A method, device and equipment for calculating the wading depth, and a readable storage medium

Abstract

The application discloses a method and device for calculating wading depth, equipment and readable storage medium, which can be applied to the technical field of wading sensing system. The method comprises the following steps: determining the ground clearance of the ultrasonic radar sensor equipped on the current vehicle based on a self-learning request; when the current vehicle is wading, controlling the ultrasonic radar sensor to emit a first ultrasonic wave in a direction perpendicular to the horizontal plane; acquiring a second ultrasonic wave returned after the first ultrasonic wave touches the horizontal plane, and analyzing the second ultrasonic wave to obtain echo information; and determining the wading depth of the current vehicle based on the echo information and the ground clearance. In this way, the ground clearance of the ultrasonic radar sensor equipped on the vehicle is determined in a self-learning manner, and then the wading depth of the current vehicle is determined based on the ground clearance, so that the calculation accuracy of the wading depth is improved.

Description

Technical Field

[0001] This application relates to the field of wading sensing system technology, and in particular to a method, apparatus, device and readable storage medium for calculating wading depth. Background Technology

[0002] When a vehicle is wading through water, the driver is unaware of the vehicle's wading capabilities and the depth of the water, especially in severe weather such as heavy fog or torrential rain. Blindly driving may cause the vehicle to take on water and malfunction.

[0003] A wading depth sensing system uses sensors to detect wading information, calculate the wading depth, and then displays the current wading depth and the vehicle's wading capability to the driver in real time via a Human-Machine Interface (HMI). Current methods for calculating wading depth generally rely on ultrasonic radar. However, various factors can cause variations in the ultrasonic radar's ground clearance, leading to inconsistent accuracy in the calculation.

[0004] Therefore, improving the accuracy of wading depth calculation is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a method, apparatus, device, and readable storage medium for calculating wading depth. By using a self-learning approach, the ground clearance of the ultrasonic radar sensor mounted on the vehicle is determined, and then the wading depth of the vehicle is determined based on this ground clearance, thereby solving the problem of poor accuracy in calculating wading depth in the prior art.

[0006] Firstly, this application provides a method for calculating wading depth, including:

[0007] Based on the self-learning request, determine the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle.

[0008] When the current vehicle is wading through water, the ultrasonic radar sensor is controlled to emit a first ultrasonic wave in a direction perpendicular to the horizontal plane;

[0009] Acquire the second ultrasonic wave that returns after the first ultrasonic wave touches the horizontal surface, and analyze the second ultrasonic wave to obtain echo information;

[0010] Based on the echo information and the ground clearance, the current wading depth of the vehicle is determined.

[0011] Optionally, determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on a self-learning request includes:

[0012] When a self-learning request is received, if the current vehicle meets all the conditions for self-learning, the current vehicle is controlled to enter the self-learning strategy, the current height value of the ultrasonic radar sensor equipped on the current vehicle is determined, and the current height value is used as the ground clearance height of the ultrasonic radar sensor for confirmation.

[0013] Optionally, determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on a self-learning request includes:

[0014] When a self-learning request is received, if the current vehicle does not meet any of the self-learning conditions, the current vehicle is refused entry into the self-learning strategy, and the default height value of the ultrasonic radar sensor set when the current vehicle is equipped with the ultrasonic radar sensor is used as the ground clearance height of the ultrasonic radar sensor and confirmed.

[0015] Optionally, determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on a self-learning request includes:

[0016] When no self-learning request is received, the default height value of the ultrasonic radar sensor set when the current vehicle is equipped with the ultrasonic radar sensor is used as the ground clearance height of the ultrasonic radar sensor and confirmed.

[0017] Optionally, before determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on the self-learning request, the method further includes:

[0018] It can acquire self-learning requests sent by the diagnostic instrument or actively requested by the driver in real time.

[0019] Optionally, the self-learning conditions include:

[0020] The wading system is functioning properly, the vehicle is stationary, both side mirrors are deployed, the driver and passenger doors are closed, and the vehicle is operating on level ground.

[0021] Optionally, determining the current altitude value of the ultrasonic radar sensor currently equipped on the vehicle includes:

[0022] Acquire the measured height values ​​of the ultrasonic radar sensor equipped on the current vehicle within a continuous predetermined time period.

[0023] The measured height value is averaged using the median to obtain the current height value of the ultrasonic radar sensor.

[0024] Secondly, this application provides a device for calculating wading depth, characterized in that it comprises:

[0025] The first determining module is used to determine the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on a self-learning request.

[0026] The transmitting module is used to control the ultrasonic radar sensor to emit a first ultrasonic wave in a direction perpendicular to the horizontal plane when the current vehicle is wading through water.

[0027] The analysis module is used to acquire the second ultrasonic wave that returns after the first ultrasonic wave touches the horizontal surface, and to analyze the second ultrasonic wave to obtain echo information.

[0028] The second determining module is used to determine the wading depth of the current vehicle based on the echo information and the ground clearance.

[0029] Thirdly, this application provides a device for calculating wading depth, characterized in that it includes:

[0030] Memory, used to store computer programs;

[0031] A processor for executing the computer program to implement the steps of the method for calculating wading depth as described in any of the preceding claims.

[0032] Fourthly, this application provides a readable storage medium storing a computer program that, when executed by a processor, implements the steps of the wading depth calculation method as described in any of the preceding claims.

[0033] As can be seen from the above technical solutions, compared with the prior art, this application has the following advantages:

[0034] This application first determines the ground clearance of the ultrasonic radar sensor equipped on the vehicle based on a self-learning request. When the vehicle is wading through water, the ultrasonic radar sensor emits a first ultrasonic wave in a direction perpendicular to the horizontal plane. Then, a second ultrasonic wave is acquired and analyzed after the first ultrasonic wave hits the horizontal plane to obtain echo information. Finally, based on the echo information and the ground clearance, the wading depth of the vehicle is determined. In this way, by determining the ground clearance of the ultrasonic radar sensor equipped on the vehicle through self-learning, and then using this ground clearance as a basis for determining the wading depth, the accuracy of the wading depth calculation is improved. Attached Figure Description

[0035] Figure 1 A flowchart illustrating a method for calculating wading depth provided in this application;

[0036] Figure 2 This application provides a flowchart for determining whether the current vehicle meets the self-learning conditions;

[0037] Figure 3 A flowchart illustrating a method for determining the current height value of an ultrasonic radar sensor based on a self-learning strategy, as provided in this application;

[0038] Figure 4 A schematic diagram of the structure of a wading depth calculation device provided in this application. Detailed Implementation

[0039] As mentioned earlier, existing methods for calculating wading depth cannot guarantee accuracy. Specifically, when a vehicle is wading, the driver is unaware of the vehicle's wading capability and the wading depth, especially in severe weather such as heavy fog or heavy rain. Blindly driving may lead to water ingress and vehicle malfunction. Wading depth sensing systems use sensors to detect wading information, calculate the wading depth, and then display the current wading depth and the vehicle's wading capability to the driver in real time via an HMI. Existing methods for calculating wading depth generally rely on ultrasonic radar. The wading depth is determined by subtracting the distance the ultrasonic radar detects obstacles from its ground clearance. However, while the ground clearance of the ultrasonic radar is set to a fixed value at the vehicle's factory, the actual ground clearance can vary due to factors such as vehicle load, tire type, and suspension type, thus affecting the accuracy of the wading depth calculation and leading to the problem of unreliable accuracy.

[0040] To address the aforementioned problems, this application provides a method for calculating wading depth, comprising: first, determining the ground clearance of an ultrasonic radar sensor equipped on the vehicle based on a self-learning request; second, controlling the ultrasonic radar sensor to emit a first ultrasonic wave in a direction perpendicular to the horizontal plane when the vehicle is wading; third, acquiring a second ultrasonic wave that returns after the first ultrasonic wave hits the horizontal plane, and analyzing the second ultrasonic wave to obtain echo information; and finally, determining the wading depth of the vehicle based on the echo information and the ground clearance.

[0041] In this way, the ground clearance of the ultrasonic radar sensor equipped on the vehicle is determined through self-learning, and then the wading depth of the vehicle is determined based on this ground clearance, thereby improving the accuracy of the wading depth calculation.

[0042] It should be noted that the method, apparatus, device, and readable storage medium for calculating wading depth provided in this application can be applied to the field of wading sensing system technology. The above is merely an example and does not limit the application field of the method, apparatus, device, and readable storage medium for calculating wading depth provided in this application.

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0044] Figure 1 A flowchart illustrating a method for calculating wading depth provided in this application. (Combined with...) Figure 1 As shown, the method for calculating wading depth provided in this application may include:

[0045] S101: Determine the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on the self-learning request.

[0046] In practical applications, existing methods for calculating wading depth generally rely on ultrasonic radar. The wading depth is determined by subtracting the distance the ultrasonic radar detects an obstacle from its ground clearance. However, the ground clearance of the ultrasonic radar is set to a fixed value at the vehicle's factory. This actual ground clearance varies depending on factors such as vehicle load, tire type, and suspension type, affecting the accuracy of the wading depth calculation and leading to unreliable accuracy. Therefore, this application provides a method for calculating wading depth applicable to wading sensing systems. This method allows the vehicle to discard the fixed ground clearance setting and, through a wading depth calculation device, redetermine the ground clearance of the ultrasonic radar sensor based on a self-learning request. It is understood that the wading depth calculation device can initiate a self-learning process based on a self-learning request to determine the ground clearance of the ultrasonic radar sensor equipped on the vehicle. Furthermore, in the wading sensing system, there are two ultrasonic radar sensors, respectively located inside the left and right exterior rearview mirrors of the vehicle, with the radar probes perpendicular to the ground.

[0047] Furthermore, since the methods for determining the ground clearance of ultrasonic radar sensors currently equipped on vehicles are not entirely the same, this application can describe one possible method of determination.

[0048] In one scenario, regarding how to determine the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle, S101: Determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on a self-learning request may include:

[0049] When a self-learning request is received, if the current vehicle meets all the conditions for self-learning, the current vehicle is controlled to enter the self-learning strategy, the current height value of the ultrasonic radar sensor equipped on the current vehicle is determined, and the current height value is used as the ground clearance height of the ultrasonic radar sensor for confirmation.

[0050] In practical applications, whether the wading depth calculation device receives a self-learning request is a prerequisite for determining whether the vehicle enters the self-learning strategy. The self-learning strategy is a method for re-determining the current ground clearance of the ultrasonic radar sensor. It can be understood that when the wading depth calculation device receives a self-learning request, it uses the sensor to determine whether the vehicle meets the self-learning conditions, thus determining whether the vehicle can enter the self-learning strategy. If the current vehicle meets all the self-learning conditions, it is confirmed that the current vehicle has the conditions to enter the self-learning strategy, and the vehicle is controlled to enter the self-learning strategy. Then, the current height value of the ultrasonic radar sensor, i.e., the ground clearance, is updated through self-learning.

[0051] Furthermore, since the methods for determining the ground clearance of ultrasonic radar sensors currently equipped on vehicles are not entirely the same, this application can describe another possible method of determination.

[0052] In another scenario, regarding how to determine the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle, S101: determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on a self-learning request may further include:

[0053] When a self-learning request is received, if the current vehicle does not meet any of the self-learning conditions, the vehicle is refused entry into the self-learning strategy, and the default height value of the ultrasonic radar sensor set when the current vehicle is equipped with the ultrasonic radar sensor is used as the ground clearance height of the ultrasonic radar sensor and confirmed.

[0054] In practical applications, whether a self-learning request is received is a prerequisite for determining whether a vehicle enters the self-learning strategy. Similarly, whether the vehicle meets the self-learning conditions is also crucial in determining whether it can enter the self-learning strategy. Specifically, even if the wading depth calculation device receives a self-learning request, if the vehicle's sensors determine that one of the self-learning conditions is not met, the wading depth calculation device will refuse to allow the vehicle to enter the self-learning strategy. Then, the default height value of the ultrasonic radar sensor set when the vehicle is equipped with it is used as the ground clearance height of the ultrasonic radar sensor for confirmation.

[0055] Furthermore, since the methods for determining the ground clearance of ultrasonic radar sensors currently equipped on vehicles are not entirely the same, this application can describe another possible method of determination.

[0056] In another scenario, regarding how to determine the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle, S101: determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on a self-learning request may further include:

[0057] When no self-learning request is received, the default height value of the ultrasonic radar sensor set when the current vehicle is equipped with the ultrasonic radar sensor is used as the ground clearance height of the ultrasonic radar sensor and confirmed.

[0058] In practical applications, if the wading depth calculation device does not receive a self-learning request, the vehicle continues to use the factory-set fixed value, i.e., the default height value of the ultrasonic radar sensor or the height value updated by the vehicle last time through the self-learning strategy, as the ground clearance of the ultrasonic radar sensor for this wading depth calculation. It is important to note that if the ground clearance of the ultrasonic radar sensor has been updated previously, then when the wading depth calculation device does not receive a self-learning request but needs to calculate the wading depth, it will preferentially use the height value updated by the self-learning strategy last time as the ground clearance of the ultrasonic radar sensor required for this calculation.

[0059] Furthermore, since the methods for obtaining self-learning requests are not all the same, this application can describe one possible method of obtaining them.

[0060] In one scenario, regarding how to obtain the self-learning request, accordingly, before determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on the self-learning request, the process further includes:

[0061] It can acquire self-learning requests sent by the diagnostic instrument or actively requested by the driver in real time.

[0062] In practical applications, to ensure the timeliness of wading depth calculations, the wading depth calculation device needs to be constantly aware of and respond to self-learning requests. This way, once someone triggers a self-learning command, the calculation device can simultaneously acquire the corresponding self-learning request. Specifically, in one scenario, when a vehicle rolls off the production line or undergoes after-sales maintenance, an automatic learning command needs to be triggered via a diagnostic tool, allowing the wading depth calculation device to acquire the self-learning request in real time. In another scenario, a soft switch corresponding to the self-learning process can be set in the vehicle's entertainment system. When the driver clicks the start button on the human-machine interface, a self-learning command is triggered, and the vehicle sends a self-learning request to the wading depth calculation device, allowing the device to acquire the request in real time.

[0063] Furthermore, since the self-learning conditions vary across different systems, this application will describe one possible configuration method.

[0064] In one scenario, the self-learning conditions are set. Accordingly, the self-learning conditions include:

[0065] The wading system is functioning properly, the vehicle is stationary, both side mirrors are deployed, the driver and passenger doors are closed, and the vehicle is operating on level ground.

[0066] In practical applications, Figure 2 This application provides a flowchart for determining whether the current vehicle meets the self-learning conditions. Combined with... Figure 2 As shown, the self-learning conditions include: a fault-free wading system, a stationary vehicle, side mirrors deployed, driver and passenger doors closed, and the vehicle being on level ground. When the vehicle begins the wading depth calculation process, the wading depth calculation device determines whether the diagnostic tool or the driver has requested self-learning. If either of these conditions is met, the vehicle enters the self-learning condition determination phase. Specifically, it sequentially checks whether the wading system is fault-free, whether the vehicle is stationary, whether the side mirrors are deployed, whether the driver and passenger doors are closed, and whether the vehicle is on level ground. If all three conditions are met, the vehicle is deemed to have met all the self-learning conditions, and the wading depth calculation device controls the vehicle to enter the self-learning strategy. After self-learning is complete, the ground clearance of the left and right radars is updated, and the process ends. It is understandable that if the wading depth calculation device determines that neither the diagnostic tool nor the driver has requested self-learning, then self-learning will not be performed, and the vehicle's factory default setting will be used as the ground clearance for this wading depth calculation. In addition, regarding the determination of self-learning conditions, if any of the following judgments in sequence—whether the wading system is fault-free, whether the vehicle is stationary, whether the side mirrors are deployed, whether the driver and passenger doors are closed, and whether the vehicle is on flat ground—results in no, then the self-learning conditions are not met. The self-learning process will then exit, and the reason for the failure will be reported to the diagnostic tool or entertainment system, maintaining the radar's ground clearance at the default design value.

[0067] Furthermore, since the current height values ​​of the ultrasonic radar sensors currently installed on vehicles are not all the same, this application can describe one possible method of obtaining the height.

[0068] In one scenario, the method for obtaining the current altitude value of the ultrasonic radar sensor is as follows: Accordingly, determining the current altitude value of the ultrasonic radar sensor equipped on the current vehicle includes:

[0069] Acquire the measured height values ​​of the ultrasonic radar sensor equipped on the current vehicle within a continuous predetermined time period.

[0070] The measured height value is averaged using the median to obtain the current height value of the ultrasonic radar sensor.

[0071] In practical applications, Figure 3 This application provides a flowchart for determining the current height value of an ultrasonic radar sensor based on a self-learning strategy. (Combined with...) Figure 3 As shown, when the wading depth calculation device receives a self-learning request and confirms that the current vehicle meets all the self-learning conditions, it controls the current vehicle to enter the self-learning strategy and begin the complete self-learning process. Specifically, the wading depth calculation device acquires radar distance signals over a continuous predetermined time period to determine the measured height value of the ultrasonic radar sensor. The predetermined time period can be 1 second. The radar distance signal can be analyzed to determine the ground clearance of the ultrasonic radar sensor, i.e., the measured height value. Multiple measurements within 1 second yield multiple measured height values. The wading depth calculation device averages these measured height values ​​by their median to obtain the average distance over that time period. This average distance is then used as the current height value of the ultrasonic radar sensor, i.e., the ground clearance used for this wading depth calculation. Furthermore, to make the current height value obtained by the self-learning strategy more reliable and the calculation more accurate, this application can also judge the current height value obtained through the self-learning strategy, i.e., determine whether the average distance is within the error range. If so, the self-learning is completed, the ground clearance of the left and right radars is updated, and the process ends. If not, the self-learning process is considered complete. The default design value will continue to be used as the ground clearance for this wading depth calculation, and the process will end.

[0072] S102: When the current vehicle is wading through water, control the ultrasonic radar sensor to emit a first ultrasonic wave in a direction perpendicular to the horizontal plane.

[0073] In practical applications, wading sensors determine whether a vehicle is wading through water. When a vehicle is wading, the radar emits ultrasonic waves downwards. Using the echo information returned from the obstacle (water surface), the distance between the radar and the obstacle is calculated. Therefore, when a vehicle is wading, the wading depth calculation device first needs to control the ultrasonic radar sensor to emit a first ultrasonic wave in a direction perpendicular to the horizontal plane. It is important to note that the two ultrasonic radar sensors are installed inside the left and right exterior rearview mirrors of the vehicle at the factory, and the radar probes are perpendicular to the ground. Therefore, the ultrasonic waves emitted by the ultrasonic radar sensors are always perpendicular to the ground.

[0074] S103: Acquire the second ultrasonic wave that returns after the first ultrasonic wave touches the horizontal surface, and analyze the second ultrasonic wave to obtain echo information.

[0075] In practical applications, ultrasonic waves are reflected when they encounter water. The device for calculating wading depth needs to acquire the corresponding reflected wave, i.e., the second ultrasonic wave, in real time after controlling the ultrasonic radar sensor to emit the first ultrasonic wave in a direction perpendicular to the horizontal plane. Then, the second ultrasonic wave is analyzed to determine its echo information.

[0076] S104: Based on the echo information and the ground clearance, determine the current wading depth of the vehicle.

[0077] In practical applications, the wading depth calculation device can determine the distance to the obstacle (water surface) detected by the ultrasonic radar sensor based on the echo information, denoted as H2. The distance of the ultrasonic radar sensor from the ground, i.e., its height above the ground, is denoted as H1. Thus, the current wading depth of the vehicle can be determined by H1-H2.

[0078] In summary, this application first determines the ground clearance of the ultrasonic radar sensor equipped on the vehicle based on a self-learning request. When the vehicle is wading through water, the ultrasonic radar sensor emits a first ultrasonic wave in a direction perpendicular to the horizontal plane. Then, a second ultrasonic wave is acquired and analyzed after the first ultrasonic wave hits the horizontal plane to obtain echo information. Finally, based on the echo information and the ground clearance, the wading depth of the vehicle is determined. Thus, by determining the ground clearance of the ultrasonic radar sensor equipped on the vehicle through self-learning, and then using this ground clearance as a basis for determining the wading depth, the accuracy of the wading depth calculation is improved.

[0079] Based on the method for calculating wading depth provided in the above embodiments, this application also provides a device for calculating wading depth. The device for calculating wading depth will be described below with reference to embodiments and accompanying drawings.

[0080] Figure 4 A schematic diagram of the structure of a wading depth calculation device provided in this application. (Combined with...) Figure 4 As shown, the wading depth calculation device 200 provided in this application embodiment includes:

[0081] The first determining module 201 is used to determine the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on a self-learning request.

[0082] The transmitting module 202 is used to control the ultrasonic radar sensor to emit a first ultrasonic wave in a direction perpendicular to the horizontal plane when the current vehicle is wading through water.

[0083] Analysis module 203 is used to acquire the second ultrasonic wave that returns after the first ultrasonic wave touches the horizontal surface, and to analyze the second ultrasonic wave to obtain echo information;

[0084] The second determining module 204 is used to determine the wading depth of the current vehicle based on the echo information and the ground clearance.

[0085] As one implementation method, regarding how to determine the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle, the aforementioned first determining module 201 can specifically be used for:

[0086] When a self-learning request is received, if the current vehicle meets all the conditions for self-learning, the current vehicle is controlled to enter the self-learning strategy, the current height value of the ultrasonic radar sensor equipped on the current vehicle is determined, and the current height value is used as the ground clearance height of the ultrasonic radar sensor for confirmation.

[0087] As another implementation, regarding how to determine the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle, the aforementioned first determining module 201 can also be used for:

[0088] When a self-learning request is received, if the current vehicle does not meet any of the self-learning conditions, the current vehicle is refused entry into the self-learning strategy, and the default height value of the ultrasonic radar sensor set when the current vehicle is equipped with the ultrasonic radar sensor is used as the ground clearance height of the ultrasonic radar sensor and confirmed.

[0089] As another implementation, regarding how to determine the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle, the aforementioned first determining module 201 can also be used for:

[0090] When no self-learning request is received, the default height value of the ultrasonic radar sensor set when the current vehicle is equipped with the ultrasonic radar sensor is used as the ground clearance height of the ultrasonic radar sensor and confirmed.

[0091] As one implementation, regarding how to obtain self-learning requests, the aforementioned wading depth calculation device 200 further includes:

[0092] It can acquire self-learning requests sent by the diagnostic instrument or actively requested by the driver in real time.

[0093] As one implementation method, the self-learning conditions include the following regarding how to define them:

[0094] The wading system is functioning properly, the vehicle is stationary, both side mirrors are deployed, the driver and passenger doors are closed, and the vehicle is operating on level ground.

[0095] As one implementation method, regarding how to determine the current altitude value of the ultrasonic radar sensor currently equipped on the vehicle, the aforementioned first determining module 201 is specifically used for:

[0096] Acquire the measured height values ​​of the ultrasonic radar sensor equipped on the current vehicle within a continuous predetermined time period.

[0097] The measured height value is averaged using the median to obtain the current height value of the ultrasonic radar sensor.

[0098] In summary, this application first determines the ground clearance of the ultrasonic radar sensor equipped on the vehicle based on a self-learning request. When the vehicle is wading through water, the ultrasonic radar sensor emits a first ultrasonic wave in a direction perpendicular to the horizontal plane. Then, a second ultrasonic wave is acquired and analyzed after the first ultrasonic wave hits the horizontal plane to obtain echo information. Finally, based on the echo information and the ground clearance, the wading depth of the vehicle is determined. Thus, by determining the ground clearance of the ultrasonic radar sensor equipped on the vehicle through self-learning, and then using this ground clearance as a basis for determining the wading depth, the accuracy of the wading depth calculation is improved.

[0099] In addition, this application also provides a device for calculating wading depth, comprising: a memory for storing a computer program; and a processor for executing the computer program to implement the steps of the wading depth calculation method as described in any of the above claims.

[0100] In addition, this application also provides a readable storage medium storing a computer program that, when executed by a processor, implements the steps of the wading depth calculation method as described in any of the preceding claims.

[0101] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for calculating wading depth, characterized in that, The method includes: Based on the self-learning request, determine the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle. When the current vehicle is wading through water, the ultrasonic radar sensor is controlled to emit a first ultrasonic wave in a direction perpendicular to the horizontal plane; Acquire the second ultrasonic wave that returns after the first ultrasonic wave touches the horizontal surface, and analyze the second ultrasonic wave to obtain echo information; Based on the echo information and the ground clearance, the current wading depth of the vehicle is determined; The process of determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on a self-learning request includes: When a self-learning request is received, if the current vehicle meets all the conditions for self-learning, the current vehicle is controlled to enter the self-learning strategy, the current height value of the ultrasonic radar sensor equipped on the current vehicle is determined, and the current height value is used as the ground clearance height of the ultrasonic radar sensor for confirmation. The process of determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on a self-learning request includes: When a self-learning request is received, if the current vehicle does not meet any of the self-learning conditions, the current vehicle is refused entry into the self-learning strategy, and the default height value of the ultrasonic radar sensor set when the current vehicle is equipped with the ultrasonic radar sensor is used as the ground clearance height of the ultrasonic radar sensor and confirmed. The self-learning conditions include: The wading system is functioning properly, the vehicle is stationary, both side mirrors are deployed, the driver and passenger doors are closed, and the vehicle is operating on level ground.

2. The method according to claim 1, characterized in that, The process of determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on a self-learning request includes: When no self-learning request is received, the default height value of the ultrasonic radar sensor set when the current vehicle is equipped with the ultrasonic radar sensor is used as the ground clearance height of the ultrasonic radar sensor and confirmed.

3. The method according to claim 1, characterized in that, Before determining the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on the self-learning request, the method further includes: It can acquire self-learning requests sent by the diagnostic instrument or actively requested by the driver in real time.

4. The method according to claim 1, characterized in that, Determining the current altitude value of the ultrasonic radar sensor currently equipped on the vehicle includes: Acquire the measured height values ​​of the ultrasonic radar sensor equipped on the current vehicle within a continuous predetermined time period. The measured height value is averaged using the median to obtain the current height value of the ultrasonic radar sensor.

5. A device for calculating wading depth, characterized in that, include: The first determining module is used to determine the ground clearance of the ultrasonic radar sensor currently equipped on the vehicle based on a self-learning request. The transmitting module is used to control the ultrasonic radar sensor to emit a first ultrasonic wave in a direction perpendicular to the horizontal plane when the current vehicle is wading through water. The analysis module is used to acquire the second ultrasonic wave that returns after the first ultrasonic wave touches the horizontal surface, and to analyze the second ultrasonic wave to obtain echo information. The second determining module is used to determine the wading depth of the current vehicle based on the echo information and the ground clearance. The first determining module is specifically used to, when a self-learning request is obtained, if the current vehicle meets all the items of the self-learning conditions, control the current vehicle to enter the self-learning strategy, determine the current height value of the ultrasonic radar sensor equipped on the current vehicle, and confirm the current height value as the ground clearance height of the ultrasonic radar sensor. The first determining module is specifically used to, when a self-learning request is obtained, if the current vehicle does not meet any of the self-learning conditions, refuse the current vehicle from entering the self-learning strategy, and use the default height value of the ultrasonic radar sensor set when the current vehicle is equipped with the ultrasonic radar sensor as the ground clearance height of the ultrasonic radar sensor and confirm it. The self-learning conditions include: The wading system is functioning properly, the vehicle is stationary, both side mirrors are deployed, the driver and passenger doors are closed, and the vehicle is operating on level ground.

6. A device for calculating wading depth, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the method for calculating wading depth as described in any one of claims 1 to 4.

7. A readable storage medium, characterized in that, The readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method for calculating wading depth as described in any one of claims 1 to 4.

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