Wading depth detection method and device based on water wave analysis, and vehicle

Abstract

The invention provides a fording depth detection method based on water wave analysis. The method comprises the following steps: acquiring a front road image in a vehicle driving direction; detecting whether the front road image has a preset scene; when it is detected that the front road image has the preset scene, obtaining a plurality of frames of front road images; the current vehicle speed is obtained, and the running speed (Vc) of the front vehicle is calculated according to the change of the distance between the front vehicles; analyzing the water wave images in the plurality of frames of front road images to obtain the wavelength (lambda) and the period (T) of water waves; calculating the propagation speed (Vw) of the water wave according to the vehicle speed (Vc) of the preceding vehicle, the wavelength (lambda) and the period (T); and calculating the fording depth (h) according to the propagation velocity (Vw) of the water wave, the gravitational acceleration (g), the wavelength (lambda) of the water wave and the period (T) of the water wave. The invention further provides a wading depth detection device based on water wave analysis and a vehicle.

Description

Technical Field

[0001] The present application relates to a method for detecting wading depth, and in particular to a method, device, and vehicle for detecting wading depth based on water wave analysis. Background Art

[0002] With the rapid development of autonomous driving and assisted driving technologies, autonomous driving and assisted driving need to have more powerful environmental perception capabilities. Common wading on the road is a potential danger, especially when the depth of the wading is unknown.

[0003] In the prior art, low-lying road sections that are prone to water accumulation are generally marked, while ordinary road sections are not marked. When it is rainy, the driver does not know the water wading information of ordinary road sections and cannot make accurate driving operations, which may be dangerous. Summary of the invention

[0004] The present application provides a method, device, and vehicle for detecting wading depth based on water wave analysis, so as to solve the problem of unsafe driving due to unclear wading depth.

[0005] In a first aspect, the present application provides a method for detecting wading depth based on water wave analysis, the method comprising:

[0006] Collecting a front road image in the direction of vehicle travel;

[0007] Detecting whether there is a preset scene in the front road image, wherein the preset scene is water waves appearing on the corresponding road when the front vehicle is traveling;

[0008] When it is detected that the road ahead image has a preset scene, a plurality of frames of road ahead images are acquired, wherein the plurality of frames of road ahead images are images taken by tracking the water waves;

[0009] Obtaining the current vehicle speed and calculating the travel speed (Vc) of the preceding vehicle according to the change in the distance between the preceding vehicles;

[0010] Analyzing the water wave images in the plurality of frames of the road ahead images to obtain the wavelength (λ) and period (T) of the water wave;

[0011] Calculating the propagation speed (Vw) of the water wave according to the front vehicle speed (Vc), the wavelength (λ), and the period (T);

[0012] The wading depth (h) is calculated based on the propagation speed (Vw) of the water wave, the gravitational acceleration (g), the wavelength (λ) of the water wave, and the period (T) of the water wave.

[0013] In a second aspect, the present application provides a wading depth detection device based on water wave analysis, and the wading depth detection device based on water wave analysis includes: an acquisition module, used to acquire a front road image in the direction of vehicle travel; a detection module, used to detect whether there is a preset scene in the front road image; an acquisition module, used to obtain the current vehicle speed and calculate the travel speed (Vc) of the front vehicle according to the change in the distance between the front vehicle and the front vehicle; an analysis module, used to analyze the water wave images in the several frames of the front road image to obtain the wavelength (λ) and period (T) of the water wave; a calculation module, used to calculate the propagation speed (Vw) of the water wave according to the front vehicle speed (Vc), the wavelength (λ), and the period (T); and calculate the wading depth (h) according to the propagation speed (Vw) of the water wave, the gravitational acceleration (g), the wavelength (λ) of the water wave, and the period (T) of the water wave.

[0014] In a third aspect, the present application further provides a vehicle, the vehicle comprising: a processor and a memory. The memory is used to store control program instructions for wading depth, and the processor is used to execute the control program instructions for detecting wading depth to implement the wading depth detection method based on water wave analysis.

[0015] The above-mentioned wading depth detection method based on water wave analysis calculates the wading depth (h) according to the propagation speed (Vw) of the water wave, the acceleration of gravity (g), the wavelength (λ) of the water wave, and the period (T) of the water wave, thereby improving the driving safety factor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work.

[0017] Figure 1 A flow chart of a method for detecting wading depth based on water wave analysis provided in an embodiment of the present application.

[0018] Figure 2 A sub-flowchart of a method for detecting wading depth based on water wave analysis provided in an embodiment of the present application.

[0019] Figure 3 A scenario application diagram of the water depth detection method based on water wave analysis provided in an embodiment of the present application.

[0020] Figure 4 A schematic diagram of the structure of a wading depth detection device based on water wave analysis provided in an embodiment of the present application.

[0021] Figure 5 Schematic diagram of the vehicle structure for wading depth detection based on water wave analysis provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0023] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] It should be noted that the descriptions involving "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0025] Please combine Figure 1 and Figure 3 , which is a flow chart of a wading depth detection method based on water wave analysis provided in an embodiment of the present application, and a schematic diagram of an application scenario. Vehicles are not limited to intelligent driving vehicles and manually driven vehicles. In the current application scenario, there is a front vehicle B and a puddle C in the road image in front of the current vehicle A. This scenario will be described in detail below. The detection method specifically includes the following steps.

[0026] Step S100, collecting the image of the road ahead in the direction of vehicle travel. Specifically, the current vehicle A collects the road ahead in its travel direction in real time through the collection module 10. For example, when the current vehicle A is traveling forward, the image of the road ahead is collected; when traveling to the left, the image of the road on the left is collected; when traveling to the right, the image of the road on the right is collected, and so on. The road image is the image of all objects within the range that the collection module 10 can collect. Objects include but are not limited to the front vehicle B and the puddle C. In this embodiment, when the current vehicle A is traveling forward, the current vehicle A collects the image of the road ahead in real time through the vehicle-mounted sensor. Among them, the vehicle-mounted sensor includes but is not limited to cameras, radars, etc.

[0027] Step S200, detecting whether there is a preset scene in the road image ahead, where the preset scene is water waves appearing on the corresponding road when the front vehicle is driving. Specifically, the preset scene is the presence of a front vehicle B and a puddle C in the road ahead. The current vehicle A can identify whether there is a front vehicle and a puddle from the collected road image through model training. The vehicles include but are not limited to trucks, buses, etc. The puddle can be a puddle of any shape and size. The method detects whether there is a preset scene in the road image ahead through the detection module 20.

[0028] In some feasible embodiments, when the front vehicle B is within the acquisition range, a road image containing the front vehicle B can be acquired. At this time, the detection module 20 can only detect the front vehicle B but not the puddle C, indicating that the road image ahead does not contain a preset scene. In some feasible embodiments, when the puddle C is within the acquisition range, a road image containing the puddle C can be acquired. At this time, the detection module 20 can only detect the puddle C but not the front vehicle B, indicating that the road image ahead does not contain a preset scene. In other feasible embodiments, when both the front vehicle B and the puddle C are within the acquisition range, the front vehicle B and the puddle C can be acquired at the same time, that is, the detection module 20 can detect both the front vehicle B and the puddle C, indicating that the road image ahead contains a preset scene.

[0029] In this embodiment, the on-board sensor acquisition range of the current vehicle A is 10m, the front vehicle B is 5m away from the current vehicle A, and the puddle C is 10m away from the current vehicle A. The front road image acquired by the on-board sensor contains both the front vehicle B and the puddle C. The detection module 20 detects the acquired front road image, and the detection module 10 detects that the front vehicle B and the puddle C exist in the front road image, that is, it is determined that the preset scene exists.

[0030] Step S300, when a preset scene is detected in the road image ahead, a plurality of frames of road image ahead are obtained, and the plurality of frames of road image ahead are images taken by tracking water waves. Specifically, when the detection module 20 can detect the front vehicle B and the puddle C, i.e., the preset scene, from the road image ahead, the road image ahead is obtained for a continuous period of time, and the obtained road image ahead is preprocessed. Among them, the plurality of frames of road image ahead are images taken by tracking water waves for a continuous period of time.

[0031] In this embodiment, the detection module 20 detects that there is a front vehicle B and a puddle C in the front road image, obtains continuous frames of the water wave image within a period of time, and then improves the image clarity of the water wave through image preprocessing technology (such as denoising, contrast enhancement, etc.).

[0032] Step S400, obtain the current vehicle speed and calculate the driving speed (Vc) of the preceding vehicle according to the change in the distance between the preceding vehicles. Specifically, the speed of the current vehicle A and the change in the distance between the current vehicle A and the preceding vehicle B are obtained by the acquisition module 30, and the driving speed (Vc) of the preceding vehicle B is obtained. Among them, the current vehicle B speed can be obtained by other means, which are not limited here. In this embodiment, the speed of the current vehicle A is 1.2m / s, and the distance between the current vehicle A and the preceding vehicle B is 8m. After 5s, the distance between the current vehicle A and the preceding vehicle B is 5m, and the driving speed of the preceding vehicle B is Vc, which is 0.6m / s. The above-mentioned speeds and distances are only examples and need to be determined according to actual conditions.

[0033] Step S500, analyzing the water wave images in several frames of the road ahead image to obtain the wavelength (λ) and period (T) of the water wave. Specifically, tracking is performed based on the pixel points between the road ahead images in each frame, that is, by tracking the crests of the water wave in continuous frames within a period of time. The water wave images in several frames of the road ahead image are analyzed by spectrum analysis such as Fourier transform to obtain the wavelength (λ) and period (T) of the water wave. In this embodiment, when the front vehicle B passes through the puddle C, the puddle C splashes water waves, and the splashed water waves are tracked. The analysis module 40 obtains the wavelength (λ) of the water wave based on the distance between the crests of the water wave in the puddle C, and obtains the period (T) of the water wave based on the number of crests collected within a period of time.

[0034] Step S600, calculating the propagation speed (Vw) of the water wave according to the speed (Vc), wavelength (λ), and period (T) of the preceding vehicle. Specifically, the calculation module 50 calculates the propagation speed (Vw) of the water wave according to a first formula, which is: Wherein, a and b represent preset constant correction coefficients, which are used to make adjustments according to actual scenarios and conditions to reduce errors.

[0035] Step S700, the wading depth (h) is calculated according to the propagation speed of water waves (Vw), the acceleration of gravity (g), the wavelength of water waves (λ), and the period of water waves (T). Specifically, the calculation module 50 calculates the depth (h) of the puddle C according to the second formula, which is: Wherein, k represents a preset constant calibration coefficient, which is used to adapt to different environments and conditions and improve the accuracy of the propagation velocity (Vw) of water waves.

[0036] Please see Figure 2 After executing step S700, the detection method further includes the following steps.

[0037] Step S701, determine whether the wading depth (h) exceeds the preset wading depth. Specifically, the puddle C depth (h) is calculated by the calculation module 50, and the puddle C depth (h) is compared with the preset puddle C depth to determine whether the puddle C depth (h) exceeds the preset puddle C depth. In this embodiment, the preset wading depth is 5 cm, the current actual puddle C depth is 6 cm, and the current actual puddle C depth exceeds the preset wading depth. In some feasible embodiments, the preset wading depth is 5 cm, the current actual puddle C depth is 3 cm, and the current actual puddle C depth does not exceed the preset wading depth.

[0038] Step S702, when it is determined that the wading depth (h) exceeds the preset wading depth, an alarm message is issued. Specifically, when it is determined that the wading depth (h) exceeds the preset wading depth, an alarm message is issued to remind the driver that the wading depth ahead is deep and to take effective measures in time, or to make corresponding safe driving strategies through the intelligent driving system to improve the safety driving factor. In this embodiment, the current actual depth of the puddle C does not exceed the preset wading depth, and an alarm message is issued to remind the driver that the wading depth ahead is deep and to take effective measures in time, or to make corresponding safe driving strategies through the intelligent driving system. In some feasible embodiments, the current actual depth of the puddle C does not exceed the preset wading depth, indicating that the current vehicle A can safely pass through the puddle C without special attention, thereby reducing unnecessary operations and tension and avoiding operational errors.

[0039] Step S703, when it is determined that the wading depth (h) exceeds the preset wading depth, the wading depth information is displayed on the display screen of the vehicle. Specifically, when it is determined that the depth (h) of puddle C exceeds the preset wading depth, the puddle C degree information is displayed on the display screen of the current vehicle A or is passed to the intelligent driving system. In this embodiment, the current actual puddle C depth does not exceed the preset wading depth, and the puddle C degree information is displayed on the display screen of the current vehicle A. In some feasible embodiments, the puddle C degree information is passed to the intelligent driving system of the current vehicle A, and the intelligent driving system of the current vehicle A takes corresponding measures.

[0040] Please see Figure 4 , which is a schematic diagram of the structure of a wading depth detection device based on water wave analysis provided in an embodiment of the present application. The wading detection device 1 based on water wave analysis includes a collection module 10, a detection module 20, an acquisition module 30, an analysis module 40, and a calculation module 50.

[0041] The acquisition module 10 is used to acquire the image of the road ahead in the driving direction of the current vehicle A. The current vehicle A acquires the road ahead in the driving direction in real time through the acquisition module 10 .

[0042] The detection module 20 is used to detect whether there is a preset scene in the road image ahead. Specifically, the preset scene is that there is a front vehicle B and a puddle C in the road ahead. The current vehicle A can identify whether there is a front vehicle and a puddle from the collected road image through model training.

[0043] The acquisition module 30 is used to acquire the current speed of the vehicle A and calculate the driving speed (Vc) of the front vehicle B according to the change in the distance between the front vehicle B and the front vehicle B. Specifically, when the detection module 20 can detect the front vehicle B and the puddle C, i.e., the preset scene, from the front road image, the front road image within a continuous period of time is acquired, and the acquired front road image is pre-processed.

[0044] The analysis module 40 is used to analyze the water wave images in several frames of the front road image to obtain the wavelength (λ) and period (T) of the water wave. Specifically, the speed of the current vehicle A and the change in the distance between the current vehicle A and the front vehicle B are obtained through the acquisition module 30, and the driving speed (Vc) of the front vehicle B is obtained.

[0045] The calculation module 50 is used to calculate the propagation speed (Vw) of the water wave according to the speed (Vc), wavelength (λ), and period (T) of the front vehicle B, and to calculate the depth (h) of the puddle C according to the propagation speed (Vw) of the water wave, the acceleration of gravity (g), the wavelength (λ) of the water wave, and the period (T) of the water wave. Specifically, the pixel points between the front road images of each frame are tracked, that is, the crest of the water wave is tracked by continuous frames within a period of time. The water wave images in several frames of the front road images are analyzed by spectrum analysis such as Fourier transform to obtain the wavelength (λ) and period (T) of the water wave.

[0046] Please see Figure 5 The vehicle 2 provided in the embodiment of the present application includes a memory 802 and a processor 801. The memory 802 is used to store control program instructions for detecting wading depth, and the processor 801 is used to execute the control program instructions for detecting wading depth to implement the method for detecting wading depth.

[0047] In some embodiments, the processor 801 may be a central processing unit (CPU), a microcontroller, a microprocessor or other data processing chip, which is used to run the control program instructions for ventilator charging stored in the memory 802.

[0048] The memory 802 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. The memory 802 may be an internal storage unit of a computer device in some embodiments, such as a hard disk of a computer device. The memory 802 may also be a storage device of an external computer device in other embodiments, such as a plug-in hard disk equipped on a computer device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. Further, the memory 802 may also include both an internal storage unit of a computer device and an external storage device. The memory 802 may not only be used to store application software and various types of data installed in a computer device, such as codes for realizing intelligent lifting processing, but may also be used to temporarily store data that has been output or is to be output.

[0049] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0050] The computer program product includes one or more computer instructions. When the computer program instruction is loaded and executed on a computer, a process or function according to an embodiment of the present application is generated in whole or in part. The computer device may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instruction may be stored in a computer-readable storage medium, or transmitted from a computer-readable storage medium to another computer-readable storage medium, for example, the computer instruction may be transmitted from a website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0051] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0052] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the unit is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0053] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0054] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can exist separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0055] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0056] It should be noted that the serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments. And the terms "including", "comprising" or any other variants thereof herein are intended to cover non-exclusive inclusion, so that the process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, device, article or method including the element.

[0057] Obviously, a person skilled in the art may make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include these modifications and variations.

[0058] The above are only preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the protection scope of the present application.

Claims

1. A method for detecting wading depth based on water wave analysis, characterized in that: The method comprises: Collecting a front road image in the direction of vehicle travel; Detecting whether there is a preset scene in the front road image, wherein the preset scene is water waves appearing on the corresponding road when the front vehicle is traveling; When it is detected that the road ahead image has a preset scene, a plurality of frames of road ahead images are acquired, wherein the plurality of frames of road ahead images are images taken by tracking the water waves; Obtaining the current vehicle speed and calculating the travel speed (Vc) of the preceding vehicle according to the change in the distance between the preceding vehicles; Analyzing the water wave images in the plurality of frames of the road ahead images to obtain the wavelength (λ) and period (T) of the water wave; Calculating the propagation speed (Vw) of the water wave according to the speed (Vc) of the preceding vehicle, the wavelength (λ), and the period (T); and The wading depth (h) is calculated based on the propagation speed (Vw) of the water wave, the gravitational acceleration (g), the wavelength (λ) of the water wave, and the period (T) of the water wave.

2. The method for detecting wading depth based on water wave analysis according to claim 1, characterized in that: The propagation speed (Vw) of the water wave is calculated according to the front vehicle speed (Vc), the wavelength (λ), and the period (T) as follows: the propagation speed (Vw) of the water wave is calculated according to a first formula, and the first formula is: Wherein, a and b represent preset constant correction coefficients.

3. The method for detecting wading depth based on water wave analysis according to claim 2, characterized in that: The wading depth (h) is calculated according to the propagation speed (Vw) of the water wave, the gravitational acceleration (g), the wavelength (λ) of the water wave, and the period (T) of the water wave. Specifically, the wading depth (h) is calculated according to the second formula, and the second formula is: Wherein, k represents a preset constant calibration coefficient.

4. The method for detecting wading depth based on water wave analysis according to claim 2, characterized in that: Also includes: Determining whether the wading depth (h) exceeds the preset wading depth; When it is determined that the wading depth (h) exceeds the preset wading depth, an alarm message is issued.

5. The method for detecting wading depth based on water wave analysis according to claim 2, characterized in that: Also includes: When it is determined that the wading depth (h) exceeds the preset wading depth, the wading depth information is displayed on a display screen of the vehicle.

6. The method for detecting wading depth based on water wave analysis as claimed in claim 1, characterized in that: Also includes: The acquired front road image is preprocessed.

7. The method for detecting wading depth based on water wave analysis according to claim 1, characterized in that: The images captured by tracking the water waves specifically include: Tracking is performed based on the pixel points between the front road images in each frame.

8. The method for detecting wading depth based on water wave analysis according to claim 7, characterized in that: Analyzing the water wave images in the plurality of frames of the road ahead images to obtain the wavelength (λ) and period (T) of the water waves specifically includes: The wavelength (λ) and period (T) of the water wave are determined by performing spectrum analysis on the plurality of frames of images of the road ahead.

9. A wading depth detection device based on water wave analysis, characterized in that: The wading depth detection device based on water wave analysis comprises: A collection module, used for collecting images of the road ahead in the direction of vehicle travel; A detection module, used to detect whether the front road image contains a preset scene; An acquisition module, used to acquire the current vehicle speed and calculate the travel speed (Vc) of the preceding vehicle according to the change in the distance between the preceding vehicles; An analysis module, used for analyzing the water wave images in the plurality of frames of the road ahead images to obtain the wavelength (λ) and period (T) of the water wave; A calculation module is used to calculate the propagation speed (Vw) of the water wave according to the speed of the front vehicle (Vc), the wavelength (λ), and the period (T); and to calculate the wading depth (h) according to the propagation speed (Vw) of the water wave, the acceleration of gravity (g), the wavelength (λ) of the water wave, and the period (T) of the water wave.

10. A vehicle, characterized in that: The vehicle comprises: a processor and a memory, wherein the memory is used to store control program instructions for wading depth, and the processor is used to execute the control program instructions for detecting the wading depth to implement the wading depth detection method based on water wave analysis according to any one of claims 1 to 8.

Images