Method for determining floating state of vehicle, and controller, vehicle and storage medium

Abstract

A method for determining the floating state of a vehicle, and a controller (1300), a vehicle (1400) and a storage medium. The method comprises: determining a characteristic parameter of a vehicle, wherein the characteristic parameter comprises at least one of a water depth at the position of wheels of the vehicle, the suspension height of the wheels of the vehicle, the slip amount of the wheels of the vehicle, the attitude angle of the vehicle, and a water level collected and determined by means of a plurality of sensors on the vehicle that have mutually perpendicular detection directions; and on the basis of the characteristic parameter, determining the floating state of the vehicle.

Description

Method for determining vehicle floating state, controller, vehicle and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202410310584.6, filed with the China Patent Office on March 18, 2024, entitled “Method for determining the floating state of a vehicle, controller, vehicle and storage medium,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present disclosure relates to the field of vehicle technology, and in particular to a method for determining a floating state of a vehicle, a controller, a vehicle, and a storage medium. Background Art

[0004] In the related art, a water level sensor is used to detect the water depth and determine whether the vehicle is floating based on the water depth. However, determining whether the vehicle is floating based solely on the water depth leads to a high risk of misjudgment.

[0005] Summary of the Invention

[0006] In order to solve the above technical problems, the present disclosure provides a method for determining a floating state of a vehicle, a controller, a vehicle, and a storage medium.

[0007] In a first aspect, the present disclosure provides a method for determining a floating state of a vehicle, the method comprising:

[0008] determining characteristic parameters of the vehicle, the characteristic parameters comprising at least one of a water depth at a location where wheels of the vehicle are located, a suspension height of the wheels of the vehicle, a slip amount of the wheels of the vehicle, an attitude angle of the vehicle, and a water level determined by a plurality of sensors on the vehicle having mutually perpendicular detection directions;

[0009] The floating state of the vehicle is determined according to the characteristic parameters.

[0010] In a second aspect, the present disclosure provides a controller, comprising:

[0011] a first memory for storing a computer program;

[0012] The first processor is configured to execute the computer program in the first memory to perform the method for determining the floating state of the vehicle according to the first aspect.

[0013] In a third aspect, the present disclosure provides a vehicle, comprising the controller described in the second aspect.

[0014] In a fourth aspect, 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 method for determining the floating state of a vehicle as described in the first aspect.

[0015] In a fifth aspect, the present disclosure provides a computer program product, comprising computer program instructions, which, when executed by a processor, implement the method for determining the floating state of a vehicle according to the first aspect.

[0016] Through the above technical solution, the characteristic parameters of the vehicle are determined, and the floating state of the vehicle is determined based on the characteristic parameters. Because the characteristic parameters include the water level collected by the wading sensor installed on the vehicle, the water depth at the position of the vehicle's wheels, the suspension height of the vehicle's wheels, the slip amount of the vehicle's wheels, and at least one of the vehicle's attitude angle, the floating state of the vehicle can be determined separately through different dimensions, and the floating state of the vehicle can also be determined comprehensively through multiple dimensions at the same time, thereby improving the accuracy of the floating state judgment.

[0017] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0019] FIG1 is a flow chart showing a method for determining a floating state of a vehicle according to an exemplary embodiment of the present disclosure.

[0020] FIG2 is a flowchart showing a method of determining a vehicle floating state in a single dimension according to an exemplary embodiment of the present disclosure.

[0021] FIG3 is a flow chart showing a method of determining a vehicle's floating state based on a water level collected by a wading sensor according to an exemplary embodiment of the present disclosure.

[0022] FIG4 is a flow chart showing a method of determining a vehicle's floating state according to water depths at which wheels are located, according to an exemplary embodiment of the present disclosure.

[0023] FIG5 is another flowchart showing a method of determining a vehicle's floating state according to water depths at which wheels are located, according to an exemplary embodiment of the present disclosure.

[0024] FIG6 is a flowchart showing a method of determining a vehicle floating state according to a suspension height of a wheel according to an exemplary embodiment of the present disclosure.

[0025] FIG. 7 is a flowchart showing a method of determining a vehicle floating state according to a wheel slip amount according to an exemplary embodiment of the present disclosure.

[0026] FIG8 is a flowchart showing a method of determining a vehicle floating state according to a vehicle attitude angle according to an exemplary embodiment of the present disclosure.

[0027] FIG9 is a flowchart showing a method of determining a vehicle floating state in multiple dimensions according to an exemplary embodiment of the present disclosure.

[0028] FIG10 is a flowchart showing a method of determining a vehicle floating state according to a slip amount and an attitude angle according to an exemplary embodiment of the present disclosure.

[0029] FIG11 is a flow chart showing a method of determining a vehicle floating state according to water depth, suspension height, slip amount, and attitude angle according to an exemplary embodiment of the present disclosure.

[0030] FIG12 is a flow chart showing a method of determining a vehicle floating state according to water depth, slip amount, and attitude angle according to an exemplary embodiment of the present disclosure.

[0031] FIG. 13 is a block diagram of a controller according to an exemplary embodiment of the present disclosure.

[0032] FIG14 is a block diagram of a vehicle according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] The following describes in detail embodiments of the present disclosure, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0034] As mentioned in the background art, in the related art, a water level sensor is used to detect the water depth and determine whether the vehicle is floating based on the water depth. However, determining whether the vehicle is floating based solely on the water depth can lead to a high risk of misjudgment.

[0035] In the related art, there is a car emergency flotation device, which includes a water accumulation sensor, a flotation airbag, and an anchor cable. The water accumulation sensor is located at a warning water level line below the vehicle body. When the water accumulation sensor senses that the water level has reached the warning water level line, it sends an inflation signal. A car emergency rapid flotation device includes a vehicle body, windows installed on the vehicle body, and airbags installed on all four sides of the vehicle body. The airbags are made of nylon and have a gas generator installed inside the airbag. The gas generator is connected to a controller, one end of which is connected to a water level sensor, and a warning water level line is set on one side of the water level sensor. A vehicle flotation control device and vehicle, the vehicle flotation control includes: a water level detection component, the water level detection component is used to detect the water level on the top and around the vehicle; after the vehicle falls into the water, the top airbag and / or multiple bottom airbags are opened according to the water level detected by the water level detection component and the vehicle's driving speed, so that the vehicle floats.

[0036] The inventors found that the above technologies all only use water level sensors to detect the water depth of the environment, rather than identifying whether the vehicle is in a floating state. There is a high risk of misidentification by only determining whether the vehicle is in a floating state based on the water level sensor.

[0037] In view of this, the present disclosure provides a method for determining the floating state of a vehicle, a controller, a vehicle, and a storage medium, which can accurately and reliably determine the floating state of the vehicle through one or more dimensions related to the vehicle state.

[0038] FIG1 is a flow chart showing a method for determining a floating state of a vehicle according to an exemplary embodiment of the present disclosure. The method may include:

[0039] In step S101, characteristic parameters of the vehicle are determined, including the water depth at the location of the vehicle's wheels, the suspension height of the vehicle's wheels, the slip amount of the vehicle's wheels, the vehicle's attitude angle, and at least one of the water level heights determined by multiple sensors on the vehicle whose detection directions are perpendicular to each other.

[0040] It's worth noting that wading sensors can be either contact or non-contact. Contact sensors can be float-type, capacitive-type, or other liquid level and depth sensors, while non-contact sensors can be ultrasonic, laser, radar, or other types. It's understood that contact sensors can directly sense the liquid, providing more accurate measurements. However, they require full contact with the liquid to measure and have a minimum detectable water depth restriction. Non-contact sensors can detect the water level without requiring hydraulic contact and have no minimum detectable water depth restriction.

[0041] It should be understood that when the wading sensor is a contact sensor, it can be set under the vehicle, such as the vehicle chassis, under the door, etc., and the detection direction is horizontal. The contact sensor can detect the water level when the vehicle is submerged in liquid, and the distance between the water level and the target position on the vehicle is used as the water level. When the wading sensor is a non-contact sensor, it can be set in the middle position of the outside of the vehicle, such as the left and right rearview mirrors of the vehicle, the window frame of the vehicle, etc., and the detection direction is horizontal. The non-contact sensor can detect the distance between the water level and the non-contact sensor and use it as the water level.

[0042] In step S102, the floating state of the vehicle is determined based on the characteristic parameters.

[0043] It is worth noting that the characteristic parameter can be at least one of the parameters of multiple dimensions related to the vehicle. The floating state of the vehicle can be determined based on the characteristic parameter. The floating state of the vehicle can be determined from one dimension or multiple dimensions related to the vehicle, avoiding the high risk of misidentification caused by determining the floating state of the vehicle only based on the ambient water depth. The floating state of the vehicle can be accurately and reliably determined to prepare for the vehicle to switch from water to land.

[0044] The present disclosure determines the floating state of a vehicle based on the water level height collected by a wading sensor installed on the vehicle, the water depth at the position of the vehicle's wheels, the suspension height of the vehicle's wheels, the slip amount of the vehicle's wheels, and at least one of the vehicle's attitude angles. The floating state of the vehicle can be accurately and reliably determined through one or more dimensions related to the vehicle.

[0045] In order to facilitate those skilled in the art to better understand the method for determining the floating state of a vehicle provided by the present disclosure, the steps of the method are described in detail below with examples from two aspects: one dimension and multiple dimensions.

[0046] 1. Determine the floating state of the vehicle through a dimension related to the vehicle state.

[0047] In a feasible implementation manner, as shown in FIG2 , in step 201 , a characteristic parameter of the vehicle is determined, where the characteristic parameter is one of water level, water depth, suspension height, slippage, and attitude angle.

[0048] In step S102, determining the floating state of the vehicle according to the characteristic parameters may include:

[0049] In step S202 , when the characteristic parameter is within a preset value range, the floating state of the vehicle is determined to be floating.

[0050] In step S203 , when the characteristic parameter is not within the preset value range, the floating state of the vehicle is determined to be non-floating.

[0051] It's worth noting that when characteristic parameters fall into one category, the vehicle's floating state can be determined based on any one of the following: water level, water depth, suspension height, slip, and attitude angle. Different categories of characteristic parameters have different preset numerical ranges. The characteristic parameters of that category are matched to the corresponding preset numerical ranges. When the characteristic parameters fall within the preset numerical range, the vehicle's floating state is determined to be floating; when the characteristic parameters fall outside the preset numerical range, the vehicle's floating state is determined to be non-floating.

[0052] In a feasible implementation, the water level can be determined by:

[0053] When the contact sensor or non-contact sensor installed on the vehicle is in the obstruction alarm state, the water level height is obtained by detecting the distance to the water surface through the water sensor installed on the vehicle, wherein the detection direction of the contact sensor or non-contact sensor is horizontal, and the detection direction of the water sensor is vertical.

[0054] It is worth noting that when the wading sensor is a non-contact ultrasonic ranging sensor, there is a risk of signal misuse because the non-contact ultrasonic ranging sensor cannot identify whether the detected distance is caused by the water surface or other obstacles (such as stones, weeds, walls, etc.).

[0055] It should be understood that the non-contact sensor installed on the vehicle can be the vehicle's own non-contact anti-collision radar (such as front collision radar, reversing radar, side collision radar, etc.). When the front collision radar, reversing radar, side collision radar, etc. are immersed in water, an occlusion alarm will be issued. Interference factors such as stones, walls or other obstacles are effectively eliminated. Anti-collision radars are distributed around the vehicle and are numerous, which can greatly improve the reliability of water surface or water depth identification. The contact sensor installed on the vehicle can be the vehicle's own forward / surround view camera, electrode water level switch, etc., which can send out an occlusion alarm when immersed in water. It can effectively eliminate interference factors such as stones, walls or other obstacles, which can greatly improve the reliability of water surface or water depth identification.

[0056] It is understood that, based on the non-contact ultrasonic ranging sensor, it is possible to combine it with a non-contact anti-collision radar installed on the vehicle, and use the non-contact anti-collision radar installed on the vehicle to eliminate the situation where the water sensor misdetects due to other non-water or non-liquid substances. For example, when the front collision avoidance radar, reversing radar, side collision avoidance radar, etc. issue an occlusion alarm, the water level is obtained based on the non-contact ultrasonic ranging sensor detecting the distance to the water surface. It is also possible to combine the non-contact ultrasonic ranging sensor with a contact sensor installed on the vehicle, and use the front / surround view camera and electrode-type water level switch installed on the vehicle to eliminate the situation where the water sensor misdetects due to other non-water or non-liquid substances. For example, when the front / surround view camera and electrode-type water level switch issue an occlusion alarm, the water level is obtained based on the non-contact ultrasonic ranging sensor detecting the distance to the water surface.

[0057] As shown in FIG3 , determining the floating state of a vehicle according to the water level may include the following steps:

[0058] In step S301, when the contact sensor or non-contact sensor installed on the vehicle is in an occlusion alarm state, the water level height is obtained by detecting the distance to the water surface through the water sensor installed on the vehicle, wherein the detection direction of the contact sensor or non-contact sensor is horizontal, and the detection direction of the water sensor is vertical.

[0059] Where the non-contact sensors installed on the vehicle include a front collision avoidance radar, a reversing radar, a left collision avoidance radar, and a right collision avoidance radar, and when the front collision avoidance radar, the reversing radar, the left collision avoidance radar, and the right collision avoidance radar are all in an obstruction alarm state, the non-contact ultrasonic ranging sensor installed on the vehicle detects the distance to the water surface to obtain the water level. Alternatively, where the contact sensors installed on the vehicle include a front / surround view camera and an electrode-type water level switch, and when the front / surround view camera, the electrode-type water level switch, etc. are all in an obstruction alarm state, the non-contact ultrasonic ranging sensor installed on the vehicle detects the distance to the water surface to obtain the water level.

[0060] In step S302 , when the water level is within a preset water level interval, it is determined that the floating state of the vehicle is floating.

[0061] The preset water level may be different for different vehicles and may be between a water level threshold and zero. The water level threshold may be preset based on the vehicle's mass and buoyancy. Therefore, when the water level is less than or equal to the water level threshold, the vehicle is determined to be in a floating state.

[0062] In step S303 , when the water level is not within the preset water level interval, it is determined that the floating state of the vehicle is not floating.

[0063] Wherein, in a case where the preset water level interval is an interval from a water level threshold to zero, when the water level is greater than the water level threshold, it is determined that the floating state of the vehicle is not floating.

[0064] The present disclosure can obtain the water level height based on a non-contact ultrasonic ranging sensor and an anti-collision radar sensor / camera / electrode water level switch, effectively eliminating interference factors such as stones, walls or other obstacles, and improving the accuracy of the obtained water level height.

[0065] In a feasible implementation manner, the water depth at the location of each wheel on the vehicle is calculated based on the attitude angle and the water level.

[0066] It is worth noting that because the water depth at the location of each wheel is calculated based on the attitude angle and water level, the risk of misidentification of determining the floating status of the vehicle based on the water depth of each wheel is lower than the risk of misidentification of determining the floating status of the vehicle based on the water level and the attitude angle.

[0067] In a feasible embodiment, the attitude angle includes a vehicle body pitch angle and a vehicle body roll angle, and the water level includes a water surface height on the left side of the vehicle obtained by a first wading sensor located on the left side of the vehicle and a water surface height on the right side of the vehicle obtained by a second wading sensor located on the right side of the vehicle when a sensor located on the vehicle with a horizontal detection direction is in an obstruction alarm state, wherein the detection directions of the first wading sensor and the second wading sensor are both vertical.

[0068] As shown in FIG4 , in step S101 , determining characteristic parameters of a vehicle may include:

[0069] In step S401 , a first water depth at the left front wheel and a second water depth at the left rear wheel of the vehicle are calculated based on the vehicle body pitch angle, vehicle body roll angle, and water level at the left side of the vehicle body.

[0070] It is worth noting that the vehicle body pitch angle and vehicle body roll angle can be directly detected by a tilt sensor, or can be indirectly obtained by estimating information from sensors such as an inertial measurement unit (IMU), and this disclosure does not limit this.

[0071] In step S402, a third water depth at the right front wheel and a fourth water depth at the right rear wheel of the vehicle are calculated based on the vehicle body pitch angle, the vehicle body roll angle and the water surface height on the right side of the vehicle body.

[0072] In step S102, determining the floating state of the vehicle according to the characteristic parameters may include:

[0073] In step S403 , when the first water depth, the second water depth, the third water depth, and the fourth water depth are all within the preset water depth range, it is determined that the floating state of the vehicle is floating.

[0074] It is worth noting that the preset water depth interval can be an interval consisting of a first water depth threshold and a second water depth threshold. The second water depth threshold is greater than the first water depth threshold. Both the first water depth threshold and the second water depth are related to the vehicle mass and can be determined through experimental testing based on a constructed one-dimensional table of vehicle mass.

[0075] It should be understood that when the first water depth, the second water depth, the third water depth, and the fourth water depth are all greater than the first water depth threshold and less than the second water depth threshold, the floating state of the vehicle is determined to be floating.

[0076] In step S404 , when any water depth is not within the preset water depth range, the floating state of the vehicle is determined to be non-floating.

[0077] It should be understood that when there is a water depth less than the first water depth threshold or greater than the second water depth threshold among the first water depth, the second water depth, the third water depth, and the fourth water depth, the floating state of the vehicle is determined to be non-floating.

[0078] In a feasible implementation, in step S401, calculating a first water depth at a position where the left front wheel of the vehicle is located and a second water depth at a position where the left rear wheel is located based on the vehicle body pitch angle, the vehicle body roll angle, and the water level on the left side of the vehicle body may include:

[0079] According to the following calculation formula, based on the vehicle body pitch angle, vehicle body roll angle and the water surface height on the left side of the vehicle body, calculate the first water depth at the vehicle's left front wheel and the second water depth at the vehicle's left rear wheel: h iL =S L -P iL_Z cos(α)cos(β)-P iL_x sin(α)cos(β)+P iL_y tan(β),

[0080] Among them, S L represents the height of the water surface on the left side of the vehicle body, α represents the pitch angle of the vehicle body, β represents the roll angle of the vehicle body, i is F or R, when i is F, h iL The first water depth representing the position of the left front wheel, P iL_Z Represents the Z-axis distance between the left front wheel and the first wading sensor in the vehicle coordinate system, P iL_x Represents the X-axis distance between the left front wheel and the first wading sensor in the vehicle coordinate system, P iL_y Represents the Y-axis distance between the left front wheel and the first wading sensor in the vehicle coordinate system. When i is R, h iLThe second water depth representing the position of the left rear wheel, P iL_Z Represents the Z-axis distance between the left rear wheel and the first wading sensor in the vehicle coordinate system, P iL_x Represents the X-axis distance between the left rear wheel and the first wading sensor in the vehicle coordinate system, P iL_y Represents the Y-axis distance between the left rear wheel and the first wading sensor in the vehicle coordinate system.

[0081] In a feasible implementation, in step S402, calculating the third water depth at the right front wheel and the fourth water depth at the right rear wheel of the vehicle based on the vehicle body pitch angle, the vehicle body roll angle, and the water level on the right side of the vehicle body may include:

[0082] According to the following calculation formula, based on the vehicle body pitch angle, vehicle body roll angle and the water surface height on the right side of the vehicle body, calculate the third water depth at the right front wheel and the fourth water depth at the right rear wheel: h iR =S R -P iR_Z cos(α)cos(β)-P iR_x sin(α)cos(β)+P iR_y tan(β),

[0083] Among them, S R represents the height of the water surface on the right side of the vehicle body, α represents the pitch angle of the vehicle body, β represents the roll angle of the vehicle body, i is F or R, when i is F, h iR The third water depth representing the position of the right front wheel, P iR_Z Represents the Z-axis distance between the right front wheel and the second wading sensor in the vehicle coordinate system, P iR_x Represents the X-axis distance between the right front wheel and the second wading sensor in the vehicle coordinate system, P iR_y Represents the Y-axis distance between the right front wheel and the second wading sensor in the vehicle coordinate system. When i is R, h iR The fourth water depth representing the position of the right rear wheel, P iR_Z Represents the Z-axis distance between the right rear wheel and the second wading sensor in the vehicle coordinate system, P iR_x Represents the X-axis distance between the right rear wheel and the second wading sensor in the vehicle coordinate system, P iR_y Represents the Y-axis distance between the right rear wheel and the second wading sensor in the vehicle coordinate system.

[0084] As shown in Figure 5, a vehicle is described as having a water sensor installed on the left and right rearview mirrors, with the water sensors detecting in the vertical direction, and three front collision avoidance radars, three reverse parking radars, and four side collision avoidance radars, all detecting in the horizontal direction. Determining the vehicle's floating state based on the water depth may include the following steps:

[0085] In step S501 , the water depth is acquired by a wading sensor.

[0086] In step S502, it is determined that the wading sensor is normal and the signal is valid. If so, step S503 is executed; if not, step S509 is executed.

[0087] It should be understood that if the water sensors arranged on the left side rearview mirror and the right side rearview mirror of the vehicle body are working normally and the signals are valid, then the water sensors are determined to be normal and valid; if one of the water sensors is working abnormally or the signal is abnormal, then the water sensor is determined to be abnormal or invalid.

[0088] In step S503, the current state signals of the front and rear collision avoidance radar sensors of the vehicle are obtained.

[0089] It should be understood that the sensor status signals of the vehicle's current three front collision avoidance radars, three reversing radars, and four side collision avoidance radars are obtained.

[0090] In step S504, it is determined that all anti-collision radars are in the obstruction alarm state. If so, step S505 is executed; if not, step S509 is executed.

[0091] It should be understood that when the vehicle's current three front collision avoidance radars, three reversing radars, and four side collision avoidance radars are all in the obstruction alarm state, step S505 is executed; otherwise, step S509 is executed.

[0092] In step S505, the current vehicle body posture angle is obtained.

[0093] It should be understood that the vehicle body attitude angle can be directly detected by an inclination sensor, or can be indirectly estimated through information from sensors such as an inertial measurement unit (IMU).

[0094] In step S506 , the water depth at the location of each wheel is calculated.

[0095] It should be understood that by calculating h iL =S L -P iL_Z cos(α)cos(β)-P iL_x sin(α)cos(β)+P iL_y tan(β) and h iR =S R -P iR_Z cos(α)cos(β)-P iR_x sin(α)cos(β)+P iR_y tan(β), calculate the water depth at each wheel location.

[0096] In step S507, it is determined whether the water depth of each wheel is within a preset water depth range. If so, step S508 is executed; if not, step S509 is executed.

[0097] In step S508 , it is determined that the floating state of the vehicle is floating.

[0098] In step S509 , it is determined that the floating state of the vehicle is not floating.

[0099] As shown in FIG6 , determining the floating state of the vehicle according to the suspension height may include the following steps:

[0100] In step S601 , the suspension height of each wheel is obtained through a suspension height sensor.

[0101] It's worth noting that suspension height sensors are used to detect the relative height or angle of the vehicle body relative to the chassis. Vehicles with active suspension configurations are typically equipped with suspension height sensors. The suspension height of each wheel in the real-time method disclosed herein can also be obtained through other methods, which are not limited in this disclosure.

[0102] In step S602, it is determined whether the suspension height of each wheel is within a preset height range. If so, step S603 is executed; if not, step S604 is executed.

[0103] It is worth noting that the preset height interval may be an interval consisting of a first height threshold and a second height threshold, wherein the second height threshold is greater than the first height threshold. The first and second height thresholds are related to the mass of the wheel and can be obtained through experimental testing based on a constructed one-dimensional table of wheel mass.

[0104] In step S603, it is determined that the floating state of the vehicle is floating.

[0105] In step S604 , it is determined that the floating state of the vehicle is not floating.

[0106] In a feasible implementation manner, the characteristic parameter is the slip of each wheel of the vehicle, and the method further includes:

[0107] Get the vehicle's throttle depth.

[0108] In step S102, determining the floating state of the vehicle according to the characteristic parameters may include:

[0109] When the throttle depth is less than the throttle threshold, the vehicle floating state determined last time is used as the current vehicle floating state;

[0110] When the throttle depth is greater than or equal to the throttle threshold, the floating state of the vehicle is determined based on the slip amount of each wheel.

[0111] It is worth noting that the throttle threshold is usually the throttle depth dead zone, generally in the range of 3% to 10%.

[0112] In a feasible implementation, determining the floating state of the vehicle according to the slippage of each wheel may include:

[0113] When the slippage of each wheel is within a preset slippage range, determining that the floating state of the vehicle is floating;

[0114] When the slip amount of a wheel is not within the preset slip amount range, it is determined that the floating state of the vehicle is not floating.

[0115] It is worth noting that the slip range can be a range from a slip threshold to positive infinity. The slip threshold is generally set between 5 km / h and 20 km / h.

[0116] It should be understood that when the slip of each wheel is greater than the slip threshold, the vehicle's floating state is determined to be floating; when the slip of any wheel is less than or equal to the slip threshold, the vehicle's floating state is determined to be non-floating.

[0117] In a feasible implementation, the slip amount can be determined by:

[0118] Determine the vehicle's speed and the speed of each wheel;

[0119] For each wheel, the wheel speed is subtracted from the vehicle speed and the absolute value is taken to obtain the wheel slip.

[0120] It is worth noting that the vehicle speed can be obtained through a GPS speedometer or indirectly estimated through information from sensors such as an inertial measurement unit (IMU); the wheel speed of each wheel can be detected by a wheel speed sensor. This disclosure does not limit this.

[0121] Taking a four-wheeled vehicle as an example, the slip of wheel j = |wheel speed of wheel j - vehicle speed|, where j = 1, 2, 3, 4.

[0122] As shown in FIG7 , determining the floating state of the vehicle according to the slip amount may include the following steps:

[0123] In step S701 , the throttle depth of the vehicle is obtained.

[0124] In step S702, it is determined whether the throttle depth is greater than or equal to the throttle threshold. If so, step S703 is executed; if not, step S708 is executed.

[0125] In step S703 , the body of the vehicle and the wheel speed of each wheel are determined.

[0126] In step S704 , for each wheel, the wheel speed is subtracted from the vehicle speed and the absolute value is taken to obtain the wheel slip.

[0127] In step S705, it is determined whether the slip of each wheel is within a preset slip range. If so, step S706 is executed; if not, step S707 is executed.

[0128] In step S706 , it is determined that the floating state of the vehicle is floating.

[0129] In step S707 , it is determined that the floating state of the vehicle is not floating.

[0130] In step S708, the vehicle floating state determined last time is used as the current vehicle floating state.

[0131] In the disclosed embodiment, the vehicle's floating state is determined based on the slip state of each wheel. When all four wheels are in a slip state, the vehicle's floating state is determined to be floating, thereby reducing the risk of misidentification caused by a single wheel slip information.

[0132] In a feasible implementation, the attitude angle can be determined as follows:

[0133] Obtain the wheel speed or driving torque of each wheel on the vehicle;

[0134] Determine whether the vehicle is in an undriven state based on wheel speed or torque;

[0135] When the vehicle is in an undriven state, the vehicle's body pitch angle and body roll angle are obtained as attitude angles.

[0136] It should be understood that when the wheel speed of each wheel is less than the wheel speed threshold or the driving torque is zero, the vehicle is determined to be in the non-driven state. The wheel speed threshold can be set to 0 km / h to 2 km / h.

[0137] In a feasible embodiment, when the characteristic parameter is an attitude angle, and the attitude angle includes a vehicle body pitch angle and a vehicle body roll angle, in step S102, determining the floating state of the vehicle based on the characteristic parameter may include:

[0138] When the vehicle body pitch angle is within a preset pitch angle range and the vehicle body roll angle is within a preset roll angle range, determining that the vehicle's floating state is floating;

[0139] When the vehicle body pitch angle is not within the preset pitch angle range or the vehicle body roll angle is not within the preset roll angle range, it is determined that the floating state of the vehicle is not floating.

[0140] It is worth noting that the preset pitch angle range may be a range consisting of a first angle threshold and a second angle threshold, where the second angle threshold is greater than the first angle threshold; the preset roll angle range may be a range consisting of a third angle threshold and a fourth angle threshold, where the fourth angle threshold is greater than the third angle threshold; the first angle threshold, the second angle threshold, the third angle threshold, and the fourth angle threshold may be determined based on experimental testing of vehicles of different masses in water. This disclosure is not limited to this.

[0141] As shown in FIG8 , determining the floating state of a vehicle based on the attitude angle may include the following steps:

[0142] In step S801 , the wheel speed or driving torque of each wheel on the vehicle is obtained.

[0143] In step S802, it is determined whether the wheel speed of each wheel is less than the wheel speed threshold, or whether the driving torque is equal to zero. If so, step S803 is executed; if not, step S807 is executed.

[0144] In step S803 , the vehicle body pitch angle and vehicle body roll angle are acquired.

[0145] In step S804, it is determined whether the vehicle body pitch angle is within a preset pitch angle range. If so, step S805 is executed; if not, step S807 is executed.

[0146] In step S805, it is determined whether the vehicle body roll angle is within a preset roll angle range. If so, step S806 is executed; if not, step S807 is executed.

[0147] In step S806 , it is determined that the floating state of the vehicle is floating.

[0148] In step S807 , it is determined that the floating state of the vehicle is not floating.

[0149] In the disclosed embodiment, when the vehicle is not in a driving state, the vehicle's body posture angle is obtained, and the vehicle's floating state is determined based on the body posture information when the vehicle is in a static floating equilibrium state, which can assist in the judgment of the vehicle's floating state and thereby improve the accuracy of the judgment result.

[0150] Second, determine the vehicle's floating state through multiple dimensions related to the vehicle's state.

[0151] In a feasible implementation manner, as shown in FIG9 , in step S901 , characteristic parameters of the vehicle are determined, where the characteristic parameters are at least two of the water level, water depth, suspension height, slippage, and attitude angle.

[0152] In step S102, determining the floating state of the vehicle according to the characteristic parameters may include:

[0153] In step S902, for each characteristic parameter, when the characteristic parameter is within a preset numerical range, a first judgment result is obtained to characterize that the vehicle floats, or when the characteristic parameter is not within the preset numerical range, a second judgment result is obtained to characterize that the vehicle does not float.

[0154] In step S903, when a first judgment result is obtained according to each characteristic parameter, the floating state of the vehicle is determined to be floating.

[0155] In step S904, when the second judgment result is obtained according to the characteristic parameters, the floating state of the vehicle is determined to be non-floating.

[0156] It is worth noting that when multiple characteristic parameters are present, the vehicle's floating state can be determined based on two or more of the following: water level, water depth, suspension height, slip, and attitude angle. Different characteristic parameter categories have different preset numerical ranges. Each characteristic parameter category is matched to a corresponding preset numerical range. When all characteristic parameters fall within the preset numerical range, the vehicle's floating state is determined to be floating. If any characteristic parameter category falls outside the preset numerical range, the vehicle's floating state is determined to be non-floating.

[0157] In a feasible implementation manner, the characteristic parameters include the slip of the vehicle wheels and the attitude angle of the vehicle. The method may further include:

[0158] Get the vehicle's throttle depth.

[0159] In step S102, determining the floating state of the vehicle according to the characteristic parameters may include:

[0160] When the throttle depth is greater than or equal to the throttle threshold, the floating state of the vehicle is determined based on the slip amount;

[0161] When the throttle depth is less than the throttle threshold, the floating state of the vehicle is determined based on the attitude angle.

[0162] It should be understood that when the throttle depth is greater than or equal to the throttle threshold, the vehicle is in a driving state; slip occurs when the vehicle is in a driving state. When the throttle depth is less than the throttle threshold, the vehicle is in a non-driving state. To prevent other conditions from influencing the vehicle's attitude, the vehicle's attitude angle is acquired during this non-driving state. Therefore, when determining the vehicle's floating state based on the two dimensions of slip and attitude angle, it is necessary to rotate one dimension based on the throttle depth to determine the vehicle's floating state.

[0163] As shown in FIG10 , determining the floating state of the vehicle based on the slip amount and attitude angle may include the following steps:

[0164] In step S1001 , the throttle depth of the vehicle is obtained.

[0165] In step S1002, it is determined whether the throttle depth is greater than or equal to the throttle threshold. If so, step S1003 is executed; if not, step S1004 is executed.

[0166] In a feasible implementation manner, the characteristic parameters further include water depth and / or suspension height, and obtaining the throttle depth of the vehicle may include the following steps:

[0167] When the water depth is within a preset water depth range and / or the suspension height is within a preset height range, the throttle depth of the vehicle is obtained.

[0168] It should be understood that the floating state of the vehicle can be determined based on four dimensions: water depth, suspension height, slip amount and attitude angle; the floating state of the vehicle can also be determined based on three dimensions: water depth, slip amount and attitude angle; the floating state of the vehicle can also be determined based on three dimensions: suspension height, slip amount and attitude angle; thus, the floating state of the vehicle is determined through multiple dimensions, and the judgment results of multiple dimensions are more reliable than the judgment results of a single dimension.

[0169] As shown in FIG11 , determining the floating state of a vehicle based on four dimensions, namely, water depth, suspension height, slippage, and attitude angle, may include the following steps:

[0170] In step S1101, it is determined whether the water depth of each wheel is within a preset water depth range. If so, step S1102 is executed; if not, step S1107 is executed.

[0171] In step S1102, it is determined whether the suspension height of each wheel is within a preset height range. If so, step S1103 is executed; if not, step S1107 is executed.

[0172] In step S1103, it is determined whether the throttle depth is greater than or equal to the throttle threshold. If so, step S1104 is executed; if not, step S1108 is executed.

[0173] In step S1104, it is determined whether each wheel is in a slipping state. If so, step S1105 is executed; if not, step S1106 is executed.

[0174] In step S1105, it is determined whether the slip of each wheel is within a preset slip range. If so, step S1106 is executed; if not, step S1107 is executed.

[0175] In step S1106 , it is determined that the floating state of the vehicle is floating.

[0176] In step S1107 , it is determined that the floating state of the vehicle is not floating.

[0177] In step S1108, it is determined whether the attitude angle of the vehicle is valid. If so, step S1109 is executed; if not, step S1110 is executed.

[0178] In step S1109, it is determined whether the attitude angle is within a preset angle range. If so, step S1106 is executed; if not, step S1107 is executed.

[0179] In step S1110, the floating state of the vehicle determined last time due to the sideslip is used as the floating state of the vehicle this time.

[0180] The present invention comprehensively determines the floating state of a vehicle from four dimensions: water depth, suspension height, slip amount, and attitude angle, which can improve the accuracy and reliability of judging the floating state of the vehicle, thereby reducing the misidentification of wind direction when determining the floating state of the vehicle from a single dimension.

[0181] As shown in FIG12 , determining the floating state of a vehicle based on the three dimensions of water depth, slippage, and attitude angle may include the following steps:

[0182] In step S1201, it is determined whether the water depth of each wheel is within a preset water depth range. If so, step S1202 is executed; if not, step S1106 is executed.

[0183] In step S1202, it is determined whether the throttle depth is greater than or equal to the throttle threshold. If so, step S1203 is executed; if not, step S1207 is executed.

[0184] In step S1203, it is determined whether each wheel is in a slipping state. If so, step S1204 is executed; if not, step S1205 is executed.

[0185] In step S1204, it is determined whether the slip of each wheel is within a preset slip range. If so, step S1205 is executed; if not, step S1206 is executed.

[0186] In step S1205 , it is determined that the floating state of the vehicle is floating.

[0187] In step S1206 , it is determined that the floating state of the vehicle is not floating.

[0188] In step S1207, it is determined whether the attitude angle of the vehicle is valid. If so, step S1208 is executed; if not, step S1209 is executed.

[0189] In step S1208, it is determined whether the attitude angle is within a preset angle range. If so, step S1205 is executed; if not, step S1206 is executed.

[0190] In step S1209, the floating state determined last time due to the sideslip is used as the floating state of the vehicle this time.

[0191] It should be understood that because the water depth at each wheel is calculated based on the water level, the risk of misidentification when determining the vehicle's floating state based on the water depth at each wheel is lower than when determining the vehicle's floating state based on the water level. Therefore, when determining the vehicle's floating state based on the water depth at each wheel, there is no need to further consider the water level. Furthermore, in the event of a vehicle suspension failure, this dimension can be omitted.

[0192] The present disclosure comprehensively determines the floating state of a vehicle from three dimensions: water depth, slip amount, and attitude angle, which can improve the accuracy and reliability of judging the floating state of the vehicle, thereby reducing the misidentification of wind direction when determining the floating state of the vehicle from a single dimension.

[0193] Based on the same inventive concept, as shown in FIG13 , the present disclosure further provides a controller 1300 , including:

[0194] A first memory 1301 is used to store computer programs;

[0195] The first processor 1302 is configured to execute the computer program in the first memory 1301 to perform the above-mentioned method for determining the floating state of the vehicle.

[0196] The present disclosure determines the floating state of a vehicle based on at least one of the water level height, the water depth at the position of the vehicle's wheels, the suspension height of the vehicle's wheels, the slip amount of the vehicle's wheels, and the vehicle's attitude angle, collected by a wading sensor installed on the vehicle. The floating state of the vehicle can be determined by different dimensions related to the vehicle, and the floating state of the vehicle can be determined comprehensively by multiple dimensions related to the vehicle at the same time, thereby improving the accuracy of the floating state judgment and accurately and reliably determining the floating state of the vehicle.

[0197] Based on the same inventive concept, the present disclosure also provides a vehicle, which includes the above-mentioned controller 1300.

[0198] It is worth noting that the vehicle can be a vehicle with floating function or an amphibious vehicle.

[0199] The present disclosure determines the floating state of a vehicle based on at least one of the water level height, the water depth at the position of the vehicle's wheels, the suspension height of the vehicle's wheels, the slip amount of the vehicle's wheels, and the vehicle's attitude angle, collected by a wading sensor installed on the vehicle. The floating state of the vehicle can be determined by different dimensions related to the vehicle, and the floating state of the vehicle can be determined comprehensively by multiple dimensions related to the vehicle at the same time, thereby improving the accuracy of the floating state judgment and accurately and reliably determining the floating state of the vehicle.

[0200] In a feasible embodiment, a wading sensor is provided on the left and right rearview mirrors of the vehicle, and the wading sensor includes a non-contact sensor.

[0201] FIG14 is a block diagram of a vehicle 1400 according to an exemplary embodiment. For example, vehicle 1400 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or another type of vehicle. Vehicle 1400 may be an autonomous vehicle or a semi-autonomous vehicle.

[0202] 14 , vehicle 1400 may include various subsystems, such as an infotainment system 1410, a perception system 1420, a decision-making control system 1430, a drive system 1440, and a computing platform 1450. Vehicle 1400 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of vehicle 1400 may be interconnected via wired or wireless means.

[0203] In some embodiments, the infotainment system 1410 may include a communication system, an entertainment system, a navigation system, and the like.

[0204] The perception system 1420 may include several sensors for sensing information about the environment surrounding the vehicle 1400. For example, the perception system 1420 may include a global positioning system (which may be a GPS system, a BeiDou system, or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera.

[0205] The decision control system 1430 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0206] Drive system 1440 may include components that provide power to vehicle 1400. In one embodiment, drive system 1440 may include an engine, a power source, a transmission system, and wheels. The engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination thereof. The engine is capable of converting energy provided by the power source into mechanical energy.

[0207] Some or all functions of the vehicle 1400 are controlled by a computing platform 1450. The computing platform 1450 may include at least one second processor 1451 and a second memory 1452. The second processor 1451 may execute instructions 1453 stored in the second memory 1452.

[0208] The second processor 1451 can be any conventional processor, such as a commercially available CPU. The processor can also include a graphics processor (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof.

[0209] The second memory 1452 can be implemented by any type of volatile or non-volatile memory 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 memory, flash memory, magnetic disk or optical disk.

[0210] In addition to the instructions 1453 , the second memory 1452 may also store data, such as road maps, route information, and vehicle location, direction, speed, etc. The data stored in the second memory 1452 may be used by the computing platform 1450 .

[0211] In the embodiment of the present disclosure, the second processor 1451 may execute the instruction 1453 to complete all or part of the steps of the above-mentioned parking trajectory planning method.

[0212] 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 above-described vehicle communication method. For example, the computer-readable storage medium may be the aforementioned second memory 1452 including the program instructions. The program instructions may be executed by the second processor 1451 of the vehicle 1400 to implement the above-described vehicle communication method.

[0213] In another exemplary embodiment, a computer program product is also provided, which includes a computer program that can be executed by a programmable device, and has a code portion for performing the above-mentioned automatic driving method when executed by the programmable device.

[0214] 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.

[0215] 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.

[0216] 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 method for determining the floating state of a vehicle, characterized in that: The method comprises: determining characteristic parameters of the vehicle, the characteristic parameters comprising at least one of a water depth at a location where wheels of the vehicle are located, a suspension height of the wheels of the vehicle, a slip amount of the wheels of the vehicle, an attitude angle of the vehicle, and a water level determined by a plurality of sensors on the vehicle having mutually perpendicular detection directions; The floating state of the vehicle is determined according to the characteristic parameters.

2. The method for determining the floating state of a vehicle according to claim 1, characterized in that: The characteristic parameter is one of the water level, the water depth, the suspension height, the slip amount, and the attitude angle, and determining the floating state of the vehicle according to the characteristic parameter includes: When the characteristic parameter is within a preset value range, determining that the floating state of the vehicle is floating; When the characteristic parameter is not within the preset value range, it is determined that the floating state of the vehicle is not floating.

3. The method for determining the floating state of a vehicle according to claim 1 or 2, characterized in that: The characteristic parameters are at least two of the water level, the water depth, the suspension height, the slip amount, and the attitude angle, and determining the floating state of the vehicle based on the characteristic parameters includes: For each of the characteristic parameters, when the characteristic parameter is within a preset value range, a first judgment result is obtained, indicating that the vehicle is floating; or when the characteristic parameter is not within the preset value range, a second judgment result is obtained, indicating that the vehicle is not floating; When the first judgment result is obtained according to each of the characteristic parameters, determining that the floating state of the vehicle is floating; When the second judgment result is obtained according to the characteristic parameter, the floating state of the vehicle is determined to be non-floating.

4. The method for determining the floating state of a vehicle according to any one of claims 1 to 3, characterized in that: The characteristic parameter is the slip of each wheel of the vehicle, and the method further includes: Obtaining the throttle depth of the vehicle; Determining the floating state of the vehicle according to the characteristic parameters includes: When the throttle depth is less than the throttle threshold, the vehicle floating state determined last time is used as the vehicle floating state this time; When the throttle depth is greater than or equal to the throttle threshold, the floating state of the vehicle is determined according to the slip amount of each of the wheels.

5. The method for determining the floating state of a vehicle according to claim 4, characterized in that: Determining the floating state of the vehicle according to the slip amount of each wheel includes: When the slip amount of each wheel is within a preset slip amount range, determining that the floating state of the vehicle is floating; When the slip amount of the wheel is not within the preset slip amount range, it is determined that the floating state of the vehicle is not floating.

6. The method for determining the floating state of a vehicle according to any one of claims 1 to 5, characterized in that: The characteristic parameter is the attitude angle, which includes a body pitch angle and a body roll angle of the vehicle. Determining the floating state of the vehicle based on the characteristic parameter includes: When the vehicle body pitch angle is within a preset pitch angle range and the vehicle body roll angle is within a preset roll angle range, determining that the floating state of the vehicle is floating; When the vehicle body pitch angle is not within the preset pitch angle range or the vehicle body roll angle is not within the preset roll angle range, it is determined that the floating state of the vehicle is not floating.

7. The method for determining the floating state of a vehicle according to any one of claims 1 to 6, characterized in that: The characteristic parameters include the slip of the wheels of the vehicle and the attitude angle of the vehicle, and the method further includes: Obtaining the throttle depth of the vehicle; Determining the floating state of the vehicle according to the characteristic parameters includes: When the throttle depth is greater than or equal to a throttle threshold, determining a floating state of the vehicle according to the slip amount; When the throttle depth is less than a throttle threshold, the floating state of the vehicle is determined according to the attitude angle.

8. The method for determining the floating state of a vehicle according to claim 7, characterized in that: The characteristic parameter further includes the water depth and / or the suspension height, and obtaining the throttle depth of the vehicle includes: When the water depth is within a preset water depth range and / or the suspension height is within a preset height range, the throttle depth of the vehicle is acquired.

9. The method for determining the floating state of a vehicle according to any one of claims 1 to 8, characterized in that: The attitude angle is determined by: Obtaining the wheel speed or driving torque of each wheel on the vehicle; determining whether the vehicle is in an undriven state based on the wheel speed or torque; When the vehicle is in an undriven state, a body pitch angle and a body roll angle of the vehicle are acquired as the attitude angles.

10. The method for determining the floating state of a vehicle according to any one of claims 1 to 8, characterized in that: The water level is determined by: When the contact sensor or non-contact sensor arranged on the vehicle is in an obstruction alarm state, the water level height is obtained by detecting the distance to the water surface through a water sensor arranged on the vehicle, wherein the detection direction of the contact sensor or non-contact sensor is horizontal, and the detection direction of the water sensor is vertical.

11. The method for determining the floating state of a vehicle according to any one of claims 1 to 10, characterized in that: The slip amount is determined by: determining the vehicle speed and the wheel speed of each wheel of the vehicle; For each wheel, the wheel speed is subtracted from the vehicle speed and the absolute value is taken to obtain the slip amount of the wheel.

12. The method for determining the floating state of a vehicle according to any one of claims 1 to 10, characterized in that: The attitude angle includes the pitch angle and the roll angle of the vehicle body. The water level includes the water surface height on the left side of the vehicle body obtained by a first wading sensor located on the left side of the vehicle and the water surface height on the right side of the vehicle body obtained by a second wading sensor located on the right side of the vehicle when a sensor located on the vehicle with a horizontal detection direction is in an obstruction alarm state. The detection directions of the first wading sensor and the second wading sensor are both vertical. The water depth is determined by: Calculating a first water depth at a position where a left front wheel of the vehicle is located and a second water depth at a position where a left rear wheel is located according to the vehicle body pitch angle, the vehicle body roll angle, and the water level height on the left side of the vehicle body; A third water depth at a right front wheel position and a fourth water depth at a right rear wheel position of the vehicle are calculated based on the vehicle body pitch angle, the vehicle body roll angle, and the water surface height at the right side of the vehicle body.

13. The method for determining the floating state of a vehicle according to claim 12, characterized in that: The calculating, based on the vehicle body pitch angle, the vehicle body roll angle, and the water level on the left side of the vehicle body, a first water depth at a position where the left front wheel of the vehicle is located and a second water depth at a position where the left rear wheel is located, comprises: The first water depth at the left front wheel and the second water depth at the left rear wheel of the vehicle are calculated based on the vehicle body pitch angle, the vehicle body roll angle, and the water level on the left side of the vehicle body according to the following calculation formula: h iL =S L -P iL_Z cos(α)cos(β)-P iL_x sin(α)cos(β)+P iL_y tan(β), Among them, S L represents the height of the water surface on the left side of the vehicle body, α represents the pitch angle of the vehicle body, β represents the roll angle of the vehicle body, i is F or R, when i is F, h iL The first water depth representing the position of the left front wheel, P iL_Z Represents the left front wheel in the vehicle coordinate system Z-axis distance from the first wading sensor, P iL_x Represents the X-axis distance between the left front wheel and the first wading sensor in the vehicle coordinate system, P iL_y Represents the Y-axis distance between the left front wheel and the first wading sensor in the vehicle coordinate system. When i is R, h iL The second water depth representing the position of the left rear wheel, P iL_Z Represents the Z-axis distance between the left rear wheel and the first wading sensor in the vehicle coordinate system, P iL_x Represents the X-axis distance between the left rear wheel and the first wading sensor in the vehicle coordinate system, P iL_y Represents the Y-axis distance between the left rear wheel and the first wading sensor in the vehicle coordinate system.

14. The method for determining the floating state of a vehicle according to claim 12, wherein: Calculating the third water depth at the right front wheel position and the fourth water depth at the right rear wheel position of the vehicle according to the vehicle body pitch angle, the vehicle body roll angle, and the water surface height on the right side of the vehicle body includes: The third water depth at the right front wheel and the fourth water depth at the right rear wheel of the vehicle are calculated based on the vehicle body pitch angle, the vehicle body roll angle, and the water surface height on the right side of the vehicle body according to the following calculation formula: h iR =S R -P iR_Z cos(α)cos(β)-P iR_x sin(α)cos(β)+P iR_y tan(β), Among them, S R represents the height of the water surface on the right side of the vehicle body, α represents the pitch angle of the vehicle body, β represents the roll angle of the vehicle body, i is F or R, when i is F, h iR The third water depth representing the position of the right front wheel, P iR_Z Represents the Z-axis distance between the right front wheel and the second wading sensor in the vehicle coordinate system, P iR_x Represents the X-axis distance between the right front wheel and the second wading sensor in the vehicle coordinate system, P iR_y Represents the Y-axis distance between the right front wheel and the second wading sensor in the vehicle coordinate system. When i is R, h iR The fourth water depth representing the position of the right rear wheel, P iR_Z Represents the Z-axis distance between the right rear wheel and the second wading sensor in the vehicle coordinate system, P iR_x Represents the X-axis distance between the right rear wheel and the second wading sensor in the vehicle coordinate system, P iR_y Represents the Y-axis distance between the right rear wheel and the second wading sensor in the vehicle coordinate system.

15. A controller, characterized in that: include: a first memory for storing a computer program; The first processor is configured to execute the computer program in the first memory to perform the method for determining the floating state of a vehicle according to any one of claims 1 to 14.

16. A vehicle, characterized in that: The vehicle includes the controller of claim 15 .

17. The vehicle according to claim 16, characterized in that Water wading sensors are provided on the left and right rearview mirrors of the vehicle, and the water wading sensors include non-contact sensors.

18. 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 method for determining the floating state of a vehicle according to any one of claims 1 to 14 is implemented.

19. A computer program product comprising computer program instructions, characterized in that When the computer program instructions are executed by a processor, the method for determining the floating state of a vehicle according to any one of claims 1 to 14 is implemented.

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