CN113771855B - Vehicle wading control method, device and system, terminal equipment and medium - Google Patents
Vehicle wading control method, device and system, terminal equipment and medium Download PDFInfo
- Publication number
- CN113771855B CN113771855B CN202111024731.6A CN202111024731A CN113771855B CN 113771855 B CN113771855 B CN 113771855B CN 202111024731 A CN202111024731 A CN 202111024731A CN 113771855 B CN113771855 B CN 113771855B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- wading
- running speed
- included angle
- height
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 109
- 241000976416 Isatis tinctoria subsp. canescens Species 0.000 claims abstract description 50
- 238000004891 communication Methods 0.000 claims description 17
- 238000004134 energy conservation Methods 0.000 claims description 15
- 238000010586 diagram Methods 0.000 description 14
- 238000004590 computer program Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 239000000446 fuel Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007654 immersion Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Vehicle Body Suspensions (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention discloses a vehicle wading control method, a device, a system, terminal equipment and a medium, wherein the method comprises the following steps: acquiring wading information of a vehicle, wherein the wading information comprises a water depth height and a wading included angle; acquiring the ground clearance of an engine in the vehicle; when the ground clearance is larger than the water depth height, predicting the relation between the splash height and the running speed of the vehicle when the vehicle is involved according to the wading included angle to obtain the current running speed of the vehicle; and controlling the running of the vehicle when the vehicle wades according to the current running speed. By adopting the invention, the problem that the engine can not effectively avoid water inflow when the vehicle wades in the prior art can be solved.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle wading control method, device, system, terminal device, and medium.
Background
At present, vehicles are widely used in people's lives. Uneven road surfaces or culverts exist in both urban and suburban areas, and water accumulation in rainy days easily causes flameout of vehicles. If water enters at the air inlet of the engine, the engine can be flameout and damaged, and huge property loss is caused.
In practice, it is found that there are methods for detecting wading depth in the market, mainly detecting the depth of wading of a vehicle. But still does not effectively avoid engine water ingress.
Therefore, it is highly desirable to propose a safe driving control scheme when the vehicle is wading.
Disclosure of Invention
According to the vehicle wading control method, the problem that water is not fed into an engine when the vehicle wades in the prior art can be solved, safe driving control when the vehicle wades in the water is achieved, and damage and property loss of the vehicle caused by water feeding of the engine are avoided.
In one aspect, the present application provides, according to an embodiment of the present application, a vehicle wading control method, where the method includes:
acquiring wading information of a vehicle, wherein the wading information comprises a water depth and a wading included angle, and the wading included angle is an included angle between a wading plane and the running direction of the vehicle;
acquiring the ground clearance of an engine in the vehicle;
when the ground clearance is larger than the water depth height, predicting the relation between the splash height and the running speed of the vehicle when the vehicle is involved according to the wading included angle to obtain the current running speed of the vehicle;
and controlling the running of the vehicle when the vehicle wades according to the current running speed.
Optionally, the predicting, according to the wading included angle, a relation between a splash height when the vehicle wades and a running speed of the vehicle, and obtaining a current running speed of the vehicle includes:
calculating to obtain a motion equation of the vehicle when the vehicle wades according to a momentum conservation law formula, an energy conservation law formula and a continuity equation of the vehicle wades;
according to the motion equation of the vehicle running and the motion equation of the vehicle wading, calculating to obtain the prediction relation between the splash height of the vehicle wading and the running speed of the vehicle, wherein the motion equation of the vehicle running is related to the wading included angle;
and calculating the current running speed of the vehicle according to the prediction relation between the splash height of the vehicle when the vehicle is involved and the running speed of the vehicle.
Optionally, the calculating the motion equation when the vehicle wades according to the momentum conservation law formula, the energy conservation law formula and the continuity equation when the vehicle wades comprises:
and calculating to obtain a motion equation of the vehicle when the vehicle wades according to the momentum conservation law formula, the energy conservation law formula and the continuity equation when the vehicle wades and by combining a preset flow field speed vector condition.
Optionally, the current running speed of the vehicle is:
wherein v is n For the current running speed of the vehicle at the current moment n, Δh is the splash height, v z And delta t is calculated wading duration of the vehicle for the running speed of the vehicle when the vehicle is waded.
Optionally, the method further comprises:
and when the ground clearance is smaller than or equal to the water depth height, controlling the vehicle to stop wading.
In another aspect, the present application provides, according to an embodiment of the present application, a vehicle wading control device, including: the system comprises an acquisition module, a prediction module and a control module, wherein:
the obtaining module is used for obtaining wading information of the vehicle, wherein the wading information comprises a water depth height and a wading included angle, and the wading included angle is an included angle between a wading plane and the running direction of the vehicle;
the acquisition module is also used for acquiring the ground clearance of the engine in the vehicle;
the prediction module is used for predicting the relation between the splashing height and the running speed of the vehicle when the vehicle is waded according to the wading included angle when the ground clearance is larger than the water depth height, so as to obtain the current running speed of the vehicle;
and the control module is used for controlling the running of the vehicle when the vehicle wades according to the current running speed.
The descriptions or details not described in the embodiments of the present application may be referred to the relevant descriptions in the foregoing method embodiments, which are not repeated herein.
In another aspect, the present application provides, according to an embodiment of the present application, a vehicle wading control system, where the final system includes: a puddle detector, a vehicle controller, and a data processor, wherein,
the puddle detector is used for acquiring wading information of a vehicle, wherein the wading information comprises a water depth and a wading included angle, and the wading included angle is an included angle between a wading plane and the running direction of the vehicle;
the vehicle controller is used for acquiring the ground clearance of the engine in the vehicle;
the data processor is used for predicting the relation between the splashing height and the running speed of the vehicle when the vehicle is waded according to the wading included angle when the ground clearance is larger than the water depth height, so as to obtain the current running speed of the vehicle;
the vehicle controller is also used for controlling the running of the vehicle when the vehicle wades according to the current running speed.
The descriptions or details not described in the embodiments of the present application may be referred to the relevant descriptions in the foregoing method embodiments, which are not repeated herein.
In another aspect, the present application provides, by an embodiment of the present application, a terminal device, including: a processor, a memory, a communication interface, and a bus; the processor, the memory and the communication interface are connected through the bus and complete communication with each other; the memory stores executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for executing the control method of vehicle wading as described above.
In another aspect, the present application provides, by an embodiment of the present application, a computer-readable storage medium storing a program that when run on a terminal device performs the vehicle wading control method as described above.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages: according to the method, the wading information of the vehicle is obtained, wherein the wading information comprises the water depth height and the wading included angle; acquiring the ground clearance of an engine in the vehicle; when the ground clearance is larger than the water depth height, predicting the relation between the splash height and the running speed of the vehicle when the vehicle is involved according to the wading included angle to obtain the current running speed of the vehicle; and controlling the running of the vehicle when the vehicle wades according to the current running speed. Therefore, the vehicle speed of the vehicle running can be controlled by comparing the water depth with the ground clearance of the engine and the predicted splashing height, the water inlet of the engine is avoided, and the vehicle can pass through the wading road more accurately and safely. Meanwhile, the problem that the engine can not be effectively prevented from water inflow when the vehicle wades in the prior art is solved, safe driving control when the vehicle wades in water is realized, and damage and property loss of the vehicle caused by water inflow of the engine are avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a vehicle wading control system according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of another vehicle wading control system according to an embodiment of the present application.
Fig. 3 is a schematic flow chart of a vehicle wading control method according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a vehicle wading control device according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
The applicant has also found in the course of proposing the present application that: in the prior art, an automotive wading system is proposed, which comprises a first water sensor arranged to send a first water level signal when the automotive wading depth reaches its installation height; a second water immersion sensor configured to transmit a second water level signal when the wading depth of the automobile reaches an installation height thereof, the installation height being higher than that of the first water immersion sensor; a first alarm; the controller, its electric connection first water logging sensor, second water logging sensor, first alarm and fuel pump relay, the controller sets up to: when the controller receives the first water level signal and does not receive the second water level signal, first alarm information is sent, and the first alarm receives the first alarm information and generates first early warning; and when the controller receives a second water level signal of the second water logging sensor, controlling the fuel pump relay to cut off the fuel pump oil supply system. However, in practice, it is found that the water level height can be detected only after the automobile is flooded, the possibility of flooding of the automobile cannot be judged in advance, and the safety coefficient is not high.
The prior art also provides an automobile wading driving auxiliary system, which comprises a water level warning device for detecting wading information of important parts; the controller is used for receiving the detection signal and generating a corresponding control instruction; the vehicle speed control module is used for controlling the vehicle speed within a preset speed range; the water level measuring device is used for measuring the water level height in the automobile wading process; the real-time picture acquisition device is used for acquiring a real-time picture of the water level measurement device; a display device for displaying a real-time picture; and the prompting device is used for helping a driver to judge whether the wading height water level of the current vehicle is suitable for continuous running. However, in practice, it is found that the driver judges whether the traffic is possible through the uploaded real-time image of the measured water level, but the underwater road condition cannot be detected when the road condition of the deeper water surface is worse, the front water depth cannot be accurately estimated, and the method is not suitable for the scene with the pit under water.
The embodiment of the application solves the problem that the engine water inlet during vehicle wading cannot be effectively avoided in the prior art by providing the vehicle wading control method
The technical scheme of the embodiment of the application aims to solve the technical problems, and the overall thought is as follows: acquiring wading information of a vehicle, wherein the wading information comprises a water depth and a wading included angle, and the wading included angle is an included angle between a wading plane and the running direction of the vehicle; acquiring the ground clearance of an engine in the vehicle; when the ground clearance is larger than the water depth height, predicting the relation between the splash height and the running speed of the vehicle when the vehicle is involved according to the wading included angle to obtain the current running speed of the vehicle; and controlling the running of the vehicle when the vehicle wades according to the current running speed.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
First, the term "and/or" appearing herein is merely an association relationship describing associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
In order to overcome the defects in the prior art, the application provides a system and a method for preventing an engine from water inflow on a wading pavement.
Fig. 1 is a schematic structural diagram of a vehicle wading control system according to an embodiment of the present application. The system shown in fig. 1 includes: puddle detector 10, vehicle controller 20 (which may also be referred to as an automotive controller), and data processor 30. Wherein:
the puddle detector 10 is used for detecting whether puddles exist on a traveling road surface, for example, whether puddles exist in front of traveling. And when the puddle exists, an included angle beta (also called wading included angle) of the puddle relative to the running direction of the vehicle and a puddle depth H (also called puddle height) are obtained. That is, the puddle detector 10 can detect and acquire wading information of the vehicle, including the water depth H and the wading angle β.
The vehicle controller 20 is configured to detect a real-time ground clearance/height of an engine intake, also referred to as an engine (intake) ground clearance h. Optionally, the current wading depth h' of the vehicle may also be detected and obtained. The running speed of the vehicle, i.e. the running speed, can be further adjusted according to the instructions sent by the data processor 30.
The data processor 30 is configured to perform comprehensive comparison analysis on the information acquired by the puddle detector 10 and the vehicle controller 20, determine whether a condition that the vehicle passes through the puddle is satisfied, and if yes, provide a corresponding running vehicle speed V output instruction to the vehicle controller 20 so as to control the running vehicle speed when the vehicle is involved.
The working principle of the whole system is as follows: the puddle detector 10 detects the road condition, and when detecting that there is a puddle on the running road surface, acquires the water depth height H and the angle between the horizontal plane and the running direction of the vehicle, that is, the wading angle β, and sends the acquired water depth height H and the angle to the data processor 30. The data processor 30 sends a command to the vehicle controller 20 to acquire the distance h from the engine intake at this time and send it to the data processor 30. The data processor 30 judges whether the vehicle can pass through the water pit by comparing the ground clearance H with the water depth H, and if the specific water depth H is greater than or equal to the ground clearance H, the early warning for prohibiting the vehicle from wading is sent out. If the water depth H is smaller than the distance H from the ground, the relation between the splashing height and the running speed of the vehicle is predicted, the current running speed V of the vehicle is output to the vehicle controller 20 based on the fact that the splashing height does not exceed the distance H from the ground of the air inlet of the engine, and the vehicle is controlled by the vehicle controller 20 to slowly and uniformly pass through the water pit at a speed smaller than the current running speed V.
Fig. 2 is a schematic structural diagram of another vehicle wading control system according to an embodiment of the present application. In the system shown in fig. 2, the puddle detector 10 includes an ultrasonic sensor 101, an in-vehicle communication module 102, and an angle sensor 103. The vehicle controller 20 includes an ultrasonic sensor 201, an in-vehicle communication module 202, and a speed controller 203. The data processor 30 includes a receiving module 301, a processor 302, and an output module 303.
Specifically, the puddle detector 10 detects whether or not there is a puddle by the ultrasonic sensor 101, detects the puddle height H when there is a puddle, and detects the wading angle β by the angle sensor 103. And then the detected water depth H and the wading angle β are sent to the receiving module 301 of the data processor 30 through the vehicle-mounted communication module 102. The receiving module 301 forwards the measurement command to the processor 302, and the processor 302 further sends the measurement command to the on-board communication module 202 of the vehicle controller 20 through the output module 303, wherein the measurement command detects the distance from the engine air inlet to the ground. After receiving the measurement command, the vehicle controller 20 detects the distance h from the ground of the engine by the ultrasonic sensor 201, transmits the detected distance h to the vehicle-mounted communication module 202, and then transmits the detected distance h to the receiving module 301 of the data processor 30, and further transmits the detected distance h to the processor 302. Processor 302 of data processor 30 compares H with H to obtain Δh. ΔH is the difference between the ground clearance H and the water depth height H. If Δh is negative, a command to prohibit vehicle wading (prohibit vehicle passage through puddles) is sent to the vehicle controller 20 via the output module 303. If Δh is a positive value, a reasonable current running vehicle speed V is calculated according to the difference value, and the current running vehicle speed V is output to the vehicle-mounted communication module 202 of the vehicle controller 20, and is then transmitted to the speed controller 203 by the vehicle-mounted communication module 202, and the speed controller 203 controls the speed of the vehicle which is smaller than or equal to the current running vehicle speed V to slowly and uniformly pass through the wading road surface. How the current running speed of the vehicle is calculated will be explained in the following of the present application, and will not be described in detail here.
Based on the systems shown in fig. 1 and fig. 2, fig. 3 is a schematic flow chart of a vehicle wading control method according to an embodiment of the present application. The method as shown in fig. 3 comprises the following implementation steps:
s301, obtaining wading information of a vehicle, wherein the wading information comprises a water depth and a wading included angle, and the wading included angle is an included angle between a wading plane and the running direction of the vehicle.
The method collects wading information of the vehicle through corresponding sensors in the puddle detector, wherein the wading information comprises, but is not limited to, a wading depth H, a wading included angle beta or other wading information. The wading included angle is an included angle between a wading plane and the running direction of the vehicle. For example, the water depth height H is acquired and acquired by an ultrasonic sensor, the wading angle is acquired and acquired by an angle sensor, and the like.
S302, acquiring the ground clearance of the engine in the vehicle.
The application collects the ground clearance h of the vehicle engine (air inlet) through the vehicle controller, and can be called ground clearance or ground height.
S303, when the ground clearance is larger than the water depth height, predicting the relation between the splash height and the running speed of the vehicle when the vehicle is involved according to the wading included angle, and obtaining the current running speed of the vehicle.
The vehicle can wade through comparing the ground clearance H with the water depth H (through the puddle). Specifically, when the ground clearance H is greater than the water depth H, determining that the vehicle can wade; otherwise, it is determined that the vehicle cannot wade. Optionally, when the ground clearance H is smaller than or equal to the water depth H, controlling the vehicle to stop wading, and avoiding water inlet flameout of the engine.
When the distance H from the ground is larger than the water depth height H, the relation between the splashing height and the running speed of the vehicle during the vehicle is involved according to the involved included angle beta, so that the current running speed V of the vehicle is obtained n 。
In a specific embodiment, the motion equation of the vehicle when wading can be calculated according to the momentum conservation law formula, the energy conservation law formula and the continuity equation of the vehicle when wading, optionally in combination with a preset flow field speed vector condition. And further calculating a prediction relation between the splash height of the vehicle when the vehicle is wading and the running speed of the vehicle according to the running equation of the vehicle and the running equation of the vehicle when the vehicle is wading, wherein the running equation of the vehicle is related to the wading included angle beta. And finally, calculating the current running speed of the vehicle according to the prediction relation between the splashing height of the vehicle when the vehicle is involved and the running speed of the vehicle.
In specific implementation, an energy conservation law formula, a momentum conservation law formula and a continuity formula when the vehicle is waded are respectively shown in the following formula (1):
the first 2 formulas in the formula (1) are energy conservation law formulas of two different formulas, the 3 rd formula is momentum conservation law formula, and the 4 th formula is a continuity equation. Wherein,,
is the velocity vector of the flow field, +.>
The volume vector of the water is represented by P, ρ is the density of the water, T is the temperature of the water, I is the unit tensor, U is the internal energy of the water, S is the deformation speed tensor of the flow field, k is the heat conduction coefficient of the water, q is the heat radiation coefficient, μ is the first viscosity coefficient of the water, μ' is the second viscosity coefficient of the water, and grad is the gradient function.
Further, the present application refers to a method in which P is a constant, T is a constant,
Brought into the above formula (1), a velocity potential is introduced>
So that the flow field velocity vector meets the preset flow field velocity vector condition: />
From this, the motion equation of the flow field when the vehicle wades can be calculated, and the following formula (2) is specific:
where h' is the depth of the vehicle to which the vehicle has been subjected and g is the gravitational acceleration.
At the moment of entering water, the boundary is the contact surface of the tire and water and the water surface. The equation of motion of the vehicle at this time is shown in the following formula (3):
where v is the running speed of the vehicle, G is the gravitational acceleration, a is the instantaneous acceleration of the vehicle, M is the mass of the vehicle, n is the preset radius around the vehicle at any moment n, R and R, which may typically be twice the radius of the wheels.
Further during the vehicle wading impact on the water surface, the free surface of the water changes considerably within a certain radius R around the vehicle (R is typically twice the radius of the wheel), whereas outside this radius the free surface of the water does not change substantially. The ideal model is that the surface of water is not transmitted at the impact moment, the change of the water outside the radius R is ignored, the free surface function of the water is set as f (t), and the following formula (4) can be calculated from the formula (2) and the formula (3):
wherein θ is a predetermined introduction factor, which may be specifically 0 or 0.5.Δh is the splash height.
Further according to the formula (4), the current running speed V of the vehicle at any moment n is calculated n Specifically, the method is shown in the following formula (5):
wherein Δt is the time difference between the vehicle wading time and any time n, i.e. the vehicle wading time. v z Is the running speed of the vehicle when the vehicle wades.
S304, controlling the running of the vehicle when the vehicle wades according to the current running speed.
The present application calculates the current running speed V of the vehicle at any moment n After that, the vehicle controller can control the running speed of the vehicle when the vehicle wades, and the running speed can be smaller than or equal to the current running speed V n Slowly through the wading road surface.
By implementing the application, the wading information of the vehicle is obtained, and the wading information comprises the water depth height and the wading included angle; acquiring the ground clearance of an engine in the vehicle; when the ground clearance is larger than the water depth height, predicting the relation between the splash height and the running speed of the vehicle when the vehicle is involved according to the wading included angle to obtain the current running speed of the vehicle; and controlling the running of the vehicle when the vehicle wades according to the current running speed. Therefore, the vehicle speed of the vehicle running can be controlled by comparing the water depth with the ground clearance of the engine and the predicted splashing height, the water inlet of the engine is avoided, and the vehicle can pass through the wading road more accurately and safely. Meanwhile, the problem that the engine can not be effectively prevented from water inflow when the vehicle wades in the prior art is solved, safe driving control when the vehicle wades in the water is realized, the problems of personal safety, vehicle damage, property loss and the like caused by water inflow flameout of the engine are avoided, and the trafficability of the wading road surface in the rainy day is further improved.
Based on the same inventive concept, another embodiment of the present application provides a device and a terminal device corresponding to implementing the vehicle wading control method in the embodiment of the present application.
Fig. 4 is a schematic structural diagram of a vehicle wading control device according to an embodiment of the present application. The apparatus as shown in fig. 4 includes: an acquisition module 401, a prediction module 402, and a control module 403, wherein:
the acquiring module 401 is configured to acquire wading information of a vehicle, where the wading information includes a water depth and a wading angle, and the wading angle is an angle between a wading plane and a running direction of the vehicle;
the acquiring module 401 is further configured to acquire a ground clearance of an engine in the vehicle;
the prediction module 402 is configured to predict, when the ground clearance is greater than the water depth height, a relation between a splash height and a running speed of the vehicle when the vehicle is involved according to the wading included angle, so as to obtain a current running speed of the vehicle;
the control module 403 is configured to control running of the vehicle when the vehicle wades according to the current running speed.
Optionally, the prediction module 402 is specifically configured to:
calculating to obtain a motion equation of the vehicle when the vehicle wades according to a momentum conservation law formula, an energy conservation law formula and a continuity equation of the vehicle wades;
according to the motion equation of the vehicle running and the motion equation of the vehicle wading, calculating to obtain the prediction relation between the splash height of the vehicle wading and the running speed of the vehicle, wherein the motion equation of the vehicle running is related to the wading included angle;
and calculating the current running speed of the vehicle according to the prediction relation between the splash height of the vehicle when the vehicle is involved and the running speed of the vehicle.
Optionally, the prediction module 402 is specifically configured to calculate a motion equation of the vehicle when the vehicle is wading according to a momentum conservation law formula, an energy conservation law formula and a continuity equation of the vehicle when the vehicle is wading, and in combination with a preset flow field speed vector condition.
Optionally, the current running speed of the vehicle is:
wherein v is n For the current running speed of the vehicle at the current moment n, Δh is the splash height, v z And delta t is calculated wading duration of the vehicle for the running speed of the vehicle when the vehicle is waded.
Optionally, the control module 403 is further configured to control the vehicle to stop wading when the ground clearance is less than or equal to the water depth height.
Please refer to fig. 5, which is a schematic structural diagram of a terminal device according to an embodiment of the present application. The terminal device 50 as shown in fig. 5 includes: at least one processor 501, communication interface 502, user interface 503, and memory 504, the processor 501, communication interface 502, user interface 503, and memory 504 may be connected via a bus or otherwise, as exemplified by the embodiments of the present invention being connected via bus 505. Wherein,,
the processor 501 may be a general purpose processor such as a central processing unit (Central Processing Unit, CPU).
The communication interface 502 may be a wired interface (e.g., an ethernet interface) or a wireless interface (e.g., a cellular network interface or using a wireless local area network interface) for communicating with other terminals or websites. In the embodiment of the present invention, the communication interface 502 is specifically configured to obtain the wading information or the ground clearance.
The user interface 503 may specifically be a touch panel, including a touch screen and a touch screen, for detecting an operation instruction on the touch panel, and the user interface 503 may also be a physical key or a mouse. The user interface 503 may also be a display screen for outputting, displaying images or data.
The Memory 504 may include Volatile Memory (Volatile Memory), such as random access Memory (Random Access Memory, RAM); the Memory may also include a Non-Volatile Memory (Non-Volatile Memory), such as a Read-Only Memory (ROM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); memory 504 may also include a combination of the types of memory described above. The memory 504 is used for storing a set of program codes, and the processor 501 is used for calling the program codes stored in the memory 504 to perform the following operations:
acquiring wading information of a vehicle, wherein the wading information comprises a water depth and a wading included angle, and the wading included angle is an included angle between a wading plane and the running direction of the vehicle;
acquiring the ground clearance of an engine in the vehicle;
when the ground clearance is larger than the water depth height, predicting the relation between the splash height and the running speed of the vehicle when the vehicle is involved according to the wading included angle to obtain the current running speed of the vehicle;
and controlling the running of the vehicle when the vehicle wades according to the current running speed.
Optionally, the predicting, according to the wading included angle, a relation between a splash height when the vehicle wades and a running speed of the vehicle, and obtaining a current running speed of the vehicle includes:
calculating to obtain a motion equation of the vehicle when the vehicle wades according to a momentum conservation law formula, an energy conservation law formula and a continuity equation of the vehicle wades;
according to the motion equation of the vehicle running and the motion equation of the vehicle wading, calculating to obtain the prediction relation between the splash height of the vehicle wading and the running speed of the vehicle, wherein the motion equation of the vehicle running is related to the wading included angle;
and calculating the current running speed of the vehicle according to the prediction relation between the splash height of the vehicle when the vehicle is involved and the running speed of the vehicle.
Optionally, the calculating the motion equation when the vehicle wades according to the momentum conservation law formula, the energy conservation law formula and the continuity equation when the vehicle wades comprises:
and calculating to obtain a motion equation of the vehicle when the vehicle wades according to the momentum conservation law formula, the energy conservation law formula and the continuity equation when the vehicle wades and by combining a preset flow field speed vector condition.
Optionally, the current running speed of the vehicle is:
wherein v is n For the current running speed of the vehicle at the current moment n, Δh is the splash height, v z For the driving speed of the vehicle when the vehicle is involved, deltat is calculatedIs a wading period of time of the vehicle.
Optionally, the processor 501 is further configured to:
and when the ground clearance is smaller than or equal to the water depth height, controlling the vehicle to stop wading.
Since the terminal device described in this embodiment is a terminal device used for implementing the vehicle wading control method in this embodiment, based on the vehicle wading control method described in this embodiment, those skilled in the art can understand the specific implementation manner of the terminal device and various modifications thereof, so how the terminal device implements the method in this embodiment will not be described in detail herein. The terminal device used by those skilled in the art to implement the information processing method in the embodiment of the present application is within the scope of protection intended in the present application.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages: according to the method, the wading information of the vehicle is obtained, wherein the wading information comprises the water depth height and the wading included angle; acquiring the ground clearance of an engine in the vehicle; when the ground clearance is larger than the water depth height, predicting the relation between the splash height and the running speed of the vehicle when the vehicle is involved according to the wading included angle to obtain the current running speed of the vehicle; and controlling the running of the vehicle when the vehicle wades according to the current running speed. Therefore, the vehicle speed of the vehicle running can be controlled by comparing the water depth with the ground clearance of the engine and the predicted splashing height, the water inlet of the engine is avoided, and the vehicle can pass through the wading road more accurately and safely. Meanwhile, the problem that the engine can not be effectively prevented from water inflow when the vehicle wades in the prior art is solved, safe driving control when the vehicle wades in water is realized, and damage and property loss of the vehicle caused by water inflow of the engine are avoided.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. A method of controlling vehicle wading, the method comprising:
acquiring wading information of a vehicle, wherein the wading information comprises a water depth and a wading included angle, and the wading included angle is an included angle between a wading plane and the running direction of the vehicle;
acquiring the ground clearance of an engine in the vehicle;
when the ground clearance is larger than the water depth height, predicting the relation between the splash height and the running speed of the vehicle when the vehicle is involved according to the wading included angle to obtain the current running speed of the vehicle, wherein the method comprises the following steps:
calculating to obtain a motion equation of the vehicle when the vehicle wades according to a momentum conservation law formula, an energy conservation law formula and a continuity equation of the vehicle wades;
according to the motion equation of the vehicle running and the motion equation of the vehicle wading, calculating to obtain the prediction relation between the splash height of the vehicle wading and the running speed of the vehicle, wherein the motion equation of the vehicle running is related to the wading included angle;
calculating the current running speed of the vehicle according to the prediction relation between the splashing height of the vehicle when the vehicle is involved and the running speed of the vehicle;
and controlling the running of the vehicle when the vehicle wades according to the current running speed.
2. The method of claim 1, wherein calculating the equation of motion of the vehicle while wading according to the formula of conservation of momentum, the formula of conservation of energy, and the equation of continuity comprises:
and calculating to obtain a motion equation of the vehicle when the vehicle wades according to the momentum conservation law formula, the energy conservation law formula and the continuity equation when the vehicle wades and by combining a preset flow field speed vector condition.
3. The method of claim 1, wherein the current travel speed of the vehicle is:
wherein v is n For the current running speed of the vehicle at the current moment n, Δh is the splash height, v z And delta t is calculated wading duration of the vehicle for the running speed of the vehicle when the vehicle is waded.
4. The method according to claim 1, wherein the method further comprises:
and when the ground clearance is smaller than or equal to the water depth height, controlling the vehicle to stop wading.
5. A vehicle wading control device, characterized in that the device comprises: the system comprises an acquisition module, a prediction module and a control module, wherein:
the obtaining module is used for obtaining wading information of the vehicle, wherein the wading information comprises a water depth height and a wading included angle, and the wading included angle is an included angle between a wading plane and the running direction of the vehicle;
the acquisition module is also used for acquiring the ground clearance of the engine in the vehicle;
the prediction module is used for predicting the relation between the splashing height and the running speed of the vehicle when the vehicle is waded according to the wading included angle when the ground clearance is larger than the water depth height, so as to obtain the current running speed of the vehicle;
the prediction module is specifically configured to:
calculating to obtain a motion equation of the vehicle when the vehicle wades according to a momentum conservation law formula, an energy conservation law formula and a continuity equation of the vehicle wades;
according to the motion equation of the vehicle running and the motion equation of the vehicle wading, calculating to obtain the prediction relation between the splash height of the vehicle wading and the running speed of the vehicle, wherein the motion equation of the vehicle running is related to the wading included angle;
calculating the current running speed of the vehicle according to the prediction relation between the splashing height of the vehicle when the vehicle is involved and the running speed of the vehicle;
and the control module is used for controlling the running of the vehicle when the vehicle wades according to the current running speed.
6. A vehicle wading control system, the system comprising: a puddle detector, a vehicle controller, and a data processor, wherein,
the puddle detector is used for acquiring wading information of a vehicle, wherein the wading information comprises a water depth and a wading included angle, and the wading included angle is an included angle between a wading plane and the running direction of the vehicle;
the vehicle controller is used for acquiring the ground clearance of the engine in the vehicle;
the data processor is configured to predict, when the ground clearance is greater than the water depth height, a relation between a splash height and a running speed of the vehicle when the vehicle is involved according to the wading included angle, to obtain a current running speed of the vehicle, where the method includes:
calculating to obtain a motion equation of the vehicle when the vehicle wades according to a momentum conservation law formula, an energy conservation law formula and a continuity equation of the vehicle wades;
according to the motion equation of the vehicle running and the motion equation of the vehicle wading, calculating to obtain the prediction relation between the splash height of the vehicle wading and the running speed of the vehicle, wherein the motion equation of the vehicle running is related to the wading included angle;
calculating the current running speed of the vehicle according to the prediction relation between the splashing height of the vehicle when the vehicle is involved and the running speed of the vehicle;
the vehicle controller is also used for controlling the running of the vehicle when the vehicle wades according to the current running speed.
7. A terminal device, characterized in that the terminal device comprises: a processor, a memory, a communication interface, and a bus; the processor, the memory and the communication interface are connected through the bus and complete communication with each other; the memory stores executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for executing the control method of vehicle wading according to any one of the preceding claims 1-4.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a program that, when run on a terminal device, performs the vehicle wading control method according to any one of the preceding claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111024731.6A CN113771855B (en) | 2021-09-02 | 2021-09-02 | Vehicle wading control method, device and system, terminal equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111024731.6A CN113771855B (en) | 2021-09-02 | 2021-09-02 | Vehicle wading control method, device and system, terminal equipment and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113771855A CN113771855A (en) | 2021-12-10 |
| CN113771855B true CN113771855B (en) | 2023-06-20 |
Family
ID=78840800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111024731.6A Active CN113771855B (en) | 2021-09-02 | 2021-09-02 | Vehicle wading control method, device and system, terminal equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113771855B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018134153A1 (en) * | 2017-01-19 | 2018-07-26 | Jaguar Land Rover Limited | Control system for a vehicle and method |
| CN109677266A (en) * | 2019-01-31 | 2019-04-26 | 大陆汽车车身电子系统（芜湖）有限公司 | State display method of paddling for vehicle |
| CN110235072A (en) * | 2017-01-30 | 2019-09-13 | 捷豹路虎有限公司 | Control the movement of vehicle |
| EP3569474A1 (en) * | 2018-05-15 | 2019-11-20 | Volkswagen AG | Apparatus, method and computer program for providing a steering angle control signal for a vehicle |
| DE102018212785A1 (en) * | 2018-07-31 | 2020-02-06 | Robert Bosch Gmbh | Method and system for performing an at least partially automated wading trip |
| CN111645598A (en) * | 2020-06-12 | 2020-09-11 | 唐旺 | Vehicle wading depth detection early warning system and method |
| CN112918482A (en) * | 2021-03-25 | 2021-06-08 | 东风汽车集团股份有限公司 | Method and system for detecting and analyzing vehicle deviation degree and storage medium |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3939937A1 (en) * | 1989-12-02 | 1991-02-28 | Daimler Benz Ag | Catching water flung off car tyre - involves through passages aligned tangentially with vehicle wheel |
| JP5855140B2 (en) * | 2011-03-15 | 2016-02-09 | ジャガー・ランド・ローバー・リミテッドＪａｇｕａｒ Ｌａｎｄ Ｒｏｖｅｒ Ｌｉｍｉｔｅｄ | Transition vehicle control system |
| GB2499419B (en) * | 2012-02-15 | 2014-06-18 | Jaguar Land Rover Ltd | A method and system of determining a wade depth of a vehicle |
| GB2504932A (en) * | 2012-08-13 | 2014-02-19 | Nissan Motor Mfg Uk Ltd | Vehicle with water depth sensors |
| CN105253060B (en) * | 2015-11-06 | 2018-10-02 | 南京理工大学 | Vehicle-mounted fording depth detection and prior-warning device |
| CN105882520B (en) * | 2016-05-17 | 2018-03-06 | 百度在线网络技术（北京）有限公司 | The method for early warning and device that vehicle is paddled |
| CN108510773A (en) * | 2017-02-28 | 2018-09-07 | 长城汽车股份有限公司 | Control method, system and the vehicle of vehicle |
| KR102529918B1 (en) * | 2018-10-16 | 2023-05-08 | 현대자동차주식회사 | Apparatus for splashing water of vehicle, system having the same and method thereof |
| CN113127975A (en) * | 2021-04-20 | 2021-07-16 | 前海七剑科技(深圳)有限公司 | Vehicle wading detection method and system, electronic device and storage medium |
-
2021
- 2021-09-02 CN CN202111024731.6A patent/CN113771855B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018134153A1 (en) * | 2017-01-19 | 2018-07-26 | Jaguar Land Rover Limited | Control system for a vehicle and method |
| CN110235072A (en) * | 2017-01-30 | 2019-09-13 | 捷豹路虎有限公司 | Control the movement of vehicle |
| EP3569474A1 (en) * | 2018-05-15 | 2019-11-20 | Volkswagen AG | Apparatus, method and computer program for providing a steering angle control signal for a vehicle |
| DE102018212785A1 (en) * | 2018-07-31 | 2020-02-06 | Robert Bosch Gmbh | Method and system for performing an at least partially automated wading trip |
| CN109677266A (en) * | 2019-01-31 | 2019-04-26 | 大陆汽车车身电子系统（芜湖）有限公司 | State display method of paddling for vehicle |
| CN111645598A (en) * | 2020-06-12 | 2020-09-11 | 唐旺 | Vehicle wading depth detection early warning system and method |
| CN112918482A (en) * | 2021-03-25 | 2021-06-08 | 东风汽车集团股份有限公司 | Method and system for detecting and analyzing vehicle deviation degree and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113771855A (en) | 2021-12-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6329569B2 (en) | System and method for evaluating abnormal driving behavior of a vehicle traveling on a road | |
| CN102422333B (en) | Device for monitoring area around vehicle | |
| CN108407810A (en) | Following state method of adjustment, apparatus and system | |
| CN105243701A (en) | Driving information reporting method and driving recording terminal | |
| CN105513371A (en) | Expressway illegal parking detection method based on kernel density estimation | |
| JP6040611B2 (en) | Travel control device and travel control method | |
| KR101613667B1 (en) | Apparatus for classifyng vehicle type using -dimensional image camera | |
| CN103781696A (en) | Driver assistance system for assisting a driver in collision-relevant situations | |
| CN104210488A (en) | Method and device for preventing vehicle from colliding with road edge | |
| CN105022986A (en) | Mobile object control apparatus and target object detecting apparatus | |
| KR101891725B1 (en) | Method for producing virtual lane based on short-range radar sensor | |
| CN105335729A (en) | Method and system for identifying road visibility based on automobile data recorder | |
| KR20240046903A (en) | Method and apparatus for determining and characterizing roadway unevenness | |
| CN100578148C (en) | Detection method for vehicle side collision alarming device | |
| CN113771855B (en) | Vehicle wading control method, device and system, terminal equipment and medium | |
| CN118119542A (en) | Method and device for determining and characterizing lane irregularities | |
| CN118182432A (en) | Wading driving vehicle control method, device, equipment and storage medium | |
| CN104019792B (en) | Car is to car apart from computing device and method | |
| KR101311456B1 (en) | Analytical method of road stability | |
| JP6330291B2 (en) | Safe driving degree judgment device | |
| JP2021033835A (en) | Object recognition device, object recognition method and program | |
| EP3604063A1 (en) | Method for behavioural analysis of driving events of vehicles a road and relative apparatus | |
| CN116118770A (en) | Self-adaptive rationalizer of vehicle sensing system for robust automatic driving control | |
| Gates et al. | Prediction of driver action at signalized intersections by using a nested logit model | |
| CN111967129A (en) | Longitudinal obstacle avoidance verification method based on CarMaker simulation environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |