Vehicle wading control method and related apparatus

Abstract

A vehicle wading control method and a related apparatus, which are applied to the technical field of vehicle control. The method comprises: acquiring a wading depth and a wading width of a vehicle; determining a target wading mode on the basis of the wading depth and the wading width; and executing on the vehicle a control strategy corresponding to the target wading mode. By means of the present application, a wading scenario of a vehicle can be precisely identified in view of a wading depth and a wading width of the vehicle, a target wading mode that matches the wading scenario of the vehicle is then determined, and a control strategy corresponding to the target wading mode is executed on the vehicle, wherein the control strategy also matches the wading scenario of the vehicle. In this way, different control strategies can be executed on a vehicle in different wading scenarios, thereby precisely improving the wading capability of the vehicle, and thus improving the safety and stability of the vehicle when wading through water.

Description

Vehicle wading control method and related device

[0001] The present application claims priority to the Chinese patent application No. 202411380953.5, filed on September 29, 2024, and entitled "Vehicle wading control method and related device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of vehicle control, and in particular to a vehicle wading control method and related device. BACKGROUND

[0003] Vehicle wading refers to the driving of a vehicle on a road surface with accumulated water, for example, heavy rain or plum rain season can easily lead to road water accumulation. If the wading capability is insufficient or the operation is improper when the vehicle passes through the accumulated water section, it is easy to cause problems such as anchoring and water entering the parts, and even may endanger the safety of the driver. Therefore, when the vehicle wades, the vehicle needs to be controlled accordingly to ensure the safety of the vehicle and the driver.

[0004] In some solutions, when the vehicle passes through the accumulated water section, the wading depth is detected, and a relevant control strategy is executed according to the wading depth. However, this solution only considers the wading depth and cannot finely identify the wading scene, and the corresponding control strategy is also relatively single, so as to not finely improve the wading capability. SUMMARY

[0005] The present application provides a vehicle wading control method and related device, which can finely identify the wading scene and execute the corresponding control strategy, thereby finely improving the wading capability.

[0006] In a first aspect, the present application provides a vehicle wading control method. The method comprises: obtaining a wading depth and a wading width of a vehicle, determining a target wading mode according to the wading depth and the wading width, and executing a control strategy corresponding to the target wading mode on the vehicle.

[0007] Optionally, the vehicle wading control method is applied to a vehicle, and the execution subject of the vehicle wading control method is a vehicle controller. The present application does not limit the type of vehicle, for example, the vehicle in the present application can be an electric vehicle, a fuel vehicle, a hybrid vehicle or a range extended vehicle, etc.

[0008] The wading depth refers to the depth of accumulated water on the road surface where the vehicle is located. The wading depth of the vehicle can be understood as the current wading depth of the vehicle. The wading width refers to the width of accumulated water on the road surface where the vehicle is located. The wading width of the vehicle can be understood as the current wading width of the vehicle.

[0009] The wading mode can be understood as a working mode of the vehicle when wading, that is, the vehicle can enter the wading mode when driving on a road surface with accumulated water. Alternatively, the wading mode can have multiple modes, each of which has a corresponding control strategy, and different wading modes can correspond to different control strategies. The control strategy in this application can be understood as a control strategy related to vehicle wading, which is used to ensure the safety of vehicle wading.

[0010] The wading depth and the wading width can be used to identify the wading scene, and the vehicle can enter different wading modes in different wading scenes. The target wading mode refers to the wading mode determined according to the current wading depth and the wading width of the vehicle, and can also be understood as the wading mode suitable for the current wading scene of the vehicle, or can also be understood as the wading mode matching the current wading scene of the vehicle.

[0011] Through the present application, the wading scene of the vehicle (such as a narrow water surface scene or a wide water surface scene) can be finely identified in combination with the wading depth and the wading width of the vehicle, and then the target wading mode matching the wading scene of the vehicle is determined, and the control strategy corresponding to the target wading mode is executed on the vehicle. The control strategy is also matched with the wading scene of the vehicle. For example, the control strategy in the narrow water surface scene with different wading depths can be different, the control strategy in the wide water surface scene with different wading depths can be different, and the control strategy in the narrow water surface scene and the wide water surface scene with the same wading depth can also be different. In this way, different control strategies can be executed on the vehicle in the wading scene with different wading depths and / or wading depths, thereby finely improving the wading ability of the vehicle, and then improving the safety and stability of the vehicle wading.

[0012] In a possible implementation of the first aspect, the target wading mode is determined according to the wading depth and the wading width, comprising: in a case that the wading depth is greater than a first depth threshold, and a duration that the wading depth is greater than the first depth threshold is greater than a first time, the target wading mode is determined according to the wading depth and the wading width.

[0013] The first depth threshold can be understood as a minimum depth representing a road surface with accumulated water, and the first time can be understood as a minimum time representing a road surface with accumulated water.

[0014] Exemplarily, when the wading depth of the vehicle is greater than the first depth threshold, it can be judged that the road surface where the vehicle is located has accumulated water, and further, when the duration that the wading depth is greater than the first depth threshold is greater than the first time, it can be judged that the road surface where the vehicle is located has accumulated water, so that it can be judged that the vehicle is in a waterlogged road section.

[0015] Exemplarily, when the wading depth of the vehicle is less than or equal to the first depth threshold, it can be judged that the road surface where the vehicle is located has no accumulated water, so that it can be judged that the vehicle is not in a waterlogged road section.

[0016] For another example, when the water wading depth of the vehicle is greater than the first depth threshold, but the duration that the water wading depth is greater than the first depth threshold is less than or equal to the first time, it can be determined that the road surface where the vehicle is located has water but is not continuously waterlogged, and thus it can be determined that the vehicle is not located in the waterlogged road section.

[0017] When the vehicle is located in the waterlogged road section, the controller can perform water wading control (for example, including determining a target water wading mode and executing a corresponding control strategy) on the vehicle. When the vehicle is not located in the waterlogged road section, the controller can not perform water wading control on the vehicle.

[0018] In other words, the triggering condition of the water wading control of the vehicle can be that the water wading depth is greater than the first depth threshold, and the duration that the water wading depth is greater than the first depth threshold is greater than the first time.

[0019] In the above implementation, whether the vehicle is located in the waterlogged road section can be determined by comparing the water wading depth with the first depth threshold and comparing the duration that the water wading depth is greater than the first depth threshold with the first time. Specifically, when the water wading depth is greater than the first depth threshold, and the duration that the water wading depth is greater than the first depth threshold is greater than the first time, it can be determined that the vehicle is located in the waterlogged road section, and thus the water wading control is performed on the vehicle, so that the triggering time of the water wading control of the vehicle can be determined more accurately.

[0020] In a possible implementation of the first aspect, the target water wading mode is one of a plurality of water wading modes, and the plurality of water wading modes correspond to different control strategies.

[0021] In the above implementation, the plurality of water wading modes can be applicable to different water wading scenarios, so that different control strategies can be executed on the vehicle in different water wading scenarios, which is beneficial to finely improving the water wading capability of the vehicle.

[0022] Optionally, the plurality of water wading modes includes a water wading mode A, a water wading mode B, a water wading mode C, and a water wading mode D. Alternatively, the target water wading mode can be any one of the water wading mode A, the water wading mode B, the water wading mode C, and the water wading mode D.

[0023] For ease of description, the control strategy corresponding to the water wading mode A is referred to as a first control strategy, the control strategy corresponding to the water wading mode B is referred to as a second control strategy, the control strategy corresponding to the water wading mode C is referred to as a third control strategy, and the control strategy corresponding to the water wading mode D is referred to as a fourth control strategy.

[0024] In a possible implementation of the first aspect, the first control strategy includes prompting at least one of the following: the road surface has water, enter the wet road surface, enter the water wading road section, and drive at a reduced speed.

[0025] In the above embodiment, when the vehicle is wading, the first control strategy can be used to issue a reminder so that the user can be timely aware that the vehicle enters a waterlogged road section, and then pay attention to wading safety.

[0026] Optionally, the first control strategy can be applied to a wading scene with a shallow wading depth and a narrow wading width.

[0027] In a possible implementation of the first aspect, the second control strategy includes at least one of the following: controlling the vehicle speed to reduce to a first speed range, turning off the range extender, controlling the air spring to rise to a first height, turning off the active air intake grille, turning off the engine air inlet control valve, turning off the active pressure relief valve, and turning off the air conditioning condensate pipe control valve.

[0028] The first speed range refers to a vehicle speed range suitable for a wading scene. It can be understood that the vehicle speed suitable for a wading scene is lower than the normal driving speed. The first height can be the maximum height to which the air spring can rise.

[0029] In the above embodiment, when the vehicle is wading, the second control strategy can be used to reduce the vehicle speed, raise the vehicle body, and turn off components that are likely to be flooded, such as the range extender, the active air intake grille, the engine air inlet control valve, the active pressure relief valve, and the air conditioning condensate pipe control valve, so as to reduce the probability of vehicle flooding and protect the related components of the vehicle from being damaged.

[0030] Optionally, compared with the first control strategy, the second control strategy can be applied to a wading scene with a deeper wading depth and / or a wider wading width.

[0031] In a possible implementation of the first aspect, the third control strategy includes at least one of the following: controlling the vehicle speed to reduce to a first speed range, turning off the range extender, controlling the air spring to rise to a first height, turning off the active air intake grille, turning off the engine air inlet control valve, turning off the active pressure relief valve, turning off the air conditioning condensate pipe control valve, turning off the air conditioning electrical components, controlling the air conditioning to enter an internal circulation, turning off the air conditioning air inlet control valve, controlling the vehicle door to be unlocked, controlling the vehicle window to be lowered by a second height, and opening the sunroof.

[0032] In the above embodiment, when the vehicle is wading, the third control strategy can be used to reduce the vehicle speed, raise the vehicle body, turn off components that are likely to be flooded, such as the range extender, the active air intake grille, the engine air inlet control valve, the active pressure relief valve, the air conditioning condensate pipe control valve, the air conditioning electrical components, and the air conditioning air inlet control valve, and unlock the vehicle door, lower the vehicle window, and open the sunroof, so as to reduce the probability of vehicle flooding, protect the related components of the vehicle from being damaged, and facilitate the escape of the people inside the vehicle.

[0033] Optionally, the third control strategy can be understood as adding at least one of the following to the second control strategy: turning off the air conditioner electrical components, controlling the air conditioner to enter an internal circulation, turning off the air conditioner air inlet control valve, controlling the vehicle door to be unlocked, controlling the vehicle window to be lowered to a second height, and opening the sunroof. Compared with the second control strategy described above, the third control strategy can be applied to a wading scene with a deeper wading depth and / or a wider wading width.

[0034] In a possible implementation of the first aspect, the fourth control strategy includes at least one of the following: controlling the vehicle speed to be reduced to a first speed range, turning off the range extender, controlling the air spring to be raised to a first height, turning off the active air inlet grille, turning off the engine air inlet control valve, turning off the active pressure relief valve, turning off the air conditioner condensate pipe control valve, turning off the air conditioner electrical components, controlling the air conditioner to enter an internal circulation, turning off the air conditioner air inlet control valve, controlling the vehicle door to be unlocked, controlling the vehicle window to be lowered to a second height, opening the sunroof, activating an emergency rescue service system, and prohibiting the range extender from being turned on.

[0035] In the above implementation, when the vehicle is wading, the vehicle speed can be reduced, the vehicle body can be raised, the range extender, the active air inlet grille, the engine air inlet control valve, the active pressure relief valve, the air conditioner condensate pipe control valve, the air conditioner electrical components, the air conditioner air inlet control valve, and other components that may be flooded can be turned off, the vehicle door can be unlocked, the vehicle window can be lowered, and the sunroof can be opened, and the emergency rescue service system can be activated and the range extender can be prohibited from being turned on. In this way, the probability of the vehicle being flooded can be reduced, the vehicle components can be protected from damage, the people inside the vehicle can be facilitated to escape, and the people inside the vehicle can be facilitated to obtain timely rescue.

[0036] Optionally, the fourth control strategy can be understood as adding at least one of the following to the third control strategy: activating the emergency rescue service system and prohibiting the range extender from being turned on. Compared with the third control strategy described above, the fourth control strategy can be applied to a wading scene with a deeper wading depth and / or a wider wading width.

[0037] In a possible implementation of the first aspect, determining the target wading mode according to the wading depth and the wading width includes: when the wading width is less than or equal to a width threshold value and the wading depth is less than or equal to a second depth threshold value, determining that the target wading mode is a wading mode A.

[0038] The width threshold value can be understood as a width demarcation value for distinguishing between a narrow water surface scene and a wide water surface scene. When the wading width is less than or equal to the width threshold value, it can be determined that the wading scene at this time is a narrow water surface scene (for example, a bridge hole).

[0039] Optionally, the wading depth is divided into three levels, denoted as a first level, a second level and a third level, and the wading depths corresponding to the first level, the second level and the third level are in ascending order. In other words, the wading depth corresponding to the first level is shallow, the wading depth corresponding to the second level is deeper, and the wading depth corresponding to the third level is very deep.

[0040] The second depth threshold can be understood as a depth demarcation value between the first level and the second level. When the wading depth is less than or equal to the second depth threshold, it can be determined that the wading depth at this time is the first level, that is, the wading depth at this time is considered to be shallow.

[0041] Through the above implementation, when the wading width is less than or equal to the width threshold, and the wading depth is less than or equal to the second depth threshold, it can be determined that the wading scene at this time is a narrow water surface scene and the wading depth is shallow. In this case, the controller can control the vehicle to enter the wading mode A, so as to execute the control strategy corresponding to the wading mode A (that is, the first control strategy) on the vehicle, so that the user knows in time that the vehicle enters the waterlogged road section, and then pays attention to the wading safety.

[0042] In a possible implementation of the first aspect, the target wading mode is determined according to the wading depth and the wading width, including: when the wading width is less than or equal to the width threshold, the remaining electric quantity of the vehicle is greater than the first electric quantity threshold, and the wading depth is greater than the second depth threshold and less than or equal to the third depth threshold, the target wading mode is determined as the wading mode B.

[0043] The third depth threshold can be understood as a depth demarcation value between the second level and the third level. The third depth threshold is greater than the second depth threshold. When the wading depth is greater than the second depth threshold and less than or equal to the third depth threshold, it can be determined that the wading depth at this time is the second level, that is, the wading depth at this time is considered to be deep.

[0044] The remaining electric quantity can be represented by the state of charge (SOC), and the value range of the SOC is 0-100%. The greater the value of the SOC, the more the remaining electric quantity. The first electric quantity threshold can be understood as the minimum remaining electric quantity required for the vehicle to travel in the narrow water surface scene with the wading depth greater than the second depth threshold. When the remaining electric quantity of the vehicle is greater than the first electric quantity threshold, it can be considered that the remaining electric quantity at this time is sufficient to support the vehicle to travel in the narrow water surface scene with the wading depth greater than the second depth threshold, or in other words, the remaining electric quantity at this time is sufficient to support the vehicle to travel in the narrow water surface scene with the wading depth being deep or very deep.

[0045] By the above-mentioned embodiments, when the wading width is less than or equal to the width threshold, the remaining electric quantity of the vehicle is greater than the first electric quantity threshold, and the wading depth is greater than the second depth threshold and less than or equal to the third depth threshold, it can be determined that the wading scene at this time is a narrow water surface scene and the wading depth is deep, and the remaining electric quantity at this time is sufficient to support the vehicle to wade. In this case, the controller can control the vehicle to enter the wading mode B, so as to execute the control strategy corresponding to the wading mode B (i.e., the second control strategy mentioned above) on the vehicle, so as to reduce the probability of water entering the vehicle and protect the related components of the vehicle from being damaged.

[0046] In a possible implementation of the first aspect, the target wading mode is determined according to the wading depth and the wading width, including: when the wading width is less than or equal to the width threshold, the remaining electric quantity of the vehicle is greater than the first electric quantity threshold, and the wading depth is greater than the third depth threshold, the target wading mode is determined as the wading mode D.

[0047] When the wading depth is greater than the third depth threshold, it can be determined that the wading depth at this time is the third level, i.e., it can be considered that the wading depth at this time is deep.

[0048] By the above-mentioned embodiments, when the wading width is less than or equal to the width threshold, the remaining electric quantity of the vehicle is greater than the first electric quantity threshold, and the wading depth is greater than the third depth threshold, it can be determined that the wading scene at this time is a narrow water surface scene and the wading depth is deep, and the remaining electric quantity at this time is sufficient to support the vehicle to wade. In this case, the controller can control the vehicle to enter the wading mode D, so as to execute the control strategy corresponding to the wading mode D (i.e., the fourth control strategy mentioned above) on the vehicle, so as to reduce the probability of water entering the vehicle, protect the related components of the vehicle from being damaged, facilitate the personnel in the vehicle to escape, and be beneficial to the personnel in the vehicle to obtain timely rescue.

[0049] In a possible implementation of the first aspect, the method further includes: when the wading width is less than or equal to the width threshold, the remaining electric quantity of the vehicle is less than or equal to the first electric quantity threshold, and the wading depth is greater than the second depth threshold, issuing a first reminder information.

[0050] The first reminder information is used to remind the user that the remaining electric quantity of the vehicle is low and is insufficient to support the vehicle to wade in a narrow water surface scene with a deep or very deep wading depth.

[0051] Optionally, the user can choose to generate electricity on the spot or go to a nearby charging pile to charge, so as to improve the remaining electric quantity of the vehicle. In this case, the controller can control the vehicle to enter the wading mode after the remaining electric quantity of the vehicle is improved to be sufficient to support the vehicle to wade.

[0052] Or optionally, the user can also choose not to wade, for example, to park by the roadside. In this case, the controller can not activate the wading mode, i.e., does not control the vehicle to enter the wading mode.

[0053] Through the above-mentioned embodiments, when the wading width is less than or equal to the width threshold, the remaining electric quantity of the vehicle is less than or equal to the first electric quantity threshold, and the wading depth is greater than the second depth threshold, it can be determined that the wading scene at this time is a narrow water surface scene and the wading depth is deep or very deep, but the remaining electric quantity at this time is insufficient to support the vehicle to wade. In this case, the controller can remind the user that the vehicle needs to generate electricity or charge on the spot to ensure that the vehicle has sufficient electric quantity to travel to a safe position.

[0054] In a possible implementation of the first aspect, the target wading mode is determined according to the wading depth and the wading width, including: when the wading width is greater than the width threshold, the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, and the wading depth is less than or equal to the second depth threshold, the target wading mode is determined as the wading mode B.

[0055] When the wading width is greater than the width threshold, it can be determined that the wading scene at this time is a wide water surface scene (such as a stream, a lake surface, an overpass, a multi-lane, etc.).

[0056] The second electric quantity threshold can be understood as the minimum remaining electric quantity required for the vehicle to travel in the wide water surface scene. When the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, it can be considered that the remaining electric quantity at this time can support the vehicle to travel in the wide water surface scene.

[0057] Through the above-mentioned embodiments, when the wading width is greater than the width threshold, the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, and the wading depth is less than or equal to the second depth threshold, it can be determined that the wading scene at this time is a wide water surface scene and the wading depth is shallow, and the remaining electric quantity at this time can support the vehicle to wade. In this case, the controller can control the vehicle to enter the wading mode B, so as to execute the control strategy corresponding to the wading mode B (i.e., the second control strategy mentioned above) on the vehicle, so as to reduce the probability of the vehicle entering water and protect the related components of the vehicle from being damaged.

[0058] In a possible implementation of the first aspect, the target wading mode is determined according to the wading depth and the wading width, including: when the wading width is greater than the width threshold, the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, and the wading depth is greater than the second depth threshold and less than or equal to the third depth threshold, the target wading mode is determined as the wading mode C.

[0059] By the above-mentioned embodiments, when the wading width is greater than the width threshold, the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, and the wading depth is greater than the second depth threshold and less than or equal to the third depth threshold, it can be determined that the current wading scene is a wide water surface scene and the wading depth is deep, and the remaining electric quantity at this time can support the vehicle to wade. In this case, the controller can control the vehicle to enter the wading mode C, so as to execute the control strategy corresponding to the wading mode C (i.e., the third control strategy mentioned above) on the vehicle, so as to reduce the probability of water entering the vehicle, protect the related components of the vehicle from being damaged, and facilitate the escape of the people in the vehicle.

[0060] In a possible implementation of the first aspect, the target wading mode is determined according to the wading depth and the wading width, including: when the wading width is greater than the width threshold, the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, and the wading depth is greater than the third depth threshold, the target wading mode is determined as the wading mode D.

[0061] By the above-mentioned embodiments, when the wading width is greater than the width threshold, the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, and the wading depth is greater than the third depth threshold, it can be determined that the current wading scene is a wide water surface scene and the wading depth is deep, and the remaining electric quantity at this time can support the vehicle to wade. In this case, the controller can control the vehicle to enter the wading mode D, so as to execute the control strategy corresponding to the wading mode D (i.e., the fourth control strategy mentioned above) on the vehicle, so as to reduce the probability of water entering the vehicle, protect the related components of the vehicle from being damaged, facilitate the escape of the people in the vehicle, and facilitate the people in the vehicle to obtain timely rescue.

[0062] In a possible implementation of the first aspect, the method further includes: when the wading width is greater than the width threshold, and the remaining electric quantity of the vehicle is less than or equal to the second electric quantity threshold, issuing a second reminder information.

[0063] The second reminder information is used to remind the user that the remaining electric quantity of the vehicle is low and is insufficient to support the vehicle to wade in the wide water surface scene.

[0064] Optionally, the user can choose to generate electricity on the spot or go to a nearby charging pile to charge, so as to improve the remaining electric quantity of the vehicle. In this case, the controller can control the vehicle to enter the wading mode after the remaining electric quantity of the vehicle is improved to be sufficient to support the vehicle to wade.

[0065] Or optionally, the user can also choose not to wade, for example, to park by the roadside. In this case, the controller can not activate the wading mode, i.e., does not control the vehicle to enter the wading mode.

[0066] In the above embodiments, when the wading width is greater than the width threshold value, and the remaining electric quantity of the vehicle is less than or equal to the second electric quantity threshold value, it can be determined that the wading scene at this time is a wide water surface scene, but the remaining electric quantity at this time is insufficient to support the vehicle to wade. In this case, the controller can remind the user that the vehicle needs to generate electricity or charge on the spot to ensure that the vehicle has sufficient electric quantity to travel to a safe position.

[0067] In a possible implementation of the first aspect, the method further includes: controlling the vehicle to exit the target wading mode when the wading depth is less than or equal to a fourth depth threshold value, and a duration that the wading depth is less than or equal to the first depth threshold value is greater than a second time.

[0068] The fourth depth threshold value can be understood as a maximum depth representing that the road surface has no accumulated water, and the second time can be understood as a minimum time representing that the road surface has no accumulated water continuously.

[0069] For example, when the wading depth of the vehicle is less than or equal to the fourth depth threshold value, it can be determined that the road surface where the vehicle is located has no accumulated water. Further, when the duration that the wading depth is less than or equal to the fourth depth threshold value is greater than the second time, it can be determined that the road surface where the vehicle is located has no accumulated water continuously, so that it can be determined that the vehicle is not in an accumulated water road section (or has passed through the accumulated water road section).

[0070] In the case that the vehicle has passed through the accumulated water road section, the controller can control the vehicle to exit the wading mode, i.e., not to control the vehicle to wade. In other words, the exit condition of the vehicle wading control is that the wading depth is less than or equal to the fourth depth threshold value, and the duration that the wading depth is less than or equal to the fourth depth threshold value is greater than the second time.

[0071] In the above embodiments, whether the vehicle has passed through the accumulated water road section can be determined by comparing the wading depth with the fourth depth threshold value, and comparing the duration that the wading depth is greater than the fourth depth threshold value with the second time. Specifically, when the wading depth is less than or equal to the fourth depth threshold value, and the duration that the wading depth is less than or equal to the fourth depth threshold value is greater than the second time, it can be determined that the vehicle has passed through the accumulated water road section, so that the vehicle is controlled to exit the wading mode, and thus the exit timing of the vehicle wading control can be determined more accurately.

[0072] In a possible implementation of the first aspect, the method further includes: controlling at least one of a wheel speed, a motor speed and a motor torque of the vehicle according to the wading depth, wherein the wheel speed is negatively correlated with the wading depth, the motor speed is negatively correlated with the wading depth, and the motor torque is positively correlated with the wading depth.

[0073] For example, as the wading depth increases, the controller can reduce the wheel speed and motor speed of the vehicle, and increase the motor torque of the vehicle. For another example, as the wading depth decreases, the controller can increase the wheel speed and motor speed of the vehicle, and decrease the motor torque of the vehicle.

[0074] Alternatively, the mapping relationship between the wading depth and the wheel speed, the motor speed and the motor torque can be calibrated through experiments. For different wading depths, the change of the ground adhesion coefficient can be determined through the wheel speed signal and the motor speed signal, and then the driving force can be reasonably distributed according to the intelligent torque distribution system to obtain the wheel speed, the motor speed and the motor torque that can ensure that the wheels do not slip and the vehicle can pass smoothly under different wading depths, so as to obtain the above mapping relationship. When the vehicle is wading, the controller can control the wheel speed, the motor speed and the motor torque of the vehicle according to the current wading depth of the vehicle and the above mapping relationship.

[0075] In the above embodiments, when the vehicle is wading, the controller can control the wheel speed, the motor speed and the motor torque of the vehicle to ensure that the wheels do not slip, so that the vehicle can pass smoothly and realize safe escape.

[0076] In a second aspect, the present application provides a vehicle wading control device, which comprises modules or units for performing the method of the first aspect or any possible implementation manner of the first aspect.

[0077] In a possible implementation manner of the second aspect, the device comprises an acquisition unit and a processing unit. The acquisition unit is configured to acquire the wading depth and the wading width of the vehicle. The processing unit is configured to determine a target wading mode according to the wading depth and the wading width, and perform a control strategy corresponding to the target wading mode on the vehicle.

[0078] In a possible implementation manner of the second aspect, when determining the target wading mode according to the wading depth and the wading width, the processing unit is specifically configured to: when the wading depth is greater than a first depth threshold, and the duration of the wading depth being greater than the first depth threshold is greater than a first time, determine the target wading mode according to the wading depth and the wading width.

[0079] In a possible implementation manner of the second aspect, the target wading mode is one of a plurality of wading modes, and the plurality of wading modes correspond to different control strategies.

[0080] Alternatively, the target wading mode is any one of a wading mode A, a wading mode B, a wading mode C and a wading mode D. For ease of description, the control strategy corresponding to the wading mode A is referred to as a first control strategy, the control strategy corresponding to the wading mode B is referred to as a second control strategy, the control strategy corresponding to the wading mode C is referred to as a third control strategy, and the control strategy corresponding to the wading mode D is referred to as a fourth control strategy.

[0081] In a possible implementation form of the second aspect, the first control strategy comprises prompting at least one of: presence of water on the road surface, entering a wet road surface, entering a waterlogged road section, driving at a reduced speed.

[0082] In a possible implementation form of the second aspect, the second control strategy comprises at least one of: controlling the vehicle speed to reduce to the first speed range, turning off the range extender, controlling the air spring to raise to the first height, turning off the active grille shutter, turning off the engine air intake control valve, turning off the active pressure relief valve, turning off the air conditioning condensate pipe control valve.

[0083] In a possible implementation form of the second aspect, the third control strategy comprises at least one of: controlling the vehicle speed to reduce to the first speed range, turning off the range extender, controlling the air spring to raise to the first height, turning off the active grille shutter, turning off the engine air intake control valve, turning off the active pressure relief valve, turning off the air conditioning condensate pipe control valve, turning off the air conditioning electrical components, controlling the air conditioning to enter an internal cycle, turning off the air conditioning air intake control valve, controlling the vehicle doors to unlock, controlling the vehicle windows to lower by the second height, opening the sunroof.

[0084] Optionally, the third control strategy can be understood as adding at least one of: turning off the air conditioning electrical components, controlling the air conditioning to enter an internal cycle, turning off the air conditioning air intake control valve, controlling the vehicle doors to unlock, controlling the vehicle windows to lower by the second height, opening the sunroof, to the second control strategy.

[0085] In a possible implementation form of the second aspect, the fourth control strategy comprises at least one of: controlling the vehicle speed to reduce to the first speed range, turning off the range extender, controlling the air spring to raise to the first height, turning off the active grille shutter, turning off the engine air intake control valve, turning off the active pressure relief valve, turning off the air conditioning condensate pipe control valve, turning off the air conditioning electrical components, controlling the air conditioning to enter an internal cycle, turning off the air conditioning air intake control valve, controlling the vehicle doors to unlock, controlling the vehicle windows to lower by the second height, opening the sunroof, activating an emergency rescue service system, prohibiting the range extender from being turned on.

[0086] Optionally, the fourth control strategy can be understood as adding at least one of: activating the emergency rescue service system, prohibiting the range extender from being turned on, to the third control strategy.

[0087] In a possible implementation form of the second aspect, when determining the target wading mode according to the wading depth and the wading width, the processing unit is specifically configured to: determine the target wading mode as the wading mode A when the wading width is less than or equal to a width threshold value, and the wading depth is less than or equal to a second depth threshold value.

[0088] In a possible implementation of the second aspect, when determining the target wading mode according to the wading depth and the wading width, the processing unit is specifically configured to: determine the target wading mode as the wading mode B when the wading width is less than or equal to the width threshold, the remaining amount of the vehicle is greater than the first amount threshold, and the wading depth is greater than the second depth threshold and less than or equal to the third depth threshold.

[0089] In a possible implementation of the second aspect, when determining the target wading mode according to the wading depth and the wading width, the processing unit is specifically configured to: determine the target wading mode as the wading mode D when the wading width is less than or equal to the width threshold, the remaining amount of the vehicle is greater than the first amount threshold, and the wading depth is greater than the third depth threshold.

[0090] In a possible implementation of the second aspect, when determining the target wading mode according to the wading depth and the wading width, the processing unit is specifically configured to: determine the target wading mode as the wading mode B when the wading width is greater than the width threshold, the remaining amount of the vehicle is greater than the second amount threshold, and the wading depth is less than or equal to the second depth threshold.

[0091] In a possible implementation of the second aspect, when determining the target wading mode according to the wading depth and the wading width, the processing unit is specifically configured to: determine the target wading mode as the wading mode C when the wading width is greater than the width threshold, the remaining amount of the vehicle is greater than the second amount threshold, and the wading depth is greater than the second depth threshold and less than or equal to the third depth threshold.

[0092] In a possible implementation of the second aspect, when determining the target wading mode according to the wading depth and the wading width, the processing unit is specifically configured to: determine the target wading mode as the wading mode D when the wading width is greater than the width threshold, the remaining amount of the vehicle is greater than the second amount threshold, and the wading depth is greater than the third depth threshold.

[0093] In a possible implementation of the second aspect, the processing unit is further configured to: when the wading width is less than or equal to the width threshold, the remaining amount of the vehicle is less than or equal to the first amount threshold, and the wading depth is greater than the second depth threshold, send the first reminder information.

[0094] In a possible implementation of the second aspect, the processing unit is further configured to: when the wading width is greater than the width threshold, and the remaining amount of the vehicle is less than or equal to the second amount threshold, send the second reminder information.

[0095] In a possible implementation of the second aspect, the processing unit is further configured to: when the wading depth is less than or equal to the fourth depth threshold, and the duration that the wading depth is less than or equal to the first depth threshold is greater than the second time, control the vehicle to exit the target wading mode.

[0096] In a possible implementation of the second aspect, the processing unit is further configured to: control at least one of the wheel speed, the motor speed and the motor torque of the vehicle according to the wading depth, wherein the wheel speed is negatively correlated with the wading depth, the motor speed is negatively correlated with the wading depth, and the motor torque is positively correlated with the wading depth.

[0097] In a third aspect, the present application provides a vehicle wading control device, comprising a processor configured to execute a computer program or instructions, when the processor executes the computer program or instructions, the method of the first aspect or any possible implementation of the first aspect is implemented. Optionally, the vehicle wading control device further comprises a memory. Optionally, the vehicle wading control device further comprises a communication interface, and the processor is coupled with the communication interface.

[0098] In a fourth aspect, the present application provides a vehicle wading control system, comprising a detection system and a controller. The detection system is configured to detect the wading depth and the wading width of the vehicle. The controller is configured to execute the method of the first aspect or any possible implementation of the first aspect.

[0099] In a possible implementation of the fourth aspect, the detection system comprises at least one of: an intelligent driving assistance system, an image sensor, a direct time-of-flight sensor, and a water depth sensor.

[0100] In a fifth aspect, the present application provides a vehicle, comprising the vehicle wading control device of the second aspect or any possible implementation of the second aspect, or the vehicle wading control device of the third aspect, or the vehicle wading control system of the fourth aspect or any possible implementation of the fourth aspect.

[0101] In a sixth aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program or instructions, when the computer program or instructions are executed, the method of the first aspect or any possible implementation of the first aspect is implemented.

[0102] In a seventh aspect, the present application provides a computer program product, comprising a computer program or instructions, when the computer program or instructions are executed, the method of the first aspect or any possible implementation of the first aspect is implemented.

[0103] Optionally, the computer program product can be a software installation package or an image package, and the computer program product can be obtained and executed on a computing device when the method is needed.

[0104] In an eighth aspect, the present application provides a chip, comprising a processor configured to execute a computer program or instructions, and when the processor executes the computer program or instructions, the chip is caused to execute the method of the first aspect or any possible implementation of the first aspect. Optionally, the chip further comprises a communication interface configured to receive or send a signal.

[0105] The technical solutions provided by the second aspect to the eighth aspect have the beneficial effects of the technical solutions of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0106] The drawings needed to be used in the embodiments of the present application will be briefly introduced as follows.

[0107] FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0108] FIG. 2 is a schematic diagram of an architecture of a vehicle wading control system provided by an embodiment of the present application;

[0109] FIG. 3 is a schematic diagram of a flow of a vehicle wading control method provided by an embodiment of the present application;

[0110] FIG. 4 is a schematic diagram of a flow of another vehicle wading control method provided by an embodiment of the present application;

[0111] FIG. 5 is a schematic diagram of a structure of a vehicle wading control device provided by an embodiment of the present application;

[0112] FIG. 6 is a schematic diagram of a structure of an electronic device provided by an embodiment of the present application;

[0113] FIG. 7 is a schematic diagram of a structure of a chip provided by an embodiment of the present application. DETAILED DESCRIPTION

[0114] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0115] In the present application, the words “exemplary” or “for example” are used to mean serving as an example, instance, or illustration. Any implementation or design solution described as “exemplary” or “for example” in the present application should not be construed as being preferred or advantageous over other implementation or design solutions. Rather, the use of the words “exemplary” or “for example” is intended to present concepts in a concrete manner.

[0116] The ordinal numbers such as "first", "second", etc. mentioned in the embodiments of the present application are used to distinguish a plurality of objects, and are not used to limit the order, time sequence, priority or importance of the plurality of objects. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device, etc. comprising a series of steps or units is not limited to the listed steps or units, but can optionally further comprise steps or units not listed, etc., or can optionally further comprise other steps or units inherent to the process, method, product or device, etc.

[0117] "Embodiments" mentioned in the present application mean that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment to other embodiments. It can be explicitly and implicitly understood by those skilled in the art that, unless otherwise specified and logically contradictory, the terms and / or descriptions between various embodiments of the present application are consistent and can be mutually referred to, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0118] It should be understood that in the present application, "at least one" means one or more, "multiple" means two or more, "at least two" means two or three and more, and "and / or" is used to describe the association between the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that there are three cases of only A, only B and A and B at the same time, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can mean a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b and c can be single or multiple.

[0119] As described in the background, the current vehicle wading control scheme only considers the wading depth and cannot finely identify the wading scene, and the corresponding control strategy is also relatively single, so the wading capability cannot be finely improved.

[0120] In view of this, the present application provides a vehicle wading control method and related device, which can identify different wading scenes in combination with the wading depth and wading width of the vehicle, and then execute different control strategies, so as to finely improve the wading capability of the vehicle.

[0121] Firstly, the application scenarios and system architecture to which the present application can be applied are exemplarily introduced below.

[0122] Please refer to FIG. 1, which is a schematic diagram of an application scenario provided by an embodiment of the present application. The application scenario is a wading scenario, i.e., a scenario in which a vehicle drives on a road with accumulated water. When the vehicle drives on the road with accumulated water, the vehicle can be controlled to wade, so as to ensure the safety of the vehicle-related components and the people inside the vehicle.

[0123] Exemplarily, the wading scenario can be a narrow water surface scenario, such as an accumulated water lane or a bridge hole caused by extreme weather (e.g., heavy rain weather, storm weather, etc.). Exemplarily, the wading scenario can be a wide water surface scenario, such as a lake, a river or a stream in a cross-country environment, etc.

[0124] Please refer to FIG. 2, which is a schematic diagram of the architecture of a vehicle wading control system provided by an embodiment of the present application. The vehicle wading control system 200 includes a detection system 201 and a controller 202. The detection system 201 is configured to detect wading information of the vehicle, which can include but is not limited to wading depth, wading width, wading length or wading area, etc. The controller 202 is in communication connection with the detection system 201. The controller 202 can acquire the wading information detected by the detection system 201, and perform corresponding wading control on the vehicle according to the wading information.

[0125] Optionally, the detection system 201 can include an intelligent driving assistance system and / or a sensor system. Exemplarily, the intelligent driving assistance system can be an advanced driver assistant system (ADAS). The sensor system can include one or more of an image sensor (e.g., a camera), a radar, a direct time of flight (DTOF) sensor, and a water depth sensor. Optionally, the camera can be a 360-degree surround view camera.

[0126] Optionally, the controller 202 can be a control unit, a control device or a control system of the vehicle. The controller 202 can also be a processor in a computing device (or a computer system) of the vehicle.

[0127] It should be understood that the system architecture shown in FIG. 2 is only an example, and the system architecture applicable to the embodiments of the present application is not limited thereto. Any architecture capable of realizing the functions of some or all of the devices described above is applicable to the embodiments of the present application. For example, the vehicle wading control method provided by the embodiments of the present application can only involve some of the devices shown in FIG. 2, and can also involve devices not shown in FIG. 2, which are not limited by the present application.

[0128] The vehicle wading control method provided by the embodiments of the present application is introduced below.

[0129] The vehicle wading control method can be applied to a vehicle, and an execution subject of the vehicle wading control method can be a vehicle controller (or a control unit, a control device, or a control system). Exemplarily, the vehicle wading control method can be applied to the vehicle wading control system 200 in FIG. 2, and an execution subject of the vehicle wading control method can be the controller 202 in FIG. 2.

[0130] It should be understood that the embodiments of the present application do not limit the type of vehicle, for example, the vehicle in the embodiments of the present application can be an electric vehicle, a fuel vehicle, a hybrid vehicle, or a range-extended vehicle, etc.

[0131] Please refer to FIG. 3, which is a flowchart of a vehicle wading control method provided by the embodiments of the present application. The vehicle wading control method includes but is not limited to the following steps S301 to S303.

[0132] S301, obtain the wading depth and the wading width of the vehicle.

[0133] The wading depth refers to the depth of the water on the road where the vehicle is located. The wading depth of the vehicle can be understood as the current wading depth of the vehicle. The wading width refers to the width of the water on the road where the vehicle is located. The wading width of the vehicle can be understood as the current wading width of the vehicle.

[0134] In a possible implementation, the vehicle is provided with a detection system for detecting the wading depth and the wading width, and the controller can obtain the wading depth and the wading width of the vehicle through the detection system.

[0135] Specifically, the detection system can periodically or non-periodically detect the wading depth and the wading width of the vehicle, and send the detected wading depth and wading width to the controller, so that the controller can obtain the wading depth and the wading width of the vehicle.

[0136] Optionally, the detection system includes an ADAS system, a camera, and a DTOF sensor. The camera and the DTOF sensor can perceive the environment around the vehicle, so as to identify that the vehicle is driving on a waterlogged road. The ADAS system can calculate the wading depth and the wading width in combination with the perception results of the camera and the DTOF sensor.

[0137] It should be understood that for the calculation of the wading depth and the wading width, any existing or future algorithm that can be used to calculate the wading depth and the wading width can be adopted, and the embodiments of the present application do not limit this.

[0138] Optionally, the detection system can further include a water depth sensor, and the water depth sensor is used to detect the wading depth of the vehicle. The number of water depth sensors can be one or more.

[0139] Specifically, one water depth sensor can correspond to one depth, when the wading depth of the vehicle reaches the depth corresponding to the water depth sensor, the water depth sensor can send a signal to the controller, so that the controller can obtain the wading depth of the vehicle.

[0140] In another possible implementation, the controller can obtain the wading depth and the wading width of the vehicle through network information.

[0141] Illustratively, the network information can include weather forecast information. For example, in heavy rain weather, the weather forecast information can predict the location of the waterlogged road section and the water depth of the road, so that when the vehicle drives to the waterlogged road section caused by heavy rain, the controller can obtain the wading depth of the vehicle according to the weather forecast information.

[0142] Further illustratively, the network information can include geographic information. For example, the geographic information can indicate the location and depth of a lake, river or stream, so that when the vehicle needs to pass through a certain lake, river or stream, the controller can obtain the wading depth of the vehicle according to the geographic information.

[0143] S302, determining a target wading mode according to the wading depth and the wading width.

[0144] The wading mode can be understood as the working mode of the vehicle when wading, that is, the vehicle can enter the wading mode when driving on the road with water. Alternatively, the wading mode can have multiple modes, each wading mode has a corresponding control strategy, and different wading modes can correspond to different control strategies. The control strategy in the embodiment of the application can be understood as a control strategy related to vehicle wading, which is used to ensure the safety of vehicle wading. Different control strategies improve the wading ability on the basis of ensuring the safety of wading, and can also bring better user experience.

[0145] The wading depth and the wading width can be used to identify the wading scene, and the vehicle can enter different wading modes in different wading scenes. The target wading mode refers to the wading mode determined according to the current wading depth and the wading width of the vehicle, which can also be understood as the wading mode suitable for the current wading scene of the vehicle, or can also be understood as the wading mode matched with the current wading scene of the vehicle.

[0146] Specifically, after the controller obtains the current wading depth and the wading width of the vehicle, it can identify the current wading scene of the vehicle according to the current wading depth and the wading width of the vehicle, so as to determine the wading mode suitable for the current wading scene of the vehicle as the target wading mode.

[0147] S303, executing the control strategy corresponding to the target wading mode on the vehicle.

[0148] Specifically, after the controller determines the target wading mode, the controller can control the vehicle to enter the target wading mode, so as to execute the control strategy corresponding to the target wading mode on the vehicle.

[0149] By the embodiments of the present application, the wading scene of the vehicle (for example, whether it is a narrow water surface scene or a wide water surface scene) can be finely identified in combination with the wading depth and the wading width of the vehicle, and then the target wading mode matched with the wading scene of the vehicle can be determined, and the control strategy corresponding to the target wading mode which is also matched with the wading scene of the vehicle can be executed on the vehicle. For example, the control strategies in the narrow water surface scenes of different wading depths can be different, the control strategies in the wide water surface scenes of different wading depths can be different, and the control strategies in the narrow water surface scenes and the wide water surface scenes of the same wading depth can also be different. In this way, different control strategies can be executed on the vehicle in the wading scenes of different wading depths and / or wading depths, so as to finely improve the wading capability of the vehicle, and then improve the safety and stability of the vehicle in wading.

[0150] In a possible implementation, the target wading mode is determined according to the wading depth and the wading width, and specifically can include: in a case where the wading depth is greater than a first depth threshold, and a duration for which the wading depth is greater than the first depth threshold is greater than a first time, the target wading mode is determined according to the wading depth and the wading width.

[0151] The first depth threshold can be understood as a minimum depth representing that the road surface has accumulated water, and the first time can be understood as a minimum time representing that the road surface has accumulated water continuously.

[0152] For example, when the wading depth of the vehicle is greater than the first depth threshold, it can be judged that the road surface where the vehicle is located has accumulated water, and further, when the duration for which the wading depth is greater than the first depth threshold is greater than the first time, it can be judged that the road surface where the vehicle is located has accumulated water continuously, so that it can be judged that the vehicle is in an accumulated water road section.

[0153] For another example, when the wading depth of the vehicle is less than or equal to the first depth threshold, it can be judged that the road surface where the vehicle is located does not have accumulated water, so that it can be judged that the vehicle is not in an accumulated water road section.

[0154] For another example, when the wading depth of the vehicle is greater than the first depth threshold, but the duration for which the wading depth is greater than the first depth threshold is less than or equal to the first time, it can be judged that the road surface where the vehicle is located has accumulated water but does not have accumulated water continuously, so that it can be judged that the vehicle is not in an accumulated water road section.

[0155] In a case where the vehicle is in an accumulated water road section, the controller can perform wading control (for example, including determining the target wading mode and executing the corresponding control strategy) on the vehicle. In a case where the vehicle is not in an accumulated water road section, the controller can not perform wading control on the vehicle.

[0156] In other words, the triggering condition of the vehicle wading control can be that the wading depth is greater than the first depth threshold, and the duration that the wading depth is greater than the first depth threshold is greater than the first time.

[0157] In the above embodiment, whether the vehicle is in the flooded road section can be determined by comparing the wading depth with the first depth threshold, and comparing the duration that the wading depth is greater than the first depth threshold with the first time. Specifically, when the wading depth is greater than the first depth threshold, and the duration that the wading depth is greater than the first depth threshold is greater than the first time, it can be determined that the vehicle is in the flooded road section, so that the vehicle is controlled to wade, so that the triggering time of the vehicle wading control can be determined more accurately.

[0158] It should be understood that the present application does not limit the specific values of the first depth threshold and the first time. For example, the first depth threshold can be 50 mm, and the first time can be 5 s.

[0159] It should be noted that in other possible embodiments, the above "greater than" can be replaced by "greater than or equal to", and the above "less than or equal to" can be replaced by "less than". For example, the vehicle can be determined to be in the flooded road section when the wading depth is greater than or equal to the first depth threshold, and the duration that the wading depth is greater than or equal to the first depth threshold is greater than or equal to the first time. For another example, the vehicle can be determined not to be in the flooded road section when the wading depth is less than the first depth threshold. For another example, the vehicle can be determined not to be in the flooded road section when the wading depth of the vehicle is greater than or equal to the first depth threshold, but the duration that the wading depth is greater than or equal to the first depth threshold is less than the first time. It should be understood that similar replacement methods in the following embodiments can be referred to the above description, and the following will not be repeated.

[0160] In a possible embodiment, the target wading mode is one of a plurality of wading modes, and the plurality of wading modes correspond to different control strategies.

[0161] The above plurality of wading modes can be applied to different wading scenarios, so that different control strategies can be executed on the vehicle in different wading scenarios, which is beneficial to improve the wading ability of the vehicle in detail.

[0162] Optionally, the plurality of wading modes and the control strategy corresponding to each wading mode can be predefined.

[0163] In a possible embodiment, the plurality of wading modes includes a wading mode A, a wading mode B, a wading mode C, and a wading mode D. Alternatively, the target wading mode can be any one of the wading mode A, the wading mode B, the wading mode C, and the wading mode D.

[0164] For the convenience of description, the control strategy corresponding to the wading mode A is referred to as a first control strategy, the control strategy corresponding to the wading mode B is referred to as a second control strategy, the control strategy corresponding to the wading mode C is referred to as a third control strategy, and the control strategy corresponding to the wading mode D is referred to as a fourth control strategy.

[0165] The first control strategy, the second control strategy, the third control strategy and the fourth control strategy are described below.

[0166] In a possible implementation, the first control strategy includes prompting at least one of the following: the road surface has water, entering a slippery road surface, entering a wading road section, and driving at a reduced speed.

[0167] For example, after the vehicle enters the wading mode A, the user can be reminded by the screen of the vehicle machine or the voice device that the road surface has water, that the vehicle enters a slippery road surface, that the vehicle enters a wading road section, and that the vehicle drives at a reduced speed.

[0168] It can be understood that the first control strategy can be applied to various types of vehicles such as electric vehicles, fuel vehicles, hybrid vehicles or extended-range vehicles.

[0169] In the above implementation, when the vehicle wades, the first control strategy can issue a prompt so that the user knows that the vehicle enters a wading road section in time and then pays attention to wading safety.

[0170] It should be understood that the above prompt information is only several examples of the first control strategy, and the first control strategy can include any one or more of the above prompt information. In other possible implementations, in addition to the above prompt information, the second control strategy can also include prompting more information, and the embodiments of the present application do not limit this.

[0171] Optionally, the first control strategy can be applied to a wading scene with a relatively shallow wading depth and a relatively narrow wading width.

[0172] In a possible implementation, the second control strategy can include at least one of the following:

[0173] The first item is to control the vehicle speed to decrease to a first speed range.

[0174] The first speed range refers to a speed range suitable for a wading scene. It can be understood that the speed suitable for the wading scene is lower than the normal driving speed. For example, the first speed range can be 5-8 km / h. Controlling the vehicle speed to decrease to the first speed range can reduce the splashing of water when the vehicle wades, reduce the surge height, and thus reduce the probability of water entering the vehicle.

[0175] The second item is to turn off the range extender.

[0176] It can be understood that this item is applicable to extended-range vehicles. In an extended-range vehicle, an extender is provided. The extender is closed to make the vehicle enter a pure electric mode, so as to protect the extender from being damaged due to water ingress.

[0177] Optionally, the controller can determine whether the vehicle is provided with an extender. If the vehicle is provided with an extender, the extender is closed to make the vehicle enter a pure electric mode.

[0178] The third item is to control the air spring to rise to a first height.

[0179] It can be understood that this item is applicable to a vehicle provided with an air spring. The first height can be a maximum height to which the air spring can rise. Controlling the air spring to rise to the first height can raise the vehicle body, thereby reducing the probability of water ingress.

[0180] Optionally, the controller can determine whether the vehicle is provided with an air spring. If the vehicle is provided with an air spring, the air spring is controlled to rise to the first height. Optionally, the controller can also control the air spring tank to keep full and prohibit air suction, so as to prevent water from entering the vehicle through the air suction port of the air spring tank.

[0181] The fourth item is to close an active grille shutter (AGS).

[0182] It can be understood that this item is applicable to a vehicle provided with an active grille shutter. Closing the active grille shutter can be to set the opening degree of the active grille shutter to zero, thereby preventing water from entering the vehicle through the active grille shutter.

[0183] Optionally, the controller can determine whether the vehicle is provided with an active grille shutter. If the vehicle is provided with an active grille shutter, the active grille shutter is closed.

[0184] The fifth item is to close an engine air inlet control valve.

[0185] It can be understood that this item is applicable to a vehicle provided with an engine air inlet control valve. Closing the engine air inlet control valve can prevent water from entering the vehicle through the engine air inlet control valve.

[0186] Optionally, the controller can determine whether the vehicle is provided with an engine air inlet control valve. If the vehicle is provided with an engine air inlet control valve, the engine air inlet control valve is closed.

[0187] The sixth item is to close an active pressure relief valve.

[0188] It can be understood that this item is applicable to a vehicle provided with an active pressure relief valve. Closing the active pressure relief valve can prevent water from entering the vehicle through the active pressure relief valve.

[0189] Optionally, the controller can determine whether the vehicle has an active pressure relief valve, and if the vehicle has an active pressure relief valve, the controller can close the active pressure relief valve.

[0190] Seventh, close the air conditioning condensate pipe control valve.

[0191] It can be understood that this item is applicable to vehicles provided with an air conditioning condensate pipe control valve. Closing the air conditioning condensate pipe control valve can prevent water from entering the vehicle from the air conditioning condensate pipe control valve.

[0192] Optionally, the controller can determine whether the vehicle has an air conditioning condensate pipe control valve, and if the vehicle has an air conditioning condensate pipe control valve, the controller can close the air conditioning condensate pipe control valve.

[0193] In the above embodiments, when the vehicle is wading, the second control strategy can be used to reduce the vehicle speed, raise the vehicle body, and close the range extender, the active air intake grille, the engine air inlet control valve, the active pressure relief valve, the air conditioning condensate pipe control valve, and other components that may be waterlogged, so as to reduce the probability of water entering the vehicle and protect the related components of the vehicle from being damaged.

[0194] It should be understood that the above first to seventh items are only several examples of the second control strategy, and the second control strategy can include any one or more of the above first to seventh items. In other possible embodiments, in addition to the above first to seventh items, the second control strategy can also include other more controls, and the embodiments of the present application do not limit this.

[0195] Optionally, compared with the above first control strategy, the second control strategy can be applied to a wading scenario with a deeper wading depth and / or a wider wading width.

[0196] In one possible embodiment, the third control strategy can include at least one of the following:

[0197] First, control the vehicle speed to reduce to a first speed range.

[0198] Second, close the range extender.

[0199] Third, control the air spring to rise to a first height.

[0200] Fourth, close the active air intake grille.

[0201] Fifth, close the engine air inlet control valve.

[0202] Sixth, close the active pressure relief valve.

[0203] Seventh, close the air conditioning condensate pipe control valve.

[0204] For the detailed description of the first to seventh items, reference can be made to the relevant description in the foregoing embodiments, which will not be repeated here.

[0205] The eighth item is to turn off the air conditioner electrical components.

[0206] It can be understood that this item is applicable to vehicles provided with air conditioners. Turning off the air conditioner electrical components can protect the air conditioner electrical components from being damaged due to water ingress.

[0207] Optionally, the controller can determine whether the vehicle is provided with an air conditioner, and if the vehicle is provided with an air conditioner, turn off the air conditioner electrical components.

[0208] The ninth item is to control the air conditioner to enter an internal circulation.

[0209] It can be understood that this item is applicable to vehicles provided with air conditioners. Controlling the air conditioner to enter an internal circulation can prevent water from entering the vehicle through the air exchange channel between the inside and outside of the vehicle.

[0210] Optionally, the controller can determine whether the vehicle is provided with an air conditioner, and if the vehicle is provided with an air conditioner, control the air conditioner to enter an internal circulation.

[0211] The tenth item is to turn off the air conditioner air inlet control valve.

[0212] It can be understood that this item is applicable to vehicles provided with air conditioner air inlet control valves. Turning off the air conditioner air inlet control valve can prevent water from entering the vehicle from the air conditioner air inlet control valve.

[0213] Optionally, the controller can determine whether the vehicle is provided with an air conditioner air inlet control valve, and if the vehicle is provided with an air conditioner air inlet control valve, turn off the air conditioner air inlet control valve.

[0214] The eleventh item is to control the vehicle door to be unlocked.

[0215] Controlling the vehicle door to be unlocked can facilitate the people inside the vehicle to escape through the vehicle door in an emergency.

[0216] The twelfth item is to control the vehicle window to be lowered to a second height.

[0217] The second height refers to the height to which the vehicle window is lowered. Exemplarily, the second height can be 20-50 mm. Controlling the vehicle window to be lowered to the second height can facilitate the people inside the vehicle to escape through the vehicle window in an emergency.

[0218] The thirteenth item is to open the sunroof.

[0219] It can be understood that this item is applicable to vehicles provided with sunroofs. Opening the sunroof can facilitate the people inside the vehicle to escape through the sunroof in an emergency.

[0220] Optionally, the controller can determine whether the vehicle is provided with a sunroof, and if the vehicle is provided with a sunroof, open the sunroof.

[0221] In the above embodiments, when the vehicle is wading, the third control strategy can be used to reduce the vehicle speed, raise the vehicle body, close the range extender, the active grille shutter, the engine air intake control valve, the active pressure relief valve, the air conditioning condensate pipe control valve, the air conditioning electrical components, the air conditioning air intake control valve, and other components that are likely to be flooded, and unlock the vehicle doors, lower the vehicle windows, and open the sunroof, thereby reducing the probability of the vehicle being flooded, protecting the vehicle components from damage, and facilitating the escape of the occupants.

[0222] It should be understood that the above first to thirteenth items are only several examples of the third control strategy, and the third control strategy can include any one or more of the above first to thirteenth items. In other possible embodiments, in addition to the above first to thirteenth items, the third control strategy can include other more controls, which are not limited by the embodiments of the present application.

[0223] Optionally, the third control strategy can be understood as adding any one or more of the above eighth to thirteenth items on the basis of the above second control strategy (including any one or more of the above first to seventh items). Compared with the above second control strategy, the third control strategy can be applied to a wading scenario with a deeper wading depth and / or a wider wading width.

[0224] In one possible embodiment, the fourth control strategy can include at least one of the following:

[0225] First, control the vehicle speed to reduce to a first speed range.

[0226] Second, close the range extender.

[0227] Third, control the air spring to rise to a first height.

[0228] Fourth, close the active grille shutter.

[0229] Fifth, close the engine air intake control valve.

[0230] Sixth, close the active pressure relief valve.

[0231] Seventh, close the air conditioning condensate pipe control valve.

[0232] Eighth, close the air conditioning electrical components.

[0233] Ninth, control the air conditioning to enter the internal circulation.

[0234] Tenth, close the air conditioning air intake control valve.

[0235] Eleventh, control the vehicle doors to be unlocked.

[0236] Twelfth, control the window to descend a second height.

[0237] Thirteenth, open the sunroof.

[0238] For the detailed description of the above first to thirteenth items, the relevant description in the foregoing embodiments can be referred to, and the description is not repeated here.

[0239] Fourteenth, activate the emergency call (E-Call) system.

[0240] It can be understood that this item is applicable to a vehicle provided with an emergency call system. The emergency call system can send driving information to a rescue center, or call the rescue center, so that the people in the vehicle can obtain timely rescue in an emergency.

[0241] Optionally, the controller can determine whether the vehicle is provided with an emergency call system, and if the vehicle is provided with an emergency call system, activate the emergency call system.

[0242] Fifteenth, prohibit the range extender from being started.

[0243] It can be understood that this item is applicable to a range-extended vehicle. Prohibiting the range extender from being started can also be understood as keeping the range extender closed, so that the vehicle enters a forced pure electric mode, thereby protecting the range extender from being damaged due to water ingress. Exemplarily, the closed state of the range extender can be maintained until the vehicle travels to a safe location (for example, a repair center).

[0244] Optionally, the controller can determine whether the vehicle is provided with a range extender, and if the vehicle is provided with a range extender, prohibit the range extender from being started, so that the vehicle enters a forced pure electric mode.

[0245] In the above embodiments, when the vehicle is wading, the fourth control strategy can be used to reduce the vehicle speed, raise the vehicle body, close the range extender, the active grille shutter, the engine intake control valve, the active pressure relief valve, the air conditioning condensate pipe control valve, the air conditioning electrical components, the air conditioning intake control valve, and other components that may be water ingress, unlock the doors, lower the windows, and open the sunroof, and activate the emergency call system and prohibit the range extender from being started. In this way, the probability of water ingress of the vehicle can be reduced, the related components of the vehicle can be protected from being damaged, the people in the vehicle can escape, and the people in the vehicle can obtain timely rescue.

[0246] It should be understood that the above first to fifteenth items are only several examples of the fourth control strategy, and the fourth control strategy can include any one or more of the above first to fifteenth items. In other possible embodiments, in addition to the above first to fifteenth items, the fourth control strategy can also include other more controls, and the embodiments of the present application do not limit this.

[0247] Optionally, the fourth control strategy can be understood as adding any one or more of the fourteenth item to the fifteenth item on the basis of the third control strategy (including any one or more of the first to thirteenth items). Compared with the third control strategy, the fourth control strategy can be applied to a wading scene with a deeper wading depth and / or a wider wading width.

[0248] The judgment conditions of the above-mentioned wading mode A, wading mode B, wading mode C and wading mode D are described below.

[0249] First, the related terms (width threshold, second depth threshold, third depth threshold, remaining power, first power threshold, second power threshold) referred to later are explained.

[0250] The width threshold can be understood as a width demarcation value for distinguishing between a narrow water surface scene and a wide water surface scene. When the wading width is less than or equal to the width threshold, the wading scene at this time can be judged to be a narrow water surface scene (such as a bridge hole). When the wading width is greater than the width threshold, the wading scene at this time can be judged to be a wide water surface scene (such as a stream, a lake, an overpass, multiple lanes, etc.).

[0251] Optionally, the wading depth is divided into three levels, which are respectively referred to as the first level, the second level and the third level, and the wading depths corresponding to the first level, the second level and the third level are successively increased. In other words, the wading depth corresponding to the first level is shallow, the wading depth corresponding to the second level is deep, and the wading depth corresponding to the third level is very deep.

[0252] The second depth threshold can be understood as a depth demarcation value between the first level and the second level. The third depth threshold can be understood as a depth demarcation value between the second level and the third level. It can be understood that the third depth threshold is greater than the second depth threshold. The second depth threshold can be greater than the first depth threshold.

[0253] When the wading depth is less than or equal to the second depth threshold, the wading depth at this time can be judged to be the first level, that is, it can be considered that the wading depth at this time is shallow. When the wading depth is greater than the second depth threshold and less than or equal to the third depth threshold, the wading depth at this time can be judged to be the second level, that is, it can be considered that the wading depth at this time is deep. When the wading depth is greater than the third depth threshold, the wading depth at this time can be judged to be the third level, that is, it can be considered that the wading depth at this time is very deep.

[0254] The remaining power can be represented by the state of charge (SOC), and the value of the SOC ranges from 0 to 100%. The greater the value of the SOC, the more the remaining power.

[0255] The first electric quantity threshold can be understood as the minimum remaining electric quantity required for the vehicle to travel in the narrow water surface scenario with the wading depth greater than the second depth threshold. When the remaining electric quantity of the vehicle is greater than the first electric quantity threshold, it can be considered that the remaining electric quantity at this time is sufficient to support the vehicle to travel in the narrow water surface scenario with the wading depth greater than the second depth threshold, or that the remaining electric quantity at this time is sufficient to support the vehicle to travel in the narrow water surface scenario with the wading depth being deep or very deep. When the remaining electric quantity of the vehicle is less than or equal to the first electric quantity threshold, it can be considered that the remaining electric quantity at this time is insufficient to support the vehicle to travel in the narrow water surface scenario with the wading depth greater than the second depth threshold, or that the remaining electric quantity at this time is insufficient to support the vehicle to travel in the narrow water surface scenario with the wading depth being deep or very deep.

[0256] The second electric quantity threshold can be understood as the minimum remaining electric quantity required for the vehicle to travel in the wide water surface scenario. When the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, it can be considered that the remaining electric quantity at this time is sufficient to support the vehicle to travel in the wide water surface scenario. When the remaining electric quantity of the vehicle is less than or equal to the second electric quantity threshold, it can be considered that the remaining electric quantity at this time is insufficient to support the vehicle to travel in the wide water surface scenario.

[0257] Optionally, the first electric quantity threshold and the second electric quantity threshold can be the same or different. In a possible example, considering that the environment of the wide water surface scenario is more complex than that of the narrow water surface scenario, so that the vehicle requires more electric quantity to travel in the wide water surface scenario than in the narrow water surface scenario, therefore the second electric quantity threshold is greater than the first electric quantity threshold.

[0258] It should be understood that the specific values of the width threshold, the second depth threshold, the third depth threshold, the first electric quantity threshold and the second electric quantity threshold are not limited in the embodiments of the present application. Exemplarily, the value range of the width threshold is 4-6 m, the second depth threshold is 500 mm, the third depth threshold is 700 mm, the first electric quantity threshold is 25%, and the second electric quantity threshold is 25%.

[0259] In a possible implementation, when the wading width is less than or equal to the width threshold, and the wading depth is less than or equal to the second depth threshold, it is determined that the target wading mode is the wading mode A.

[0260] Through the above implementation, when the wading width is less than or equal to the width threshold, and the wading depth is less than or equal to the second depth threshold, it can be judged that the wading scenario at this time is the narrow water surface scenario and the wading depth is shallow. In this case, the controller can control the vehicle to enter the wading mode A, so as to execute the control strategy corresponding to the wading mode A (i.e. the first control strategy) on the vehicle, so that the user knows in time that the vehicle enters the waterlogged road section, and then pays attention to the wading safety.

[0261] In another possible implementation, when the wading width is less than or equal to the width threshold, the remaining electric quantity of the vehicle is greater than the first electric quantity threshold, and the wading depth is greater than the second depth threshold and less than or equal to the third depth threshold, the target wading mode is determined as the wading mode B.

[0262] Through the above implementation, when the wading width is less than or equal to the width threshold, the remaining electric quantity of the vehicle is greater than the first electric quantity threshold, and the wading depth is greater than the second depth threshold and less than or equal to the third depth threshold, it can be determined that the wading scene at this time is a narrow water surface scene and the wading depth is deep, and the remaining electric quantity at this time is sufficient to support the vehicle to wade. In this case, the controller can control the vehicle to enter the wading mode B, so as to execute the control strategy corresponding to the wading mode B (i.e., the second control strategy described above) on the vehicle, so as to reduce the probability of water entering the vehicle and protect the related components of the vehicle from being damaged.

[0263] In yet another possible implementation, when the wading width is less than or equal to the width threshold, the remaining electric quantity of the vehicle is greater than the first electric quantity threshold, and the wading depth is greater than the third depth threshold, the target wading mode is determined as the wading mode D.

[0264] Through the above implementation, when the wading width is less than or equal to the width threshold, the remaining electric quantity of the vehicle is greater than the first electric quantity threshold, and the wading depth is greater than the third depth threshold, it can be determined that the wading scene at this time is a narrow water surface scene and the wading depth is deep, and the remaining electric quantity at this time is sufficient to support the vehicle to wade. In this case, the controller can control the vehicle to enter the wading mode D, so as to execute the control strategy corresponding to the wading mode D (i.e., the fourth control strategy described above) on the vehicle, so as to reduce the probability of water entering the vehicle, protect the related components of the vehicle from being damaged, facilitate the personnel in the vehicle to escape, and be beneficial to the personnel in the vehicle to obtain rescue in time.

[0265] In yet another possible implementation, when the wading width is less than or equal to the width threshold, the remaining electric quantity of the vehicle is less than or equal to the first electric quantity threshold, and the wading depth is greater than the second depth threshold, the first reminding information is sent.

[0266] The first reminding information is used to remind the user that the remaining electric quantity of the vehicle is low and is insufficient to support the vehicle to wade in the narrow water surface scene with deep or very deep wading depth.

[0267] Optionally, the user can choose to generate electricity on the spot or go to a nearby charging pile to charge, so as to improve the remaining electric quantity of the vehicle. In this case, the controller can control the vehicle to enter the wading mode after the remaining electric quantity of the vehicle is improved to be sufficient to support the vehicle to wade.

[0268] Or optionally, the user can also choose not to wade, for example, to park by the roadside. In this case, the controller can not activate the wading mode, that is, does not control the vehicle to enter the wading mode.

[0269] Through the above embodiments, when the wading width is less than or equal to the width threshold, the remaining electric quantity of the vehicle is less than or equal to the first electric quantity threshold, and the wading depth is greater than the second depth threshold, it can be determined that the wading scene at this time is a narrow water surface scene and the wading depth is deep or very deep, but the remaining electric quantity at this time is insufficient to support the vehicle to wade. In this case, the controller can remind the user that the vehicle needs to generate electricity or charge on the spot to ensure that the vehicle has sufficient electric quantity to travel to a safe position.

[0270] In yet another possible implementation, when the wading width is greater than the width threshold, the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, and the wading depth is less than or equal to the second depth threshold, it is determined that the target wading mode is the wading mode B.

[0271] Through the above embodiments, when the wading width is greater than the width threshold, the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, and the wading depth is less than or equal to the second depth threshold, it can be determined that the wading scene at this time is a wide water surface scene and the wading depth is shallow, and the remaining electric quantity at this time can support the vehicle to wade. In this case, the controller can control the vehicle to enter the wading mode B, so as to execute the control strategy corresponding to the wading mode B (i.e., the second control strategy described above) on the vehicle, so as to reduce the probability of the vehicle entering water and protect the related components of the vehicle from being damaged.

[0272] In yet another possible implementation, when the wading width is greater than the width threshold, the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, and the wading depth is greater than the second depth threshold and less than or equal to the third depth threshold, it is determined that the target wading mode is the wading mode C.

[0273] Through the above embodiments, when the wading width is greater than the width threshold, the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, and the wading depth is greater than the second depth threshold and less than or equal to the third depth threshold, it can be determined that the wading scene at this time is a wide water surface scene and the wading depth is deep, and the remaining electric quantity at this time can support the vehicle to wade. In this case, the controller can control the vehicle to enter the wading mode C, so as to execute the control strategy corresponding to the wading mode C (i.e., the third control strategy described above) on the vehicle, so as to reduce the probability of the vehicle entering water, protect the related components of the vehicle from being damaged, and facilitate the escape of the people in the vehicle.

[0274] In yet another possible implementation, when the wading width is greater than the width threshold, the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, and the wading depth is greater than the third depth threshold, it is determined that the target wading mode is the wading mode D.

[0275] By the above embodiments, when the wading width is greater than the width threshold, the remaining electric quantity of the vehicle is greater than the second electric quantity threshold, and the wading depth is greater than the third depth threshold, it can be determined that the wading scene at this time is a wide water surface scene and the wading depth is very deep, and the remaining electric quantity at this time can support the vehicle to wade. In this case, the controller can control the vehicle to enter the wading mode D, so as to execute the control strategy corresponding to the wading mode D (i.e., the fourth control strategy described above) on the vehicle, so as to reduce the probability of water entering the vehicle, protect the related components of the vehicle from being damaged, facilitate the personnel in the vehicle to escape, and be beneficial to the personnel in the vehicle to obtain rescue in time.

[0276] In yet another possible implementation, when the wading width is greater than the width threshold, and the remaining electric quantity of the vehicle is less than or equal to the second electric quantity threshold, the second reminder information is sent.

[0277] The second reminder information is used to remind the user that the remaining electric quantity of the vehicle is low and is insufficient to support the vehicle to wade in the wide water surface scene.

[0278] Optionally, the user can choose to generate electricity on the spot or charge at a nearby charging pile to increase the remaining electric quantity of the vehicle. In this case, the controller can control the vehicle to enter the wading mode after the remaining electric quantity of the vehicle is increased to be sufficient to support the vehicle to wade.

[0279] Or optionally, the user can also choose not to wade and go on, for example, to park by the roadside. In this case, the controller can not activate the wading mode, i.e., does not control the vehicle to enter the wading mode.

[0280] By the above embodiments, when the wading width is greater than the width threshold, and the remaining electric quantity of the vehicle is less than or equal to the second electric quantity threshold, it can be determined that the wading scene at this time is a wide water surface scene, but the remaining electric quantity at this time is insufficient to support the vehicle to wade. In this case, the controller can remind the user that the vehicle needs to generate electricity on the spot or be charged to ensure that the vehicle has sufficient electric quantity to travel to a safe position.

[0281] In a possible implementation, the vehicle is controlled to exit the target wading mode when the wading depth is less than or equal to the fourth depth threshold, and the duration for which the wading depth is less than or equal to the fourth depth threshold is greater than the second time.

[0282] The fourth depth threshold can be understood as a maximum depth representing that the road surface has no accumulated water, and the second time can be understood as a minimum time representing that the road surface continuously has no accumulated water.

[0283] Exemplarily, when the wading depth of the vehicle is less than or equal to the fourth depth threshold, it can be determined that the road surface where the vehicle is located is free of water, and further, when the duration that the wading depth is less than or equal to the fourth depth threshold is greater than the second time, it can be determined that the road surface where the vehicle is located is continuously free of water, and thus it can be determined that the vehicle is not in the waterlogged road section (or has passed through the waterlogged road section).

[0284] In the case that the vehicle has passed through the waterlogged road section, the controller can control the vehicle to exit the wading mode, i.e., not to perform wading control on the vehicle. In other words, the exit condition of the vehicle wading control is that the wading depth is less than or equal to the fourth depth threshold, and the duration that the wading depth is less than or equal to the fourth depth threshold is greater than the second time.

[0285] In the above embodiment, whether the vehicle has passed through the waterlogged road section can be determined by comparing the wading depth with the fourth depth threshold, and comparing the duration that the wading depth is greater than the fourth depth threshold with the second time. Specifically, when the wading depth is less than or equal to the fourth depth threshold, and the duration that the wading depth is less than or equal to the fourth depth threshold is greater than the second time, it can be determined that the vehicle has passed through the waterlogged road section, and thus the vehicle is controlled to exit the wading mode, so that the exit timing of the vehicle wading control can be determined more accurately.

[0286] It should be understood that the present application does not limit the specific values of the fourth depth threshold and the second time. The fourth depth threshold can be the same as or different from the first depth threshold. The second time can be the same as or different from the first time.

[0287] In a possible implementation, the controller can further control at least one of the wheel speed, the motor speed and the motor torque of the vehicle according to the wading depth, wherein the wheel speed is negatively correlated with the wading depth, the motor speed is negatively correlated with the wading depth, and the motor torque is positively correlated with the wading depth.

[0288] For example, as the wading depth increases, the controller can reduce the wheel speed and the motor speed of the vehicle, and increase the motor torque of the vehicle. For another example, as the wading depth decreases, the controller can increase the wheel speed and the motor speed of the vehicle, and reduce the motor torque of the vehicle.

[0289] Optionally, the mapping relationship between the wading depth and the wheel speed, the motor speed and the motor torque can be calibrated through experiments. For different wading depths, the change of the ground adhesion coefficient can be determined through the wheel speed signal and the motor speed signal, and then the driving force can be reasonably distributed according to the intelligent torque distribution system to obtain the wheel speed, the motor speed and the motor torque that can ensure that the wheels do not slip and the vehicle can pass smoothly under different wading depths, so as to obtain the above mapping relationship. When the vehicle wades, the controller can control the wheel speed, the motor speed and the motor torque of the vehicle according to the current wading depth of the vehicle and the above mapping relationship.

[0290] In the above embodiment, when the vehicle wades, the controller can control the wheel speed, the motor speed and the motor torque of the vehicle to ensure that the wheels do not slip, so that the vehicle can pass smoothly and realize safe escape.

[0291] Please refer to FIG. 4, which is a flowchart of another vehicle wading control method provided by an embodiment of the present application. The vehicle wading control method includes but is not limited to the following steps S401 to S411.

[0292] S401, the wading depth and the wading width of the vehicle are obtained.

[0293] S402, it is determined whether the trigger condition is met. The trigger condition is that the wading depth is greater than a first depth threshold, and the duration that the wading depth is greater than the first depth threshold is greater than a first time. If not, the wading mode is not activated. If yes, step S403 is entered.

[0294] S403, it is determined whether the wading width is less than or equal to a width threshold. If yes, steps S404 to S407 are entered. If not, steps S408 to S411 are entered.

[0295] S404, it is determined whether the wading depth is less than or equal to a second depth threshold. If yes, the vehicle is controlled to enter a wading mode A. If not, step S405 is entered.

[0296] S405, it is determined whether the remaining power of the vehicle is greater than a first power threshold. If not, step S406 is entered. If yes, step S407 is entered.

[0297] S406, a first reminder information is sent out.

[0298] S407, it is determined whether the wading depth is less than or equal to a third depth threshold. If yes, the vehicle is controlled to enter a wading mode B. If not, the vehicle is controlled to enter a wading mode D.

[0299] S408, it is determined whether the remaining power of the vehicle is greater than a second power threshold. If not, step S409 is entered. If yes, step S410 is entered.

[0300] S409, issuing a second reminder information.

[0301] S410, judging whether the wading depth is less than or equal to a second depth threshold. If yes, the vehicle is controlled to enter the wading mode B. If no, step S411 is entered.

[0302] S411, judging whether the wading depth is less than or equal to a third depth threshold. If yes, the vehicle is controlled to enter the wading mode C. If no, the vehicle is controlled to enter the wading mode D.

[0303] For the specific description of the above steps S401 to S411, the relevant description of the foregoing embodiments can be referred to, which will not be repeated here. Through the embodiments of the present application, the wading scene of the vehicle can be finely identified in combination with the wading depth and the wading width of the vehicle, and then the wading mode matched with the wading scene of the vehicle is determined, and the corresponding control strategy is executed on the vehicle, which is also matched with the wading scene of the vehicle. In this way, different control strategies can be executed on the vehicle in different wading scenes, so as to finely improve the wading capability of the vehicle, and then improve the safety and stability of the vehicle wading. In addition, the judgment of the remaining power of the vehicle is introduced, which is beneficial to ensure that the vehicle has enough power to drive to a safe position, thereby further protecting the safety of the vehicle and the people in the vehicle.

[0304] It should be noted that the embodiments of the present application are not limited to identifying the narrow water surface scene and the wide water surface scene through the wading width, and in other possible implementation manners, the narrow water surface scene and the wide water surface scene can also be identified through other wading information. For example, the narrow water surface scene and the wide water surface scene can be identified through the wading area. For another example, the narrow water surface scene and the wide water surface scene can be identified in combination with the wading width and the wading area.

[0305] Exemplarily, the controller can obtain the wading area of the vehicle. When the wading area is less than or equal to an area threshold, it can be judged that the wading scene at this time is the narrow water surface scene. When the wading area is greater than the area threshold, it can be judged that the wading scene at this time is the wide water surface scene.

[0306] Wherein, the wading area can be calculated according to the wading width and the wading length, and the wading length can be obtained in the manner as described above for the wading depth and the wading width. The area threshold can be understood as an area demarcation value for distinguishing the narrow water surface scene and the wide water surface scene. The specific value of the area threshold is not limited in the embodiments of the present application.

[0307] The above describes the method of the embodiments of the present application in detail, and the following provides an apparatus for implementing any one of the methods in the embodiments of the present application.

[0308] Please refer to FIG. 5, which is a structural schematic diagram of a vehicle wading control apparatus provided in an embodiment of the present application. The vehicle wading control apparatus 500 can be implemented in the form of hardware, software, or a combination of hardware and software. As shown in FIG. 5, the vehicle wading control apparatus 500 includes a communication unit 501 and a processing unit 502. Descriptions of the units are as follows.

[0309] The communication unit 501 is configured to acquire a wading depth and a wading width of the vehicle.

[0310] The processing unit 502 is configured to determine a target wading mode according to the wading depth and the wading width, and perform a control strategy corresponding to the target wading mode on the vehicle.

[0311] In a possible implementation, when determining the target wading mode according to the wading depth and the wading width, the processing unit 502 is specifically configured to: when the wading depth is greater than a first depth threshold, and a duration for which the wading depth is greater than the first depth threshold is greater than a first time, determine the target wading mode according to the wading depth and the wading width.

[0312] In a possible implementation, the target wading mode is one of a plurality of wading modes, and the plurality of wading modes correspond to different control strategies.

[0313] Optionally, the target wading mode is any one of a wading mode A, a wading mode B, a wading mode C, and a wading mode D. For ease of description, a control strategy corresponding to the wading mode A is referred to as a first control strategy, a control strategy corresponding to the wading mode B is referred to as a second control strategy, a control strategy corresponding to the wading mode C is referred to as a third control strategy, and a control strategy corresponding to the wading mode D is referred to as a fourth control strategy.

[0314] In a possible implementation, the first control strategy includes prompting at least one of the following: there is accumulated water on the road surface, enter a wet road surface, enter a wading road section, and drive at a reduced speed.

[0315] In a possible implementation, the second control strategy includes at least one of the following: control the vehicle speed to decrease to a first speed range, close a range extender, control an air spring to rise to a first height, close an active air intake grille, close an engine air intake control valve, close an active pressure relief valve, and close an air conditioning condensate pipe control valve.

[0316] In a possible implementation, the third control strategy comprises at least one of the following: controlling the vehicle speed to decrease to the first speed range, turning off the range extender, controlling the air spring to rise to the first height, turning off the active grille shutter, turning off the engine intake control valve, turning off the active pressure relief valve, turning off the air conditioning condenser water pipe control valve, turning off the air conditioning electrical components, controlling the air conditioning to enter the internal circulation, turning off the air conditioning intake control valve, controlling the vehicle door to be unlocked, controlling the vehicle window to be lowered by the second height, and opening the sunroof.

[0317] Optionally, the third control strategy can be understood as adding at least one of the following to the second control strategy: turning off the air conditioning electrical components, controlling the air conditioning to enter the internal circulation, turning off the air conditioning intake control valve, controlling the vehicle door to be unlocked, controlling the vehicle window to be lowered by the second height, and opening the sunroof.

[0318] In a possible implementation, the fourth control strategy comprises at least one of the following: controlling the vehicle speed to decrease to the first speed range, turning off the range extender, controlling the air spring to rise to the first height, turning off the active grille shutter, turning off the engine intake control valve, turning off the active pressure relief valve, turning off the air conditioning condenser water pipe control valve, turning off the air conditioning electrical components, controlling the air conditioning to enter the internal circulation, turning off the air conditioning intake control valve, controlling the vehicle door to be unlocked, controlling the vehicle window to be lowered by the second height, opening the sunroof, and activating the emergency rescue service system.

[0319] Optionally, the fourth control strategy can be understood as adding at least one of the following to the third control strategy: activating the emergency rescue service system and prohibiting the range extender from being turned on.

[0320] In a possible implementation, the processing unit 502, when determining the target wading mode according to the wading depth and the wading width, is specifically configured to: when the wading width is less than or equal to the width threshold value, and the wading depth is less than or equal to the second depth threshold value, determine that the target wading mode is the wading mode A.

[0321] In a possible implementation, the processing unit 502, when determining the target wading mode according to the wading depth and the wading width, is specifically configured to: when the wading width is less than or equal to the width threshold value, the remaining power of the vehicle is greater than the first power threshold value, and the wading depth is greater than the second depth threshold value and less than or equal to the third depth threshold value, determine that the target wading mode is the wading mode B.

[0322] In a possible implementation, the processing unit 502, when determining the target wading mode according to the wading depth and the wading width, is specifically configured to: when the wading width is less than or equal to the width threshold value, the remaining power of the vehicle is greater than the first power threshold value, and the wading depth is greater than the third depth threshold value, determine that the target wading mode is the wading mode D.

[0323] In a possible implementation, the processing unit 502 is specifically configured to determine the target wading mode as the wading mode B when the wading width is greater than the width threshold, the remaining power of the vehicle is greater than the second power threshold, and the wading depth is less than or equal to the second depth threshold, when determining the target wading mode according to the wading depth and the wading width.

[0324] In a possible implementation, the processing unit 502 is specifically configured to determine the target wading mode as the wading mode C when the wading width is greater than the width threshold, the remaining power of the vehicle is greater than the second power threshold, and the wading depth is greater than the second depth threshold and less than or equal to the third depth threshold, when determining the target wading mode according to the wading depth and the wading width.

[0325] In a possible implementation, the processing unit 502 is specifically configured to determine the target wading mode as the wading mode D when the wading width is greater than the width threshold, the remaining power of the vehicle is greater than the second power threshold, and the wading depth is greater than the third depth threshold, when determining the target wading mode according to the wading depth and the wading width.

[0326] In a possible implementation, the processing unit 502 is further configured to send the first reminder information when the wading width is less than or equal to the width threshold, the remaining power of the vehicle is less than or equal to the first power threshold, and the wading depth is greater than the second depth threshold.

[0327] In a possible implementation, the processing unit 502 is further configured to send the second reminder information when the wading width is greater than the width threshold, and the remaining power of the vehicle is less than or equal to the second power threshold.

[0328] In a possible implementation, the processing unit 502 is further configured to control the vehicle to exit the target wading mode when the wading depth is less than or equal to the fourth depth threshold, and a duration in which the wading depth is less than or equal to the first depth threshold is greater than the second time.

[0329] In a possible implementation, the processing unit 502 is further configured to control at least one of a wheel speed, a motor speed and a motor torque of the vehicle according to the wading depth, wherein the wheel speed is negatively related to the wading depth, the motor speed is negatively related to the wading depth, and the motor torque is positively related to the wading depth.

[0330] According to the embodiments of the present application, each unit in the apparatus shown in FIG. 5 can be combined into one or several other units respectively or all, or some of the units can be further split into a plurality of units with smaller functions to constitute, which can achieve the same operation without affecting the implementation of the technical effects of the embodiments of the present application. The above units are divided based on logical functions. In actual application, the function of one unit can also be implemented by a plurality of units, or the functions of a plurality of units are implemented by one unit. In other embodiments of the present application, the above apparatus can also include other units. In actual application, these functions can also be implemented by other units, and can be implemented by a plurality of units.

[0331] It should be noted that the implementation of each unit can also correspond to the above-mentioned method embodiments.

[0332] Please refer to FIG. 6, which is a structural schematic diagram of an electronic device provided by an embodiment of the present application. The electronic device 600 can include a processor 601. Optionally, the electronic device 600 can also include a memory 602. Further optionally, the electronic device 600 can also include a communication interface 603 and a bus 604. The processor 601, the memory 602 and the communication interface 603 are communicatively connected with each other through the bus 604. The communication interface 603 is used to interact with other devices.

[0333] The processor 601 is a module for arithmetic operation and logical operation, which can be one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor unit (MPU) and the like. The processor 601 can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0334] The memory 602 is configured to provide a storage space, in which data such as an operating system and a computer program can be stored. The memory 602 includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a compact disc read-only memory (CD-ROM).

[0335] The processor 601 invokes a computer program stored in the memory 602, and can perform the method steps in the above method embodiments. For details, refer to the foregoing method embodiments, which will not be described here.

[0336] Optionally, the electronic device 600 can be a chip or a chip system. For the case where the electronic device 600 is a chip or a chip system, refer to the structural schematic diagram of the chip shown in FIG. 7.

[0337] As shown in FIG. 7, the chip 700 includes a processor 701 and an interface 702. The number of the processor 701 can be one or more, and the number of the interface 702 can be multiple. It should be noted that the functions of the processor 701 and the interface 702 can be realized by hardware design, software design, or a combination of software and hardware, which is not limited here.

[0338] Optionally, the chip 700 can further include a memory 703, which is configured to store necessary program instructions and data.

[0339] In this application, the processor 701 can be configured to invoke an implementation program of the vehicle wading control method provided by one or more embodiments of the application from the memory 703, and execute instructions contained in the program. The interface 702 can be configured to output the execution result of the processor 701. In this application, the interface 702 can be specifically configured to output various messages or information of the processor 701.

[0340] The vehicle wading control method provided by one or more embodiments of the application can refer to the above method embodiments, which will not be described here.

[0341] According to the method provided by the embodiments of the application, the embodiments of the application further provide a computer readable storage medium, which stores a computer program. When the computer program runs on one or more processors, the method shown in the above method embodiments can be implemented.

[0342] According to the method provided in the embodiments of the present application, the embodiments of the present application further provide a computer program product, which comprises a computer program and can implement the method shown in the method embodiments when the computer program runs on a processor.

[0343] According to the method provided in the embodiments of the present application, the embodiments of the present application further provide a vehicle wading control system, which comprises a detection system and a controller. The detection system is configured to detect a wading depth and a wading width of the vehicle. The controller is configured to implement the method shown in the method embodiments. Optionally, the detection system comprises at least one of the following: an intelligent driving assistance system, an image sensor, a direct time-of-flight sensor, and a water depth sensor.

[0344] According to the method provided in the embodiments of the present application, the embodiments of the present application further provide a vehicle, which comprises the vehicle wading control device 500, or the electronic device 600, or the chip 700, or the vehicle wading control system 200.

[0345] It should be appreciated that the memory in the embodiments of the present application can be a volatile memory or a nonvolatile memory, or can include both volatile and nonvolatile memory. Among them, the nonvolatile memory can be a hard disk drive (HDD), a solid-state drive (SSD), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example, and not limitation, many forms of RAM can be used, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous dynamic RAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory described herein is intended to include, but not be limited to, these and any other suitable types of memory.

[0346] In the embodiments described above, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer programs or instructions are loaded on a computer, all or part of the processes or functions of the embodiments are executed. The computer can be a general purpose computer, a special purpose computer, a computer network, a network device, a user equipment or other programmable apparatus. The computer programs or instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer programs or instructions can be transferred from one website site, computer, server or data center to another website site, computer, server or data center through wired or wireless manner. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center and the like integrated with one or more available media. The available media can be a magnetic medium such as a floppy disk, a hard disk, a magnetic tape, an optical medium such as a digital video disc, and a semiconductor medium such as a solid state disk. The computer readable storage medium can be a volatile or non-volatile storage medium, or can include both volatile and non-volatile storage media.

[0347] Those skilled in the art can clearly understand that the units and algorithm steps of the examples described in combination with the embodiments provided herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0348] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0349] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be realized by other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0350] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e., may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0351] In addition, the functional units in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically, or two or more units can be integrated into one unit.

[0352] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or the parts that essentially contribute to the technology or the parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the various method embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various program code storage media.

[0353] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application.

Claims

1. A vehicle wading control method characterized by, The method comprises: obtaining a wading depth and a wading width of a vehicle; determining a target wading mode according to the wading depth and the wading width; executing a control strategy corresponding to the target wading mode on the vehicle.

2. The method of claim 1, wherein, The determining of the target wading mode according to the wading depth and the wading width comprises: when the wading depth is greater than a first depth threshold and a duration that the wading depth is greater than the first depth threshold is greater than a first time, determining the target wading mode according to the wading depth and the wading width.

3. The method according to claim 1 or 2, characterized in that, When the target wading mode is a first wading mode, the control strategy corresponding to the target wading mode comprises prompting at least one of the following: a road surface has water, entering a wet road surface, entering a wading road section, and driving at a reduced speed.

4. The method of claim 3, wherein, The determining of the target wading mode according to the wading depth and the wading width comprises: when the wading width is less than or equal to a width threshold and the wading depth is less than or equal to a second depth threshold, determining the target wading mode as the first wading mode.

5. The method according to claim 1 or 2, characterized in that, When the target wading mode is a second wading mode, the control strategy corresponding to the target wading mode comprises at least one of the following: controlling a vehicle speed to reduce to a first speed range; turning off a range extender; controlling an air spring to rise to a first height; turning off an active air intake grille; turning off an engine air inlet control valve; turning off an active pressure relief valve; turning off an air conditioning condensate pipe control valve.

6. The method of claim 5, wherein, The determining of the target wading mode according to the wading depth and the wading width comprises: when the wading width is less than or equal to a width threshold, a remaining electric quantity of the vehicle is greater than a first electric quantity threshold, and the wading depth is greater than a second depth threshold and less than or equal to a third depth threshold, determining the target wading mode as the second wading mode; or when the wading width is greater than the width threshold, a remaining electric quantity of the vehicle is greater than a second electric quantity threshold, and the wading depth is less than or equal to the second depth threshold, determining the target wading mode as the second wading mode.

7. The method of claim 5, wherein, The control strategy corresponding to the target wading mode further comprises at least one of the following: turning off an air conditioning electrical component; controlling an air conditioner to enter an internal circulation; turning off an air conditioning air inlet control valve; controlling a vehicle door to be unlocked; controlling a vehicle window to be lowered by a second height; opening a sunroof.

8. The method of claim 7, wherein, The determining of the target wading mode according to the wading depth and the wading width comprises: when the wading width is greater than a width threshold, a remaining electric quantity of the vehicle is greater than a second electric quantity threshold, and the wading depth is greater than a second depth threshold and less than or equal to a third depth threshold, determining the target wading mode as the second wading mode.

9. The method of claim 7, wherein, The control strategy corresponding to the target wading mode further comprises at least one of the following: activating an emergency rescue service system; prohibiting the range extender from being turned on.

10. The method of claim 9, wherein, The determining of the target wading mode according to the wading depth and the wading width comprises: when the wading width is less than or equal to a width threshold, a remaining electric quantity of the vehicle is greater than a first electric quantity threshold, and the wading depth is greater than a third depth threshold, determining the target wading mode as the second wading mode. determining the target wading mode as the second wading mode when the wading width is greater than the width threshold, the remaining electric quantity of the vehicle is greater than a second electric quantity threshold, and the wading depth is greater than the third depth threshold.

11. The method according to any one of claims 1 to 10, characterized in that, The target wading mode is one of a plurality of wading modes, and the plurality of wading modes correspond to different control strategies.

12. The method according to any one of claims 1 to 11, characterized in that, Further comprising: when the wading width is less than or equal to a width threshold, the remaining electric quantity of the vehicle is less than or equal to a first electric quantity threshold, and the wading depth is greater than a second depth threshold, issuing a first reminder information.

13. The method according to any one of claims 1 to 12, characterized in that, Further comprising: when the wading width is greater than a width threshold, and the remaining electric quantity of the vehicle is less than or equal to a second electric quantity threshold, issuing a second reminder information.

14. The method according to any one of claims 1 to 13, characterized in that, Further comprising: when the wading depth is less than or equal to a fourth depth threshold, and the duration that the wading depth is less than or equal to the fourth depth threshold is greater than a second time, controlling the vehicle to exit the target wading mode.

15. The method according to any one of claims 1 to 14, characterized in that, Further comprising: controlling at least one of a wheel speed, a motor speed and a motor torque of the vehicle according to the wading depth, wherein the wheel speed is negatively correlated with the wading depth, the motor speed is negatively correlated with the wading depth, and the motor torque is positively correlated with the wading depth.

16. A vehicle wading control apparatus characterized by comprising: including units for performing the method of any one of claims 1 to 15.

17. A vehicle wading control apparatus characterized by comprising: including a processor for executing a computer program or instructions, when the processor executes the computer program or instructions, causing the method of any one of claims 1 to 15 to be implemented.

18. A vehicle wading control system characterised by, including a detection system for detecting a wading depth and a wading width of a vehicle, and a controller for performing the method of any one of claims 1 to 15.

19. The system of claim 18, wherein, The detection system includes at least one of an intelligent driving assistance system, an image sensor, a direct time-of-flight sensor, and a water depth sensor.

20. A vehicle characterized by comprising: including the vehicle wading control device of claim 16, or the vehicle wading control device of claim 17, or the vehicle wading control system of any one of claims 18 to 19.

21. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program or instructions, when the computer program or instructions are executed, causing the method of any one of claims 1 to 15 to be implemented.

22. A computer program product, characterised in that, including a computer program or instructions, when the computer program or instructions are executed, causing the method of any one of claims 1 to 15 to be implemented.

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