A vehicle wading depth detection method and system, memory and vehicle

Abstract

The application provides a vehicle wading depth detection method, which obtains the actual wading depth of a vehicle wading reference point according to inertial data of the vehicle in combination with vehicle configuration parameters, and in the process of obtaining the actual wading depth, the active driving intention of a driver is obtained according to the depth of a gas pedal and the master cylinder pressure of a brake pedal; when the driving intention corresponds to a situation in which the vehicle will be subjected to sudden acceleration or sudden braking, the value of the actual wading depth is locked to avoid output of an incorrect actual wading depth; and when the inertial state of the vehicle is determined to be a stable state according to the driving intention, the updating of the actual wading depth is resumed. The vehicle wading depth detection method can maintain the actual wading depth at a value before active sudden acceleration or sudden braking of the vehicle when the inertial data is suddenly changed due to the active sudden acceleration or sudden braking, so as to avoid abnormal actual wading depth data caused by sudden change of the inertial data and incorrect driving guidance, improve the vehicle wading driving assistance effect, and improve the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automotive technology, in particular to a vehicle wading depth detection method and system, a memory and a vehicle. BACKGROUND

[0002] The internal combustion engine of a fuel vehicle needs to input air to provide oxygen for combustion, in order to ensure the reliability of the internal combustion engine, the setting position of the air inlet has a certain height, when the vehicle passes through the water area, as long as the wading depth of the vehicle is lower than the height of the air inlet, the normal operation of the vehicle can be ensured.

[0003] Among them, the air inlet is generally protected inside the vehicle shell, and the driver cannot directly observe the wading condition of the air inlet, therefore, in the prior art, many off-road vehicles are equipped with a wading radar to calculate the water depth of the current position of the vehicle, and combine the position design data of the air inlet of the vehicle to automatically detect the wading safety, and alarm when the water depth reaches the dangerous range.

[0004] Among them, the water depth detected by the wading radar is the water depth of the vertical position of the wading radar to the ground, and the setting position of the wading radar is not consistent with the position of the air inlet, so that the wading depth of the air inlet needs to be calculated according to the setting position relationship and the attitude of the vehicle, however, the accuracy of the attitude data of the vehicle will be affected by the sudden acceleration and deceleration of the vehicle, so that the calculated wading depth is not reliable, and the detected wading depth is less than the actual wading depth, which cannot timely remind the driver to drive into the water area with too deep depth, resulting in engine stall, so that the actual auxiliary effect of the vehicle wading driving assistance is insufficient. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a vehicle wading depth detection method and system to solve the problem of insufficient wading depth detection reliability in the prior art, which easily leads to the error guidance of the driver to drive into the water area with too deep depth, resulting in vehicle stall, and the actual effect is insufficient.

[0006] In one aspect, the present application provides a vehicle wading depth detection method, comprising:

[0007] Obtaining vehicle hardware information to obtain a first longitudinal distance between the wading radar and the vehicle wading reference point;

[0008] Collecting detection data of the wading radar to obtain a detected water depth, and collecting vehicle inertia data according to a preset collection period, the inertia data including gravity acceleration, vehicle speed, and vehicle longitudinal acceleration;

[0009] Obtaining the actual wading depth of the vehicle wading reference point according to the detected water depth, the inertia data and the first longitudinal distance;

[0010] The step of obtaining the actual wading depth further comprises:

[0011] The pedal depth and the master cylinder pressure of the brake pedal are collected and compared with preset reference ranges, and when any one of the pedal depth and the master cylinder pressure of the brake pedal exceeds the corresponding reference range, the actual wading depth is locked, and when the pedal depth and the master cylinder pressure of the brake pedal return to the corresponding reference range, the updating of the actual wading depth is resumed.

[0012] Optionally, the step of obtaining the actual wading depth further comprises:

[0013] The slope angle is obtained according to the vehicle inertia data, and the slope angle and the first longitudinal distance are substituted into a first calculation formula to obtain the actual wading depth.

[0014] The first calculation formula is Hs=(H+L*tanα) / cosα, wherein Hs is the actual wading depth, H is the detected water depth, L is the first longitudinal distance, and α is the slope angle.

[0015] Optionally, the step of obtaining the actual wading depth further comprises:

[0016] When the pedal depth and the master cylinder pressure of the brake pedal are within the corresponding reference ranges, the inertia data output in the current collection period is substituted into a second calculation formula to obtain the slope angle.

[0017] When any one of the pedal depth and the master cylinder pressure of the brake pedal exceeds the corresponding reference range, the inertia data output in the previous collection period is substituted into the second calculation formula to obtain the slope angle.

[0018] The second calculation formula is α=arcsin(|Ax-dv / dt| / g), wherein g is the gravitational acceleration, Ax is the vehicle longitudinal acceleration, v is the vehicle speed, and dv / dt is the vehicle acceleration.

[0019] Optionally, the step of collecting the vehicle inertia data according to the preset collection period further comprises: performing average value filtering on the inertia data in the collection period, and taking the filtered data as the final output inertia data of the current collection period.

[0020] The present application provides a vehicle wading depth detection system, comprising:

[0021] A configuration information acquisition module is configured to acquire vehicle hardware information to obtain a first longitudinal distance between a wading radar and a vehicle wading reference point.

[0022] The collection module is configured to collect detection data of a wading radar to obtain a detected water depth, and collect vehicle inertia data according to a preset collection period, the inertia data including gravity acceleration, vehicle speed, and vehicle longitudinal acceleration;

[0023] The wading depth calculation module is configured to obtain an actual wading depth of a vehicle wading reference point according to the detected water depth, the inertia data, and the first longitudinal distance.

[0024] The collection module is further configured to collect an accelerator pedal depth and a master cylinder pressure of a brake pedal.

[0025] The wading depth calculation module is further configured to compare the accelerator pedal depth and the master cylinder pressure of the brake pedal with preset reference ranges, and lock the actual wading depth when any one of the accelerator pedal depth and the master cylinder pressure of the brake pedal exceeds the corresponding reference range, and restore the update of the actual wading depth when the accelerator pedal depth and the master cylinder pressure of the brake pedal return to the corresponding reference ranges.

[0026] Optionally, the wading depth calculation module is further configured to:

[0027] obtain a slope angle according to the vehicle inertia data, and substitute the slope angle and the first longitudinal distance into a first calculation formula to obtain the actual wading depth.

[0028] The first calculation formula is Hs=(H+L×tanα) / cosα, where Hs is the actual wading depth, H is the detected water depth, L is the first longitudinal distance, and α is the slope angle.

[0029] Optionally, the wading depth calculation module is further configured to:

[0030] when the accelerator pedal depth and the master cylinder pressure of the brake pedal are within the corresponding reference ranges, substitute the inertia data output in the current collection period into a second calculation formula to obtain the slope angle.

[0031] when any one of the accelerator pedal depth and the master cylinder pressure of the brake pedal exceeds the corresponding reference range, substitute the inertia data output in the previous collection period into the second calculation formula to obtain the slope angle.

[0032] The second calculation formula is α=arcsin(|Ax-dv / dt| / g), where g is the gravity acceleration, Ax is the vehicle longitudinal acceleration, v is the vehicle speed, and dv / dt is the vehicle acceleration.

[0033] Optionally, the collection module is further configured to perform average value filtering on the inertial data in the collection period, and output the filtered data as the final output of the inertial data in the current collection period.

[0034] In one aspect, the application provides a memory, which stores a computer program, when the computer program is read and executed by a processor, a vehicle wading depth detection method provided by the application is executed.

[0035] In one aspect, the application provides a vehicle, which comprises a vehicle wading depth detection system provided by the application.

[0036] The vehicle wading depth detection method provided by the application further collects the accelerator pedal depth and the master cylinder pressure of the brake pedal in the step of obtaining the actual wading depth of the vehicle wading reference point, and compares them with the preset reference range to obtain the active driving intention of the driver; when any one of the accelerator pedal depth and the master cylinder pressure of the brake pedal exceeds the corresponding reference range, it is judged that the vehicle will experience sudden acceleration or sudden braking, at this time, the reliability of the updated actual wading depth obtained according to the inertial data of the vehicle is poor, the actual wading depth is locked and its value is maintained to avoid outputting an incorrect actual wading depth; when the accelerator pedal depth and the master cylinder pressure of the brake pedal return to the corresponding reference range, it is judged that the inertial state of the vehicle is stable, at this time, the reliability of the updated actual wading depth obtained according to the inertial data of the vehicle is guaranteed, and the updating of the actual wading depth is resumed. The vehicle wading depth detection method provided by the application can maintain the actual wading depth at the value before the active sudden acceleration or sudden braking of the vehicle, which can effectively avoid the situation that the actual wading depth obtained due to the active sudden acceleration or sudden braking of the vehicle has a large error, leading to false alarm of the vehicle wading depth alarm system, thereby improving the alarm accuracy of the vehicle wading depth alarm system, improving the auxiliary performance of the vehicle driving, and improving the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 It is a main flow chart of the vehicle wading depth detection method in the embodiment of the application.

[0038] Figure 2 It is a schematic diagram of the actual wading depth operation principle in the vehicle wading depth detection method in the embodiment of the application.

[0039] Figure 3 It is a part of the flow chart of the vehicle wading depth detection method in the embodiment of the application.

[0040] Figure 4 It is a part of the structure schematic diagram of the vehicle wading depth detection method in the embodiment of the application.

[0041] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0042] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0043] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0045] The wading depth directly collected by existing wading radar is inconsistent with the actual wading depth of the vehicle, and the accuracy of the conversion is easily affected by the vehicle's emergency control, resulting in insufficient assistance to the vehicle in wading driving.

[0046] This invention provides a method for detecting the wading depth of a vehicle, such as... Figure 1 As shown, it mainly includes:

[0047] Step S01: Obtain vehicle hardware information to obtain the first longitudinal distance between the wading radar and the vehicle wading reference point;

[0048] Step S02: Collect detection data from the wading radar to obtain the detected water depth, and collect vehicle inertial data according to a preset collection cycle. The inertial data includes gravitational acceleration, vehicle speed, and vehicle longitudinal acceleration.

[0049] Step S03: Obtain the actual wading depth of the vehicle wading reference point based on the detected water depth, the inertial data, and the first longitudinal distance;

[0050] The step of obtaining the actual wading depth also includes:

[0051] The accelerator pedal depth and brake pedal master cylinder pressure are collected and compared with a preset reference range. When either the accelerator pedal depth or the brake pedal master cylinder pressure exceeds the corresponding reference range, the actual wading depth is locked. When the accelerator pedal depth and the brake pedal master cylinder pressure return to the corresponding reference range, the actual wading depth is updated.

[0052] The vehicle wading depth detection method of the present invention obtains the actual wading depth of the vehicle's wading reference point based on the vehicle's inertial data and vehicle configuration parameters. Furthermore, in obtaining the actual wading depth, the method also obtains the driver's active driving intention based on the accelerator pedal depth and the master cylinder pressure of the brake pedal. When the driving intention corresponds to a situation where the vehicle will accelerate or brake suddenly, the actual wading depth value is locked to avoid outputting an incorrect actual wading depth. When the vehicle's inertial state is determined to be stable based on the driving intention, the update of the actual wading depth is resumed. This method can maintain the actual wading depth at the value before the sudden acceleration or braking caused by the vehicle's active acceleration or braking, avoiding abnormal actual wading depth data obtained due to sudden changes in inertial data and incorrect driving guidance. This improves the vehicle's wading driving assistance effect and enhances the user experience.

[0053] Specifically, the step of obtaining the actual wading depth further includes:

[0054] The slope angle is obtained based on the vehicle inertial data, and the slope angle and the first longitudinal distance are substituted into the first calculation formula to obtain the actual wading depth.

[0055] The first calculation formula is as follows Figure 2 As shown, Hs = (H + L × tanα) / cosα, where Hs is the actual wading depth, H is the detected water depth, L is the first longitudinal distance, and α is the ramp angle.

[0056] To match the standard for manually judging wading depth, in this embodiment, the vehicle wading reference point is the center of the front bumper, which is close to the location of the engine air intake and is located at the front of the vehicle. This makes it easy to judge the wading depth at the air intake location in advance. In practical applications, the accurate location of the air intake or other reference points can also be directly selected as the vehicle wading reference point based on the vehicle design parameters.

[0057] Specifically, the step of obtaining the actual wading depth further includes:

[0058] When the accelerator pedal depth and the master cylinder pressure of the brake pedal are within the corresponding reference range, the inertial data output in the current acquisition cycle is substituted into the second calculation formula to obtain the ramp angle.

[0059] When any one of the accelerator pedal depth and the brake pedal master cylinder pressure exceeds the corresponding reference range, the inertial data output in the previous acquisition period is substituted into a second calculation formula to obtain the ramp angle;

[0060] The second calculation formula is: a = arcsin(|Ax-dv / dt| / g), where g is the acceleration of gravity, Ax is the vehicle longitudinal acceleration, v is the vehicle speed, and dv / dt is the vehicle acceleration.

[0061] To further reduce acquisition errors, in the embodiment, the step of acquiring vehicle inertial data according to a preset acquisition period further includes: performing average value filtering on the inertial data in the acquisition period, and taking the filtered data as the final output inertial data of the current acquisition period.

[0062] In a specific example, as shown in Figure 3 In the step of obtaining the ramp angle, the real-time algt value of the vehicle, the accelerator pedal depth signal, and the brake pedal master cylinder pressure value are simultaneously acquired, where algt includes vehicle longitudinal acceleration, vehicle speed, and vehicle acceleration. In one acquisition period, a plurality of algt values are acquired from the inertial measurement unit (IMU) of the vehicle, the average value of each type of parameter in the plurality of algt values is filtered, the filtered algt value is taken as the output of the current acquisition period, and the algt value obtained in the current period is used to calculate the ramp angle to update the ramp angle according to the comparison between the accelerator pedal depth signal and the brake pedal master cylinder pressure value and the corresponding threshold value. When the accelerator pedal depth signal or the brake pedal master cylinder pressure value exceeds the corresponding threshold value, the algt value of the previous period is used to repeatedly update the algt value for the calculation of the ramp angle, so as to maintain the ramp angle and avoid the sudden change of the algt value when the vehicle is rapidly accelerated or braked, which leads to an error in the obtained ramp angle.

[0063] That is, when the algt value for the calculation of the ramp angle is updated, the ramp angle is updated synchronously to update the actual wading depth. The use of the algt value of the previous period mainly refers to: when the algt value for the calculation of the ramp angle is updated, the value is maintained until the accelerator pedal depth signal and the brake pedal master cylinder pressure value return to below the corresponding threshold value, and when the algt value for the calculation of the ramp angle is updated, the data is updated to the algt value output in the latest acquisition period.

[0064] The reference range corresponding to the threshold value is 0 to Y, the corresponding value is used as the judgment standard when the threshold value is exceeded, and the corresponding value is used as the judgment standard when the threshold value is restored. The difference △y is used to determine whether the algt value obtained in the current sampling period is restored to be stable.

[0065] The application also provides a vehicle wading depth detection system, comprising:

[0066] a configuration information acquisition module, configured to acquire vehicle hardware information to obtain a first longitudinal distance between a wading radar and a vehicle wading reference point;

[0067] a collection module, configured to collect detection data of the wading radar to obtain a detected water depth, and collect vehicle inertia data according to a preset collection period, the inertia data including gravity acceleration, vehicle speed and vehicle longitudinal acceleration;

[0068] a wading depth calculation module, configured to obtain an actual wading depth of the vehicle wading reference point according to the detected water depth, the inertia data and the first longitudinal distance;

[0069] wherein the collection module is further configured to collect a throttle pedal depth and a master cylinder pressure of a brake pedal;

[0070] the wading depth calculation module is further configured to compare the throttle pedal depth and the master cylinder pressure of the brake pedal with preset reference ranges, and lock the actual wading depth when any one of the throttle pedal depth and the master cylinder pressure of the brake pedal exceeds the corresponding reference range, and restore the update of the actual wading depth when the throttle pedal depth and the master cylinder pressure of the brake pedal return to the corresponding reference ranges.

[0071] Specifically, the wading depth calculation module is further configured to:

[0072] obtain a slope angle according to the vehicle inertia data, and substitute the slope angle and the first longitudinal distance into a first calculation formula to obtain the actual wading depth;

[0073] the first calculation formula is Hs=(H+L×tanα) / cosα, wherein Hs is the actual wading depth, H is the detected water depth, L is the first longitudinal distance, and α is the slope angle.

[0074] the wading depth calculation module is further configured to:

[0075] when the throttle pedal depth and the master cylinder pressure of the brake pedal are within the corresponding reference ranges, substitute the inertia data output in a current collection period into a second calculation formula to obtain the slope angle;

[0076] when any one of the throttle pedal depth and the master cylinder pressure of the brake pedal exceeds the corresponding reference range, substitute the inertia data output in a previous collection period into the second calculation formula to obtain the slope angle;

[0077] The second calculation formula is: α=arcsin(|Ax-dv / dt| / g), where g is the acceleration due to gravity, Ax is the longitudinal acceleration of the vehicle, v is the vehicle speed, and dv / dt is the vehicle acceleration.

[0078] The acquisition module is also used to perform average filtering on the inertial data within the acquisition cycle, and use the filtered data as the final output inertial data for the current acquisition cycle.

[0079] The present invention also provides a memory that stores a computer program, which, when read and run by a processor, is used to execute the vehicle wading depth detection method provided by the present invention.

[0080] When memory is used in vehicles, such as Figure 4 As shown, the vehicle may include a processor 10 and a memory 20. The computer program is stored in the memory 20. When the processor 10 reads and runs the computer program stored in the memory 20, it can execute the vehicle wading depth detection method of the present invention. The water depth can be obtained by a wading radar configured in the vehicle, the inertial data can be obtained by an IMU configured in the vehicle, the first longitudinal distance can be pre-stored in the memory 20, and the data are transmitted through a communication bus. After the processor 10 obtains the actual wading depth, it can determine whether there is a danger according to a preset wading danger threshold. When there is a danger, it will alarm and remind the driver through the interactive device (display, buzzer, etc.) configured in the vehicle, so as to realize the safety assistance of wading driving.

[0081] Those skilled in the art will understand that the logic or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any memory (or computer-readable storage medium) for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0082] More specific examples (a non-exhaustive list) of the computer-readable storage medium include the following: an electrical connection having one or more wires (electrical device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable storage medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via an optical scanner, then compiled, interpreted, or otherwise processed, and stored in a computer memory in a form that is then reproducible in a computer.

[0083] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the embodiments described above, various steps or methods can be implemented, for example, by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and in another embodiment, any of the following techniques, which are well known in the art, can be used to implement the application: a hybrid of the techniques mentioned above; a combination of one or more of the techniques mentioned above; or one or more other techniques suitable for use in the art.

[0084] The application also provides a vehicle, comprising the vehicle wading depth detection system provided by the application.

[0085] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0086] The above-described embodiments only express several specific embodiments of the application, which are described in a more specific and detailed manner, but cannot be understood as a limitation on the scope of the patent of the application. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the application, which are all within the scope of protection of the application. Therefore, the scope of protection of the patent of the application should be subject to the appended claims.

Claims

1. A vehicle wading depth detection method characterized by, The method comprises the following steps: acquiring vehicle hardware information to obtain a first longitudinal distance between a wading radar and a vehicle wading reference point; collecting detection data of the wading radar to obtain a detected water depth, and collecting vehicle inertial data according to a preset collection period, wherein the inertial data comprises gravity acceleration, vehicle speed and vehicle longitudinal acceleration; obtaining an actual wading depth of the vehicle wading reference point according to the detected water depth, the inertial data and the first longitudinal distance; wherein the step of obtaining the actual wading depth further comprises: collecting a throttle pedal depth and a master cylinder pressure of a brake pedal, and comparing the throttle pedal depth and the master cylinder pressure of the brake pedal with preset reference ranges, and locking the actual wading depth when any one of the throttle pedal depth and the master cylinder pressure of the brake pedal exceeds the corresponding reference range, and restoring the update of the actual wading depth when the throttle pedal depth and the master cylinder pressure of the brake pedal return to the corresponding reference ranges; wherein the step of obtaining the actual wading depth further comprises: obtaining a slope angle according to the vehicle inertial data, and substituting the slope angle and the first longitudinal distance into a first calculation formula to obtain the actual wading depth, wherein the first calculation formula is Hs=(H+L×tanα) / cosα, wherein Hs is the actual wading depth, H is the detected water depth, L is the first longitudinal distance, and α is the slope angle; and when the throttle pedal depth and the master cylinder pressure of the brake pedal are within the corresponding reference ranges, substituting the inertial data output in the current collection period into a second calculation formula to obtain the slope angle; when any one of the throttle pedal depth and the master cylinder pressure of the brake pedal exceeds the corresponding reference range, substituting the inertial data output in the previous collection period into the second calculation formula to obtain the slope angle, wherein the second calculation formula is α=arcsin(|Ax-dv / dt| / g), wherein g is the gravity acceleration, Ax is the vehicle longitudinal acceleration, v is the vehicle speed, and dv / dt is the vehicle acceleration.

2. The vehicle wading depth detection method according to claim 1, characterized by, The step of collecting the vehicle inertial data according to the preset collection period further comprises: performing average value filtering on the inertial data in the collection period, and taking the filtered data as the final output inertial data of the current collection period.

3. A vehicle wading depth detection system characterised in that, The method comprises the following steps: a configuration information acquisition module is configured to acquire vehicle hardware information to obtain a first longitudinal distance between a wading radar and a vehicle wading reference point; a collection module is configured to collect detection data of the wading radar to obtain a detected water depth, and collect vehicle inertial data according to a preset collection period, wherein the inertial data comprises gravity acceleration, vehicle speed and vehicle longitudinal acceleration; a wading depth operation module is configured to obtain an actual wading depth of the vehicle wading reference point according to the detected water depth, the inertial data and the first longitudinal distance; wherein the collection module is further configured to collect a throttle pedal depth and a master cylinder pressure of a brake pedal; The wading depth operation module is further configured to compare the throttle pedal depth and the master cylinder pressure of the brake pedal with preset reference ranges, and lock the actual wading depth when any one of the throttle pedal depth and the master cylinder pressure of the brake pedal exceeds the corresponding reference range, and restore the update of the actual wading depth when the throttle pedal depth and the master cylinder pressure of the brake pedal return to the corresponding reference ranges; The wading depth operation module is further configured to: obtain a slope angle according to the vehicle inertia data, and substitute the slope angle and the first longitudinal distance into a first calculation formula to obtain the actual wading depth, the first calculation formula being Hs=(H+L×tanα) / cosα, wherein Hs is the actual wading depth, H is the detected water depth, L is the first longitudinal distance, and α is the slope angle; and when the throttle pedal depth and the master cylinder pressure of the brake pedal are within the corresponding reference ranges, substitute the inertia data output in the current collection period into a second calculation formula to obtain the slope angle; when any one of the throttle pedal depth and the master cylinder pressure of the brake pedal exceeds the corresponding reference range, substitute the inertia data output in the previous collection period into the second calculation formula to obtain the slope angle, the second calculation formula being α=arcsin(|Ax−dv / dt| / g), wherein g is the gravitational acceleration, Ax is the vehicle longitudinal acceleration, v is the vehicle speed, and dv / dt is the vehicle acceleration.

4. The vehicle wade depth detection system of claim 3, wherein, The collection module is further configured to perform average value filtering on the inertia data in the collection period, and use the filtered data as the final output inertia data in the current collection period.

5. A memory, comprising: The memory stores a computer program, and when the computer program is read and executed by the processor, the vehicle wading depth detection method in any one of claims 1 to 2 is executed.

6. A vehicle, characterized by The vehicle wading depth detection system in any one of claims 3 to 4. The vehicle wading depth detection system in any one of claims 3 to 4.

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