Vehicle wading sensing system, method and device and vehicle

Abstract

The invention relates to a wading sensing system, method and device of a vehicle and the vehicle, the method comprises an ultrasonic sensor and a controller, and the controller is configured to determine wading of a vehicle body according to scattered echoes in echoes received by the ultrasonic sensor.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle electronic technology, and more specifically, to a vehicle wading sensing system, method, device and vehicle. Background Art

[0002] With the continuous development of science and technology, people have put forward higher requirements for the safety of vehicles in many dangerous scenarios. For example, in a scenario where the vehicle is submerged in water, relevant countermeasures include shutting down the engine, activating escape means, etc. However, how to accurately detect vehicle wading is a key issue. In the related art, multiple ultrasonic sensors are often arranged in front and rear positions of the front and rear bumpers of the vehicle, and the multiple ultrasonic sensors are distributed in a vertical downward array. When the ultrasonic sensor is not immersed in the water, the ultrasonic signal reflection echo can be used to detect the height of the water surface below the sensor from the sensor, and then combined with the installation height of the sensor itself, the depth of the vehicle body immersed in the water can be calculated. However, this method cannot form a reflected echo when the ultrasonic sensor is submerged in water, that is, the ultrasonic sensor is disabled and cannot accurately identify the vehicle wading, which poses a certain safety risk. Summary of the invention

[0003] An objective of the embodiments of the present disclosure is to provide a new solution for identifying vehicle wading.

[0004] According to a first aspect of the present disclosure, an embodiment of a vehicle wading perception system is provided, the system comprising:

[0005] An ultrasonic sensor, the ultrasonic sensor is used to transmit ultrasonic waves and receive ultrasonic echoes;

[0006] The controller is configured to determine that the vehicle body is wading according to the scattered echoes among the echoes received by the ultrasonic sensor.

[0007] Optionally, the controller is configured to determine that the vehicle body is wading when a proportion of scattered echoes in the echoes received by the ultrasonic sensor exceeds a threshold.

[0008] Optionally, the ultrasonic sensor is installed parallel to a horizontal reference plane of the vehicle.

[0009] Optionally, the wading sensing system includes at least one sensor group, the sensor group includes at least two ultrasonic sensors arranged on the same side of the vehicle body, and each ultrasonic sensor in the same sensor group has the same installation height.

[0010] Optionally, the wading sensing system includes at least one sensor group of a forward sensor group and a rearward sensor group, the forward sensor group includes at least two ultrasonic sensors arranged on the front side of the vehicle body, and the rearward sensor group includes at least two ultrasonic sensors arranged on the rear side of the vehicle body.

[0011] Optionally, the controller is configured to: when the sensor group is in a sensor self-transmitting and self-receiving working mode, determine that the ultrasonic sensor is wading when the proportion of scattered echoes in the echoes received by the ultrasonic sensor in the sensor group is greater than or equal to a first threshold; and

[0012] When the number of ultrasonic sensors in the sensor group that are wading is greater than or equal to a number threshold, it is determined that the vehicle body is wading; wherein the number threshold is less than or equal to the number of ultrasonic sensors in the sensor group.

[0013] Optionally, the quantity threshold is greater than or equal to half the quantity of ultrasonic sensors in the sensor group.

[0014] Optionally, when the sensor group is in a sensor self-transmitting and other-receiving working mode, the first ultrasonic sensor in the sensor group transmits ultrasonic waves, and other ultrasonic sensors receive echoes of the ultrasonic waves transmitted by the first ultrasonic sensor;

[0015] The controller is configured to: determine whether the first ultrasonic sensor is wading based on scattered echoes in the echoes received by the other ultrasonic sensors; and determine that the vehicle body is wading when the number of ultrasonic sensors wading in the sensor group is greater than or equal to a number threshold; wherein the number threshold is less than or equal to the number of ultrasonic sensors in the sensor group.

[0016] Optionally, when the sensor group is in the sensor self-transmitting and self-receiving working mode, when the first ultrasonic sensor is present, the working mode of the sensor group is switched from the sensor self-transmitting and self-receiving working mode to the sensor self-transmitting and other-receiving working mode; the first ultrasonic sensor is a sensor in which, in the self-transmitting and self-receiving working mode, the proportion of scattered echoes in the received echoes is greater than or equal to a first threshold.

[0017] Optionally, the controller is configured to determine that the first ultrasonic sensor is wading when a proportion of scattered echoes in echoes received by any other ultrasonic sensor is greater than or equal to a second threshold.

[0018] Optionally, when it is determined that the number of the first ultrasonic sensors fording water is less than the number threshold, the second ultrasonic sensor in the sensor group transmits an ultrasonic wave, and the other ultrasonic sensors receive the echo of the ultrasonic wave emitted by the second ultrasonic sensor; wherein the second ultrasonic sensor is a sensor in which the proportion of scattered echoes in the received echoes is less than the first threshold in a self-transmitting and self-receiving working mode;

[0019] The controller is configured to determine that the second ultrasonic sensor is wading when the proportion of scattered echoes in the echoes received by any other ultrasonic sensor is greater than or equal to a second threshold.

[0020] According to a second aspect of the present disclosure, an embodiment of a wading sensing method is provided, the method comprising:

[0021] Receiving an echo from an ultrasonic sensor; wherein the ultrasonic sensor is used to transmit ultrasonic waves and receive echoes of ultrasonic waves;

[0022] The vehicle body wading is determined according to the scattered echoes in the echoes.

[0023] According to a third aspect of the present disclosure, an embodiment of a wading sensing device is provided, comprising a memory and a processor, wherein the memory stores executable instructions for controlling the processor to operate to execute the wading sensing method as described in the second aspect.

[0024] According to a fourth aspect of the present disclosure, an embodiment of a vehicle is provided, the vehicle comprising: a wading sensing system as described in the first aspect, or a wading sensing device as described in the third aspect.

[0025] One beneficial effect of the embodiment of the present disclosure is that the wading perception system according to the embodiment includes an ultrasonic sensor and a controller, the ultrasonic sensor is used to transmit ultrasonic waves and receive ultrasonic echoes, and the controller is configured to determine whether the vehicle body is wading according to the scattered echoes in the echoes received by the ultrasonic sensor. It can be realized to judge whether the vehicle body is wading according to the scattered echoes in the echoes, thereby avoiding the problem of the ultrasonic sensor being submerged in water when detecting the wading of the vehicle body through reflected echoes in the related art, thereby improving the accuracy of wading perception and improving the safety of the vehicle.

[0026] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0028] Figure 1 is a schematic diagram of the structure of a vehicle wading perception system according to some embodiments;

[0029] Figure 2 is a schematic diagram of the installation of a sensor group according to some embodiments (I);

[0030] Figure 3 is a schematic diagram of the installation of a sensor group according to some embodiments (II);

[0031] Figure 4 is a schematic diagram of a vehicle body wading according to some embodiments (I);

[0032] Figure 5 is a schematic diagram of a vehicle body wading according to other embodiments (II);

[0033] Figure 6 is a flowchart of a wading sensing method according to some embodiments;

[0034] Figure 7 is a flowchart of a wading sensing method according to other embodiments;

[0035] Figure 8 is a schematic structural diagram of a water-wading sensing device according to some embodiments;

[0036] Fig. 9 is a schematic diagram of the structure of a vehicle according to some embodiments;

[0037] Fig.10 is a schematic structural diagram of a vehicle according to some other embodiments. DETAILED DESCRIPTION

[0038] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0039] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0040] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0041] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0042] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0043] The disclosed embodiments relate to a vehicle wading sensing solution for determining that a vehicle body is wading based on scattered echoes in ultrasonic echoes. Figure 1 FIG. 2 shows a schematic diagram of the composition structure of a vehicle wading sensing system according to some embodiments. Figure 1 As shown, the wading perception system of the embodiment of the present application may include an ultrasonic sensor.

[0044] In some examples, the wading sensing system may include a single ultrasonic sensor, such as ultrasonic sensor A or ultrasonic sensor B.

[0045] In other examples, the wading sensing system may also include multiple ultrasonic sensors, for example, ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C, and ultrasonic sensor D.

[0046] Those skilled in the art should understand that there is no limitation on the number of ultrasonic sensors included in the water sensing system.

[0047] The wading sensing system may further include a controller 10 .

[0048] In some examples, such as Figure 1 As shown, the controller 10 may be a separate controller, that is, the controller 10 and the ultrasonic sensor may be two independent devices, and the controller 10 is in communication connection with the ultrasonic sensor. The controller 10 may control the working mode of the ultrasonic sensor.

[0049] In some other examples, the controller 10 may be integrated in the ultrasonic sensor, that is, the controller 10 in the ultrasonic sensor may control the working mode of the ultrasonic sensor.

[0050] In some embodiments, the working modes of the ultrasonic sensor are divided into a self-transmitting and self-receiving working mode and a self-transmitting and other-receiving working mode.

[0051] In the example where the corresponding wading sensing system includes a single ultrasonic sensor, the controller 10 can control the single ultrasonic sensor to be in a self-transmitting and self-receiving working mode, that is, the single ultrasonic sensor itself sends out ultrasonic signals and receives returned echo signals.

[0052] In the example where the corresponding wading sensing system includes multiple ultrasonic sensors, the controller 10 can control the multiple ultrasonic sensors to be in a self-transmitting and self-receiving working mode. That is, any one of the multiple ultrasonic sensors sends an ultrasonic signal, and one or more of the other ultrasonic sensors receive the ultrasonic echo signal. Alternatively, the controller 10 can control the multiple ultrasonic sensors to be in a self-transmitting and self-receiving working mode.

[0053] Those skilled in the art should understand that there is no limitation on the number and working mode of the ultrasonic sensors.

[0054] Regardless of the working mode of the ultrasonic sensor, the controller 10 can receive the echo received by the ultrasonic sensor to determine whether the vehicle body is wading.

[0055] Specifically, after receiving the echo, the ultrasonic sensor may convert the echo into an electrical signal. The controller 10 may receive the electrical signal corresponding to the echo received by the ultrasonic sensor to determine whether the vehicle body is wading.

[0056] In some examples, the controller 10 may include a control module 11 and a determination module 12 .

[0057] The control module 11 is used to control the working mode of the ultrasonic sensor, and the judgment module 12 is used to receive the electrical signal corresponding to the echo received by the ultrasonic sensor to determine whether the vehicle body is wading.

[0058] The echoes received by the ultrasonic sensor include reflected echoes and scattered echoes. Scattered echoes are echoes generated based on scattering, and reflected echoes are echoes generated based on reflection. When the ultrasonic sensor is not submerged in water, that is, the ultrasonic sensor is in the air medium, the reflection effect of the air medium is strong, the scattering effect is extremely weak, and the scattered signal is extremely weak, so the scattered echo in the echo is weak. Figure 4 and Figure 5 As shown, when the ultrasonic sensor is immersed in water, that is, the ultrasonic sensor is in the water medium, since the water medium is obviously denser than the air medium and there are impurities in the water, the reflection effect of the water medium is relatively weak and the scattering effect is relatively strong, and the scattered echo in the echo is significantly enhanced.

[0059] In some embodiments, the controller is configured to determine that the vehicle body is wading based on scattered echoes among echoes received by the ultrasonic sensor.

[0060] In this embodiment, the controller 10 is in communication connection with the ultrasonic sensor. When determining the working mode of the ultrasonic sensor, the controller 10 receives the echo received by the ultrasonic sensor, and determines whether the vehicle body is wading based on the scattered echo in the echo.

[0061] In some examples, the controller 10 may first determine that the working mode of the ultrasonic sensor is the spontaneous transmission and reception mode, and when the scattered echo in the received echo is significantly enhanced, switch the working mode of the ultrasonic sensor from the spontaneous transmission and reception mode to the spontaneous transmission and reception mode.

[0062] In some embodiments, the controller 10 is configured to determine that the vehicle body is wading when the proportion of scattered echoes in the echoes received by the ultrasonic sensor exceeds a threshold.

[0063] In this embodiment, the ultrasonic sensor may convert the received echo into an electrical signal, and the controller 10 may determine the proportion of the scattered echo in the echo according to the electrical signal corresponding to the echo.

[0064] The proportion of the scattered echo may be the proportion of the energy of the scattered echo in the echo. When the proportion of the energy of the scattered echo in the echo exceeds a threshold, it is determined that the vehicle body is wading.

[0065] For example, the energy proportion of the scattered echo in the echo can be reflected by the waveform of the electrical signal corresponding to the echo. When there is obvious noise in the waveform, it means that the energy proportion of the scattered echo in the echo is relatively large, and it is determined that the vehicle body is wading. When there is weak noise in the waveform, it means that the energy proportion of the scattered echo in the echo is relatively small, and it is determined that the vehicle body is not wading.

[0066] The proportion of scattered echoes may also be the proportion of amplitudes of scattered echoes in the echoes. When the proportion of amplitudes of scattered echoes in the echoes exceeds a threshold, it is determined that the vehicle body is wading. The amplitude may be a maximum amplitude, an average amplitude, a total amplitude, etc., which is not limited here.

[0067] For example, when the ratio of the maximum amplitude of the scattered echo to the maximum amplitude of the echo exceeds a threshold, it is determined that the vehicle body is wading.

[0068] Those skilled in the art should understand that this is only an exemplary description and should not be taken as a limitation to the present application.

[0069] The wading sensing system according to the embodiment of the present application includes: an ultrasonic sensor, which is used to transmit ultrasonic waves and receive ultrasonic echoes; and a controller, which is configured to determine whether the vehicle body is wading according to the scattered echoes in the echoes received by the ultrasonic sensor. It is possible to determine whether the vehicle body is wading according to the scattered echoes in the echoes, thereby avoiding the problem in the related art that the ultrasonic sensor is disabled due to being immersed in water when detecting the wading of the vehicle body through reflected echoes, thereby improving the accuracy of wading sensing and the safety of the vehicle.

[0070] In some embodiments, the ultrasonic sensor is mounted parallel to a horizontal reference plane of the vehicle.

[0071] In this embodiment, Figure 2 As shown, the ultrasonic sensor is installed parallel to the horizontal reference plane of the vehicle. The ultrasonic sensor used to implement the embodiment of the present application can be an ultrasonic sensor at the front and rear positions of the front and rear bumpers of the existing mass-produced vehicles, or an additional ultrasonic sensor, which is not limited here.

[0072] According to the embodiment of the present application, the ultrasonic sensor is installed parallel to the horizontal reference plane of the vehicle, which can facilitate compatibility with existing ultrasonic sensors set at the front and rear bumpers of the vehicle body, reduce manufacturing costs, reduce system complexity, and be more conducive to market promotion and use.

[0073] In some embodiments, the wading sensing system includes at least one sensor group, and the sensor group includes at least two ultrasonic sensors arranged on the same side of the vehicle body, and each ultrasonic sensor in the same sensor group has the same installation height.

[0074] In this embodiment, each sensor group includes four ultrasonic sensors, and the four ultrasonic sensors can be located at one of the front side, the rear side, the left side, and the right side of the vehicle body, which is not limited here.

[0075] The four ultrasonic sensors have the same installation height relative to a horizontal reference plane of the vehicle.

[0076] Those skilled in the art should understand that there is no limitation on the number of ultrasonic sensors included in each sensor group.

[0077] In some embodiments, the wading sensing system includes at least one sensor group of a forward sensor group and a rearward sensor group, the forward sensor group includes at least two ultrasonic sensors arranged on the front side of the vehicle body, and the rearward sensor group includes at least two ultrasonic sensors arranged on the rear side of the vehicle body.

[0078] In this embodiment, Figure 2 and Figure 3 As shown, the wading sensing system may include at least one sensor group of a forward sensor group 1 and a rearward sensor group 2. The forward sensor group 1 includes four ultrasonic sensors arranged on the front side of the vehicle body, and the rearward sensor group 2 includes four ultrasonic sensors arranged on the rear side of the vehicle body, and the four ultrasonic sensors are ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C and ultrasonic sensor D.

[0079] In other examples, the number of the forward ultrasonic sensors and the number of the rearward ultrasonic sensors may also be different, which is not limited here.

[0080] In some embodiments, the controller is configured to: when the sensor group is in a self-transmitting and self-receiving working mode, determine that the ultrasonic sensor is wading when the proportion of scattered echoes in the echoes received by the ultrasonic sensor in the sensor group is greater than or equal to a first threshold; and determine that the vehicle body is wading when the number of ultrasonic sensors wading in the sensor group is greater than or equal to a number threshold; wherein the number threshold is less than or equal to the number of ultrasonic sensors in the sensor group.

[0081] In this embodiment, the controller 10 can control each ultrasonic sensor in the sensor group to be in a self-transmitting and self-receiving working mode. In other words, each ultrasonic sensor in the sensor group receives the echo of the ultrasonic wave it transmits.

[0082] The first threshold may be a critical value set for the self-transmitting and self-receiving mode for determining whether the ultrasonic sensor is wading. The first threshold may be set by observing the actual proportion of scattered echoes in the echoes in the self-transmitting and self-receiving mode when the sensor is wading, and is not limited here.

[0083] For example, the forward sensor group includes four ultrasonic sensors, namely ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C and ultrasonic sensor D. The controller is connected to the four ultrasonic sensors for communication to receive electrical signals corresponding to the echoes received by them. The controller 10 can determine the proportion of scattered echoes in the echoes according to the electrical signals corresponding to the echoes. If the proportion of scattered echoes in the echoes received by the ultrasonic sensor A or the ultrasonic sensor C is greater than or equal to the first threshold, it is determined that the ultrasonic sensor A or the ultrasonic sensor C is wading.

[0084] The quantity threshold may be set according to the quantity of ultrasonic sensors in the sensor group.

[0085] For example, when the forward sensor group includes four ultrasonic sensors, the quantity threshold may be set to 1, 2, or 3, etc. Persons skilled in the art should understand that the quantity threshold is not specifically limited here.

[0086] Continuing with the above example, if the quantity threshold is 1, then when it is determined that the ultrasonic sensor A or the ultrasonic sensor C is wading, it is determined that the vehicle body is wading.

[0087] In some embodiments, the quantity threshold is greater than or equal to half the quantity of ultrasonic sensors in the sensor group.

[0088] Continuing with the above example, in the case where the forward sensor group includes four ultrasonic sensors, if the quantity threshold is 3, and the ultrasonic sensors wading in the forward sensor group are ultrasonic sensor A, ultrasonic sensor B, and ultrasonic sensor C, it is determined that the vehicle body is wading. At this time, the schematic diagram of the vehicle body wading can be, for example, Figure 4 or Figure 5 shown.

[0089] According to an embodiment of the present application, the quantity threshold is greater than or equal to half of the number of ultrasonic sensors in the sensor group, which can improve the accuracy and reliability of identifying vehicle body wading.

[0090] In some embodiments, when the sensor group is in a sensor self-transmitting and other-receiving working mode, the first ultrasonic sensor in the sensor group transmits ultrasonic waves, and the other ultrasonic sensors receive echoes of the ultrasonic waves transmitted by the first ultrasonic sensor;

[0091] The controller is configured to: determine whether the first ultrasonic sensor is wading based on scattered echoes in the echoes received by the other ultrasonic sensors; and determine that the vehicle body is wading when the number of ultrasonic sensors wading in the sensor group is greater than or equal to a number threshold; wherein the number threshold is less than or equal to the number of ultrasonic sensors in the sensor group.

[0092] In this embodiment, the controller 10 can control the sensor group to be in a self-transmitting and self-receiving working mode. The first ultrasonic sensor can be at least one ultrasonic sensor in the sensor group. The first ultrasonic sensor can also be a sensor in which the proportion of scattered echoes in the received echoes is greater than or equal to the first threshold in the self-transmitting and self-receiving working mode, which is not limited here.

[0093] Take the example that the backward sensor group includes four ultrasonic sensors, namely ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C and ultrasonic sensor D. The first ultrasonic sensor may be at least one of the four ultrasonic sensors. For example, in the self-transmitting and other-receiving working mode, the first ultrasonic sensor is ultrasonic sensor A, ultrasonic sensor A transmits ultrasonic waves, the other ultrasonic sensors are ultrasonic sensor B, ultrasonic sensor C and ultrasonic sensor D, and the other ultrasonic sensors receive the echo of the ultrasonic wave transmitted by ultrasonic sensor A. The first ultrasonic sensor may also be ultrasonic sensor B and ultrasonic sensor C. When ultrasonic sensor B transmits ultrasonic waves, the other ultrasonic sensors are ultrasonic sensor A, ultrasonic sensor C and ultrasonic sensor D, and the other ultrasonic sensors receive the echo of the ultrasonic wave transmitted by ultrasonic sensor B. When ultrasonic sensor C transmits ultrasonic waves, the other ultrasonic sensors are ultrasonic sensor A, ultrasonic sensor B and ultrasonic sensor D, and the other ultrasonic sensors receive the echo of the ultrasonic wave transmitted by ultrasonic sensor C.

[0094] The controller 10 can determine whether the first ultrasonic sensor is wading according to the scattered echoes in the echoes received by other ultrasonic sensors in the self-transmitting and other-receiving mode.

[0095] In some embodiments, the controller is configured to determine that the first ultrasonic sensor is wading when the proportion of scattered echoes in the echoes received by any other ultrasonic sensor is greater than or equal to a second threshold.

[0096] In this embodiment, if the first ultrasonic sensor is wading, then when the first ultrasonic sensor transmits an ultrasonic wave, other ultrasonic sensors can receive the echo of the ultrasonic wave emitted by the first ultrasonic sensor within a set time. The set time can be a pre-set time required from the first ultrasonic sensor transmitting an ultrasonic wave to any other ultrasonic sensor receiving the echo of the ultrasonic wave emitted by the first ultrasonic sensor when the sensor group is in a self-transmitting and other-receiving working mode, corresponding to when the first ultrasonic sensor is immersed in water. The set time can be determined based on the distance between the ultrasonic sensors included in the sensor group and the propagation speed of sound in the water medium.

[0097] The second threshold value may be a critical value set for the self-transmitting and receiving mode for determining whether the first ultrasonic sensor is wading. The second threshold value may be set by observing the actual proportion range of scattered echoes in the echoes received by other sensors in the self-transmitting and receiving mode when the sensor is wading, and is not limited here. Continuing with the above example, in the self-transmitting and receiving working mode, if the first ultrasonic sensor is ultrasonic sensor A, ultrasonic sensor A transmits ultrasonic waves, when any one of ultrasonic sensor B, ultrasonic sensor C, and ultrasonic sensor D receives an echo within a set time, and the proportion of scattered echoes in the received echo is greater than or equal to the second threshold value, it is determined that ultrasonic sensor A is wading. If the first ultrasonic sensor is ultrasonic sensor B, ultrasonic sensor B transmits ultrasonic waves, when any one of ultrasonic sensor A, ultrasonic sensor C, and ultrasonic sensor D receives an echo within a set time, and the proportion of scattered echoes in the received echo is greater than or equal to the second threshold value, it is determined that ultrasonic sensor B is wading.

[0098] The number threshold may be less than or equal to the number of ultrasonic sensors in the rearward sensor group, for example, 1, 2, 3, or 4.

[0099] In the autonomous transmission and reception mode, if the quantity threshold is 1, the controller determines that the vehicle body is wading when it determines that at least one ultrasonic sensor in the rearward sensor group is wading.

[0100] In the autonomous transmission and reception mode, if the quantity threshold is 2, the controller determines that the vehicle body is wading when it determines that at least two ultrasonic sensors in the rearward sensor group are wading.

[0101] In the autonomous transmission and reception mode, if the quantity threshold is 3, the controller determines that the vehicle body is wading when it determines that at least three ultrasonic sensors in the rearward sensor group are wading.

[0102] In the spontaneous transmission and reception mode, if the quantity threshold is 4, the controller determines that the vehicle body is wading when it determines that all four ultrasonic sensors in the rearward sensor group are wading.

[0103] According to the embodiment of the present application, by controlling the sensor group to be in a self-transmitting and other-receiving working mode, the first ultrasonic sensor is any ultrasonic sensor in the sensor group, and then based on the scattered echo in the echo received by other ultrasonic sensors, it is determined whether the first ultrasonic sensor is wading. When the number of ultrasonic sensors wading is greater than or equal to the number threshold, it is determined that the vehicle body is wading. This can avoid misjudgment caused by the first ultrasonic sensor being obscured by other media such as mud on the surface of the vehicle body, thereby improving the accuracy and reliability of the wading perception system.

[0104] In some embodiments, when the sensor group is in the sensor self-transmitting and self-receiving working mode, when the first ultrasonic sensor is present, the working mode of the sensor group is switched from the sensor self-transmitting and self-receiving working mode to the sensor self-transmitting and other-receiving working mode, and the first ultrasonic sensor is a sensor in which, in the self-transmitting and self-receiving working mode, the proportion of scattered echoes in the received echoes is greater than or equal to a first threshold.

[0105] In this embodiment, when the sensor group is in the self-transmitting and self-receiving working mode, the controller 10 can determine whether there is a first ultrasonic sensor in the sensor group whose proportion of scattered echoes in the received echoes is greater than or equal to the first threshold value according to the scattered echoes in the echoes received by each ultrasonic sensor in the sensor group. That is, determine whether each ultrasonic sensor in the sensor group is wading.

[0106] When the sensor group is in the self-transmitting and self-receiving working mode, when there is a first ultrasonic sensor, the working mode of the sensor is switched from the self-transmitting and self-receiving working mode to the self-transmitting and other-receiving working mode. After switching to the self-transmitting and other-receiving working mode, the first ultrasonic sensor transmits ultrasonic waves, and other ultrasonic sensors receive the echo of the ultrasonic waves transmitted by the first ultrasonic sensor, and then retest whether the first ultrasonic sensor is wading according to whether the proportion of scattered echoes in the echoes is greater than or equal to the second threshold.

[0107] In some examples, in the self-transmitting and self-receiving working mode, if the proportion of scattered echoes in the echoes received by ultrasonic sensors A and ultrasonic sensors B in the forward sensor group is greater than or equal to the first threshold, the first ultrasonic sensor is ultrasonic sensor A and ultrasonic sensor B. The controller 10 can switch the working mode of the forward sensor group from sensor self-transmitting and self-receiving to sensor self-transmitting and receiving. In the self-transmitting and receiving working mode, the controller 10 can first control ultrasonic sensor A to transmit ultrasonic waves, and ultrasonic sensor B, ultrasonic sensor C, and ultrasonic sensor D to receive the echo of the ultrasonic wave transmitted by ultrasonic sensor A. If any one of ultrasonic sensor B, ultrasonic sensor C, and ultrasonic sensor D receives an echo within a set time, and the proportion of scattered echoes in the received echo is greater than or equal to the second threshold, it is determined that ultrasonic sensor A is wading. Then control ultrasonic sensor B to transmit ultrasonic waves, and ultrasonic sensor A, ultrasonic sensor C, and ultrasonic sensor D receive the echo of the ultrasonic wave transmitted by ultrasonic sensor B. If any one of ultrasonic sensor A, ultrasonic sensor C, and ultrasonic sensor D receives an echo within a set time, and the proportion of scattered echoes in the received echo is greater than or equal to the second threshold, it is determined that ultrasonic sensor B is wading.

[0108] Those skilled in the art should understand that the number of the first ultrasonic sensors being two is merely an example, and the number of the first ultrasonic sensors may also be one, three, or four, etc., which is not limited here.

[0109] Continuing with the above example, after switching to the spontaneous transmission and reception mode, if it is determined that ultrasonic sensor A and ultrasonic sensor B are wading, that is, after retesting, it is determined that ultrasonic sensor A and ultrasonic sensor B are wading, when the quantity threshold is 2, that is, the number of the first ultrasonic sensors wading is equal to the quantity threshold, then it is determined that the vehicle body is wading.

[0110] According to an embodiment of the present application, when there is a first ultrasonic sensor in the sensor group, the working mode of the sensor group is switched from the spontaneous self-receiving mode to the spontaneous other-receiving mode, and the first ultrasonic sensor is retested in the spontaneous other-receiving mode to see whether it is wading. This can avoid misjudgment caused by the first ultrasonic sensor being obscured by other media such as mud on the surface of the vehicle body, thereby further improving the accuracy and reliability of the wading perception system.

[0111] In some embodiments, the controller is configured to, when the number of first ultrasonic sensors determining that wading water is less than the number threshold, cause the second ultrasonic sensor in the sensor group to emit an ultrasonic wave, and the other ultrasonic sensors to receive the echo of the ultrasonic wave emitted by the second ultrasonic sensor, and when the proportion of scattered echoes in the echoes received by any other ultrasonic sensor is greater than or equal to the second threshold, determine that the second ultrasonic sensor is wading water; wherein the second ultrasonic sensor is a sensor in which the proportion of scattered echoes in the received echoes is less than the first threshold under the self-transmitting and self-receiving working mode.

[0112] In this embodiment, in the working mode of self-transmission and self-reception, the sensor in which the proportion of scattered echoes in the received echoes in the sensor group is greater than or equal to the first threshold is the first ultrasonic sensor, and the sensor in which the proportion of scattered echoes in the received echoes in the sensor group is less than the first threshold is the second ultrasonic sensor. In the case of the presence of the first ultrasonic sensor, the working mode of the sensor group is switched from self-transmission and self-reception to self-transmission and other reception. In the working mode of self-transmission and other reception, retest whether the first ultrasonic sensor is wading. After retesting whether the first ultrasonic sensor is wading, determine whether the number of first ultrasonic sensors wading is greater than or equal to the number threshold. If it is greater than or equal to the number threshold, it is determined that the vehicle body is wading. If it is less than the number threshold, the second ultrasonic sensor in the sensor group transmits an ultrasonic wave, and the other ultrasonic sensors receive the echo of the ultrasonic wave transmitted by the second ultrasonic sensor. When the proportion of scattered echoes in the echoes received by any other ultrasonic sensor is greater than or equal to the second threshold, it is determined that the second ultrasonic sensor is wading.

[0113] In some examples, the first ultrasonic sensor includes ultrasonic sensor A and ultrasonic sensor B. The second ultrasonic sensor includes ultrasonic sensor C and ultrasonic sensor D. In the self-transmitting and receiving mode, if the retest determines that ultrasonic sensor A and ultrasonic sensor B are wading, that is, the number of first ultrasonic sensors wading is 2, if the number threshold is 3 or 4, then the number of first ultrasonic sensors wading is less than the number threshold. The controller 10 can control ultrasonic sensor C and ultrasonic sensor D to transmit ultrasonic waves in sequence. For example, ultrasonic sensor C is first controlled to transmit ultrasonic waves, and ultrasonic sensor A, ultrasonic sensor B, and ultrasonic sensor D receive the echo of the ultrasonic wave emitted by ultrasonic sensor C. If any one of ultrasonic sensor A, ultrasonic sensor B, and ultrasonic sensor D receives an echo within a set time, and the proportion of scattered echoes in the received echo is greater than or equal to the second threshold, it is determined that ultrasonic sensor C is wading. Then, ultrasonic sensor D is controlled to transmit ultrasonic waves, and ultrasonic sensor A, ultrasonic sensor B, and ultrasonic sensor C receive the echo of the ultrasonic wave emitted by ultrasonic sensor D. If any one of the ultrasonic sensor A, the ultrasonic sensor B and the ultrasonic sensor C receives an echo within a set time, and the proportion of scattered echoes in the received echoes is greater than or equal to a second threshold, it is determined that the ultrasonic sensor D is wading.

[0114] When the sum of the number of the first ultrasonic sensors for wading water and the number of the second ultrasonic sensors for wading water is greater than or equal to the number threshold, it is determined that the vehicle body is wading water.

[0115] Continuing with the above example, the second ultrasonic sensor sequentially transmits ultrasonic waves, that is, ultrasonic sensor C and ultrasonic sensor D sequentially transmit ultrasonic waves. In the example where the corresponding quantity threshold is 3, if it is determined that ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C and / or ultrasonic sensor D are wading, then the vehicle body is determined to be wading. In the example where the corresponding quantity threshold is 4, if it is determined that ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C and ultrasonic sensor D are wading, then the vehicle body is determined to be wading. The schematic diagram of the vehicle body wading can be, for example, Figure 4 or Figure 5 shown.

[0116] When the sum of the number of the first ultrasonic sensors wading through water and the number of the second ultrasonic sensors wading through water is less than the number threshold, it is determined that the vehicle body is not wading through water.

[0117] After determining that the vehicle body is not wading through water, the working mode of the sensor group is switched from the sensor automatically receiving to the sensor automatically sending.

[0118] According to the embodiment of the present application, when the number of first ultrasonic sensors wading through water is less than a number threshold, ultrasonic waves are emitted by the second ultrasonic sensor, and other ultrasonic sensors receive echoes. Whether the second ultrasonic sensor is wading through water is determined based on the proportion of scattered echoes in the echoes, thereby improving the accuracy of wading judgment.

[0119] In some embodiments, when it is determined that the vehicle body is wading, prompt information about the vehicle body wading is output.

[0120] In this embodiment, the prompt information of the vehicle body wading can be text, voice, etc., which is not limited here.

[0121] In some examples, prompt information about the vehicle body wading can be output through the vehicle's multimedia.

[0122] Based on the wading perception system 100 of the embodiment of the present disclosure, the present disclosure also provides an embodiment of a wading perception method. Figure 6 FIG. 1 shows a method for sensing water according to some embodiments. The method for sensing water can be implemented by the controller 10 of the water sensing system 100. Figure 4 As shown, the wading perception method may include the following steps S6100 and S6200.

[0123] Step S6100, receiving the echo from the ultrasonic sensor.

[0124] The ultrasonic sensor in this step S6100 is used to transmit ultrasonic waves and receive ultrasonic echoes.

[0125] The echo is an electrical signal corresponding to the echo received by the ultrasonic sensor. That is, the echo received by the ultrasonic sensor is a sound wave signal, and the ultrasonic sensor converts the sound wave signal into an electrical signal. The controller 10 receives the electrical signal corresponding to the echo.

[0126] In some examples, the echo of the ultrasonic sensor may be received in a self-transmitting and self-receiving operating mode.

[0127] In some other examples, the echo of the ultrasonic sensor may also be received in the spontaneous transmission and reception working mode.

[0128] Step S6200: determining, based on the scattered echoes in the echoes, whether the vehicle body is wading.

[0129] In some examples, when the proportion of scattered echoes in the received echoes exceeds a threshold, it can be determined that the vehicle body is wading. The proportion can be an energy proportion or an amplitude proportion, which is not limited here.

[0130] For example, when the energy proportion of the scattered echo in the echo exceeds a threshold, it is determined that the vehicle body is wading. Alternatively, when the amplitude proportion of the scattered echo in the echo exceeds a threshold, it is determined that the vehicle body is wading. The amplitude may be a maximum amplitude or an average amplitude.

[0131] Figure 7 1 shows a wading sensing method according to some other embodiments, which can also be implemented by the controller 10 of the wading sensing system 100. Figure 7 As shown, the wading sensing method may include steps S1 to S11.

[0132] Step S1, controlling the sensor group to be in a self-transmitting and self-receiving working mode.

[0133] In some examples, the wading sensing system 100 may include, for example, a forward sensor group 1 and a rearward sensor group 2. The two sensor groups work independently. The forward sensor group 1 may include, for example, an ultrasonic sensor A, an ultrasonic sensor B, an ultrasonic sensor C, and an ultrasonic sensor D. The rearward sensor group 2 may include, for example, an ultrasonic sensor A, an ultrasonic sensor B, an ultrasonic sensor C, and an ultrasonic sensor D. In the self-transmitting and self-receiving mode, each ultrasonic sensor in the forward sensor group and the rearward sensor group receives the echo of the ultrasonic wave it transmits.

[0134] Step S2, receiving the echo from the ultrasonic sensor.

[0135] In this embodiment, when the ultrasonic sensor receives an echo, the echo is a sound wave signal, and the ultrasonic sensor converts the sound wave signal into an electrical signal to send to the controller 10. The echo received by the controller 10 is an electrical signal corresponding to the echo received by the ultrasonic sensor.

[0136] Step S3: whether the proportion of scattered echo in the echo is greater than or equal to a first threshold; if so, execute step S4; if not, execute step S1.

[0137] In this embodiment, the proportion of scattered echoes in the echoes may be the proportion of energy of the scattered echoes, or the proportion of amplitude of the scattered echoes, etc., which is not limited here.

[0138] In this embodiment, it may be detected whether the proportion of scattered echoes in the echoes received by each ultrasonic sensor in the forward sensor group and the backward sensor group is greater than or equal to a first threshold.

[0139] Step S4, switching the working mode of the sensor group from sensor self-transmission and self-reception to sensor self-transmission and other-reception.

[0140] In this embodiment, if there is a first ultrasonic sensor in the forward sensor group whose proportion of scattered echoes in the echoes is greater than or equal to the first threshold, the working mode of the forward sensor group is switched to spontaneous transmission and other reception, and the working mode of the backward sensor group remains spontaneous transmission and self reception.

[0141] Step S5: the first ultrasonic sensor transmits ultrasonic waves, and the other ultrasonic sensors receive echoes of the ultrasonic waves transmitted by the first ultrasonic sensor.

[0142] In some examples, if the first ultrasonic sensor is a single one, for example, ultrasonic sensor A, ultrasonic sensor A transmits ultrasonic waves, and ultrasonic sensors B, C, and D receive echoes of the ultrasonic waves transmitted by ultrasonic sensor A. If the first ultrasonic sensor is ultrasonic sensor A and ultrasonic sensor B, then in the self-transmitting and other-receiving mode, ultrasonic sensor A and ultrasonic sensor B may transmit ultrasonic waves in sequence. When ultrasonic sensor A transmits ultrasonic waves, ultrasonic sensor B, ultrasonic sensor C, and ultrasonic sensor D are other ultrasonic sensors. When ultrasonic sensor B transmits ultrasonic waves, other ultrasonic sensors are ultrasonic sensor A, ultrasonic sensor C, and ultrasonic sensor D.

[0143] Step S6: whether the proportion of scattered echoes in the echoes received by other ultrasonic sensors is greater than or equal to a second threshold; if so, execute step S7; if not, execute step S1.

[0144] Continuing with the above example, when the ultrasonic sensor A in the forward sensor group transmits ultrasonic waves, if the proportion of scattered echoes in the echoes received by any one of the ultrasonic sensors B, C, and D within the set time is greater than or equal to the second threshold, it is determined that the ultrasonic sensor A is wading. Then, step S7 is executed. If not, it is determined that the ultrasonic sensor A is not wading, and then step S1 is executed.

[0145] Step S7, whether the number of wading ultrasonic sensors is greater than or equal to the number threshold; if so, execute step S11, if not, execute step S8.

[0146] Step S8, the second ultrasonic sensor transmits ultrasonic waves, and other ultrasonic sensors receive echoes of the ultrasonic waves transmitted by the second ultrasonic sensor. Then, step S9 is executed.

[0147] For example, the first ultrasonic sensors in the forward sensor group are ultrasonic sensor A and ultrasonic sensor B, and the second ultrasonic sensors are ultrasonic sensor C and ultrasonic sensor D. If the number of the first ultrasonic sensors in the wading is less than the number threshold, ultrasonic sensor C and ultrasonic sensor D transmit ultrasonic waves in sequence, and the corresponding other ultrasonic sensors receive echoes of the transmitted ultrasonic waves.

[0148] Step S9: whether the proportion of scattered echoes in the echoes received by other ultrasonic sensors is greater than or equal to a second threshold; if so, execute step S10; if not, execute step S1.

[0149] For example, the second ultrasonic sensor is ultrasonic sensor C and ultrasonic sensor D. When ultrasonic sensor C transmits ultrasonic waves, if the proportion of scattered echoes in the echoes received by any one of ultrasonic sensor A, ultrasonic sensor B, and ultrasonic sensor D is greater than the second threshold, it is determined that ultrasonic sensor C is wading. When ultrasonic sensor D transmits ultrasonic waves, if the proportion of scattered echoes in the echoes received by any one of ultrasonic sensor A, ultrasonic sensor B, and ultrasonic sensor C is greater than the second threshold, it is determined that ultrasonic sensor D is wading.

[0150] When it is determined that the ultrasonic sensor C and / or the ultrasonic sensor D is wading, step S10 is executed.

[0151] Step S10, whether the number of ultrasonic sensors wading through water is greater than or equal to a quantity threshold; if so, execute step S11, if not, execute step S1.

[0152] Step S11, determining that the vehicle body is wading, and outputting prompt information about the vehicle body wading.

[0153] In some embodiments, Figure 8 As shown, a water wading sensing device 800 is also provided. The device 600 includes a memory 801 and a processor 802. The memory 801 is used to store executable instructions, and the instructions are used to control the processor 802 to operate to execute the water wading sensing method described in the embodiment of the present application.

[0154] In some embodiments, a vehicle 900 is also provided, such as Fig. 9 As shown, the vehicle 900 includes Figure 1 The wading sensing system 100 is shown.

[0155] In other embodiments, Fig.10 As shown, the vehicle 900 includes Figure 8 The wading sensing device shown.

[0156] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0157] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0158] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0159] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0160] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0161] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0162] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0163] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0164] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A vehicle wading sensing system, characterized in that: include: An ultrasonic sensor, the ultrasonic sensor is used to transmit ultrasonic waves and receive ultrasonic echoes; The controller is configured to determine that the vehicle body is wading according to the scattered echoes among the echoes received by the ultrasonic sensor.

2. The water wading sensing system according to claim 1, characterized in that: The controller is configured to determine that the vehicle body is wading when a proportion of scattered echoes in the echoes received by the ultrasonic sensor exceeds a threshold.

3. The water wading sensing system according to claim 1, characterized in that: The ultrasonic sensor is installed parallel to a horizontal reference plane of the vehicle.

4. The water wading sensing system according to claim 3, characterized in that: The wading sensing system includes at least one sensor group, and the sensor group includes at least two ultrasonic sensors arranged on the same side of the vehicle body. The ultrasonic sensors in the same sensor group have the same installation height.

5. The water wading sensing system according to claim 4, characterized in that: The wading sensing system includes at least one sensor group of a forward sensor group and a rearward sensor group, wherein the forward sensor group includes at least two ultrasonic sensors arranged on the front side of the vehicle body, and the rearward sensor group includes at least two ultrasonic sensors arranged on the rear side of the vehicle body.

6. The water wading sensing system according to claim 4, characterized in that: The controller is configured to: When the sensor group is in a sensor self-transmitting and self-receiving working mode, when the proportion of scattered echoes in the echoes received by the ultrasonic sensors in the sensor group is greater than or equal to a first threshold, it is determined that the ultrasonic sensor is wading; and When the number of ultrasonic sensors in the sensor group that are wading is greater than or equal to a number threshold, it is determined that the vehicle body is wading; wherein the number threshold is less than or equal to the number of ultrasonic sensors in the sensor group.

7. The water wading sensing system according to claim 6, characterized in that: The quantity threshold is greater than or equal to half the quantity of the ultrasonic sensors in the sensor group.

8. The water wading sensing system according to claim 4, characterized in that: When the sensor group is in the sensor self-transmitting and other-receiving working mode, the first ultrasonic sensor in the sensor group transmits ultrasonic waves, and the other ultrasonic sensors receive echoes of the ultrasonic waves transmitted by the first ultrasonic sensor; the controller is configured to: determine whether the first ultrasonic sensor is wading according to scattered echoes in the echoes received by the other ultrasonic sensors; and determine that the vehicle body is wading when the number of ultrasonic sensors wading in the sensor group is greater than or equal to a number threshold; wherein the number threshold is less than or equal to the number of ultrasonic sensors in the sensor group.

9. The water wading sensing system according to claim 8, characterized in that: When the sensor group is in the sensor self-transmitting and self-receiving working mode, when the first ultrasonic sensor is present, the working mode of the sensor group is switched from the sensor self-transmitting and self-receiving working mode to the sensor self-transmitting and other-receiving working mode; the first ultrasonic sensor is a sensor in which, in the self-transmitting and self-receiving working mode, the proportion of scattered echoes in the received echoes is greater than or equal to a first threshold.

10. The water wading sensing system according to claim 9, characterized in that: The controller is configured to determine that the first ultrasonic sensor is wading when the proportion of scattered echoes in the echoes received by any other ultrasonic sensor is greater than or equal to a second threshold.

11. The water wading sensing system according to any one of claims 8 to 10, characterized in that: When it is determined that the number of the first ultrasonic sensors wading through water is less than the number threshold, the second ultrasonic sensor in the sensor group emits an ultrasonic wave, and the other ultrasonic sensors receive the echo of the ultrasonic wave emitted by the second ultrasonic sensor; wherein the second ultrasonic sensor is a sensor in which the proportion of scattered echoes in the received echoes is less than a first threshold under the self-transmitting and self-receiving working mode; and the controller is configured to determine that the second ultrasonic sensor is wading through water when the proportion of scattered echoes in the echoes received by any other ultrasonic sensor is greater than or equal to the second threshold.

12. A wading sensing method, characterized in that: include: Receiving an echo from an ultrasonic sensor; wherein the ultrasonic sensor is used to transmit ultrasonic waves and receive echoes of ultrasonic waves; The vehicle body wading is determined according to the scattered echoes in the echoes.

13. A wading sensing device, characterized in that: It comprises a memory and a processor, wherein the memory stores executable instructions, and the instructions are used to control the processor to operate so as to execute the wading sensing method according to claim 12.

14. A vehicle, characterized in that: The invention comprises the water-wading sensing system according to any one of claims 1 to 11, or comprises the water-wading sensing device according to claim 13.

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