 are implemented.

26. A controller, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 24.

27. A vehicle, characterized in that: Steps for implementing the method according to any one of claims 1 to 24.

28. The vehicle according to claim 27, characterized in that The vehicle preset components include an air intake and an exhaust port.

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