Vehicle wading perception systems, methods, apparatuses, and vehicles

Abstract

The present disclosure relates to a wading perception system, method, apparatus and vehicle of a vehicle, wherein the method comprises an ultrasonic sensor, a controller configured to determine a wading of a vehicle body from a scattered echo in a received echo of the ultrasonic sensor.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle electronics technology, and more specifically, to a vehicle wading sensing system, method, apparatus, and vehicle. Background Technology

[0002] With the continuous development of science and technology, people have raised higher requirements for the safety of vehicles in many dangerous scenarios. For example, in the event of a vehicle being submerged in water, relevant countermeasures include shutting off the engine and activating escape mechanisms. However, accurately detecting vehicle wading is a critical issue. Related technologies often employ multiple ultrasonic sensors arranged in a vertically downward array around the front and rear bumpers of the vehicle. When the ultrasonic sensors are not submerged, the height of the water surface below the sensor can be detected using the reflected echo of the ultrasonic signal. This, combined with the sensor's installation height, allows for the calculation of the vehicle's immersion depth. However, this method fails when the ultrasonic sensors are submerged in water; the reflected echo is lost, rendering the ultrasonic sensors ineffective and unable to accurately identify vehicle wading, posing a certain safety risk. Summary of the Invention

[0003] One object of this disclosure is to provide a new method for identifying vehicles that have been submerged in water.

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

[0005] An ultrasonic sensor, the ultrasonic sensor being used to emit ultrasonic waves and receive the echoes of ultrasonic waves;

[0006] A controller configured to determine vehicle wading depth based on scattered echoes in echoes received by ultrasonic sensors.

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

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

[0009] Optionally, the wading sensing system includes at least one sensor group, which includes at least two ultrasonic sensors disposed 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 of a forward sensor group and a rearward sensor group, wherein the forward sensor group includes at least two ultrasonic sensors disposed on the front side of the vehicle body, and the rearward sensor group includes at least two ultrasonic sensors disposed on the rear side of the vehicle body.

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

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

[0014] Optionally, when the sensor group is in the self-transmitting and other-receiving working mode, the first ultrasonic sensor in the sensor group emits ultrasonic waves, and the other ultrasonic sensors receive the echoes of the ultrasonic waves emitted by the first ultrasonic sensor.

[0015] The controller is configured to: determine whether the first ultrasonic sensor is submerged in water based on the scattered echoes received by the other ultrasonic sensors; and determine that the vehicle body is submerged in water if the number of submerged ultrasonic sensors 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 self-transmitting and self-receiving working mode, and the first ultrasonic sensor is present, the working mode of the sensor group is switched from the self-transmitting and self-receiving working mode to the self-transmitting and self-receiving working mode; the first ultrasonic sensor is a sensor in the self-transmitting and self-receiving working mode in which the proportion of scattered echo in the received echo 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 the proportion of scattered echo in the echo received by any other ultrasonic sensor is greater than or equal to a second threshold.

[0018] Optionally, if the number of first ultrasonic sensors in the water is less than the number threshold, the second ultrasonic sensor in the sensor group emits ultrasonic waves, and the other ultrasonic sensors receive the echoes of the ultrasonic waves emitted by the second ultrasonic sensor; wherein, the second ultrasonic sensor is a sensor whose proportion of scattered echoes in the received echoes is less than the first threshold in the self-emitting and self-receiving working mode.

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

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

[0021] Receives echoes from an ultrasonic sensor; wherein the ultrasonic sensor is used to emit ultrasonic waves and receive echoes from ultrasonic waves.

[0022] The vehicle body is determined to have been wading through water based on the scattered echoes in the echo.

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

[0024] According to a fourth aspect of this 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 this disclosure is that the wading sensing system according to this embodiment includes an ultrasonic sensor and a controller. The ultrasonic sensor is used to emit ultrasonic waves and receive the echoes of the ultrasonic waves. The controller is configured to determine whether the vehicle body is wading based on the scattered echoes in the echoes received by the ultrasonic sensor. This allows for determining whether the vehicle body is wading based on the scattered echoes, thereby avoiding the problem in related technologies where the ultrasonic sensor becomes ineffective when detecting wading by reflecting echoes, which is caused by the ultrasonic sensor being submerged in water. This improves the accuracy of wading sensing and enhances vehicle safety.

[0026] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

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

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

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

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

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

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

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

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

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

[0036] Figure 9 These are structural schematic diagrams of a vehicle according to some embodiments;

[0037] Figure 10 This is a structural schematic diagram of a vehicle according to other embodiments. Detailed Implementation

[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, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

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

[0040] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

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

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

[0043] This disclosure relates to a vehicle wading sensing scheme that determines vehicle wading depth based on scattered echoes in ultrasonic echoes. Figure 1 A schematic diagram illustrating the structural composition of a vehicle's wading sensing system according to some embodiments is shown. Figure 1 As shown, the water wading sensing system in this application embodiment may include an ultrasonic sensor.

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

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

[0046] Those skilled in the art will understand that the number of ultrasonic sensors included in the water-sensing system is not limited herein.

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

[0048] In some examples, such as Figure 1 As shown, the controller 10 can be a separate controller; that is, the controller 10 and the ultrasonic sensor can be two independent devices, and the controller 10 is communicatively connected to the ultrasonic sensor. The controller 10 can control the operating mode of the ultrasonic sensor.

[0049] In other examples, the controller 10 can be integrated into the ultrasonic sensor, that is, the controller 10 in the ultrasonic sensor can control the operating mode of the ultrasonic sensor.

[0050] In some embodiments, the ultrasonic sensor operates in two modes: a self-transmitting and self-receiving mode and a self-transmitting and externally receiving mode.

[0051] In an example where the corresponding wading sensing system includes a single ultrasonic sensor, the controller 10 can control the single ultrasonic sensor to operate in a self-emitting and self-receiving mode. That is, the single ultrasonic sensor emits ultrasonic signals and receives the returned echo signals.

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

[0053] Those skilled in the art should understand that no limitation is made here on the number of ultrasonic sensors or their operating modes.

[0054] Regardless of the ultrasonic sensor's operating mode, the controller 10 can receive the echoes received by the ultrasonic sensor to determine whether the vehicle body has been submerged in water.

[0055] Specifically, after receiving an echo, the ultrasonic sensor can convert the echo into an electrical signal. The controller 10 can receive the electrical signal corresponding to the echo received by the ultrasonic sensor to determine whether the vehicle body has been submerged in water.

[0056] In some examples, controller 10 may include control module 11 and decision 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 has been submerged in water.

[0058] The echo received by an ultrasonic sensor includes reflected and scattered echoes. Scattered echoes are generated based on scattering, while reflected echoes are generated based on reflection. When the ultrasonic sensor is not submerged in water, i.e., it is in the air, the air medium has strong reflection properties and extremely weak scattering, resulting in a very weak scattered signal in the echo. For example... Figure 4 and Figure 5 As shown, when the ultrasonic sensor is submerged in water, that is, when the ultrasonic sensor is in the water medium, the water medium is much denser than the air medium and there are impurities in the water. Therefore, the reflection effect of the water medium is relatively weak, the scattering effect is strong, and the scattered echo in the echo is significantly enhanced.

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

[0060] In this embodiment, the controller 10 is communicatively connected to the ultrasonic sensor. When the working mode of the ultrasonic sensor is determined, the controller 10 receives the echo received by the ultrasonic sensor and determines the vehicle body wading through water based on the scattered echo in the echo.

[0061] In some examples, the controller 10 may first determine that the ultrasonic sensor is in self-transmitting and self-receiving mode, and then switch the ultrasonic sensor to self-transmitting and self-receiving mode when the scattered echo in the received echo is significantly enhanced.

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

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

[0064] The proportion of scattered echo can be defined as the percentage of energy of the scattered echo in the overall echo. When the percentage of energy of the scattered echo in the overall echo exceeds a threshold, it is determined that the vehicle is in water.

[0065] For example, the proportion of energy in the scattered echo can be represented by the waveform of the corresponding electrical signal. If there is significant noise in the waveform, it indicates that the energy of the scattered echo is relatively large, confirming that the vehicle has been in water. If there is weak noise in the waveform, it indicates that the energy of the scattered echo is relatively small, confirming that the vehicle has not been in water.

[0066] The proportion of scattered echoes can also be the proportion of the amplitude of scattered echoes within the overall echo. If the proportion of the amplitude of scattered echoes within the overall echo exceeds a threshold, the vehicle is determined to have waded through water. Here, amplitude can be the maximum amplitude, average amplitude, total amplitude, etc., and is not limited here.

[0067] For example, if 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 has been wading through water.

[0068] Those skilled in the art should understand that this is merely illustrative and should not be construed as limiting the scope of this application.

[0069] A wading sensing system according to an embodiment of this application includes: an ultrasonic sensor for emitting ultrasonic waves and receiving ultrasonic echoes; and a controller configured to determine whether a vehicle body is wading based on the scattered echoes in the echoes received by the ultrasonic sensor. This system can determine whether a vehicle body is wading based on the scattered echoes, thus avoiding the problem in related technologies where the ultrasonic sensor becomes inoperable when detecting wading by reflected echoes, which is caused by the ultrasonic sensor being submerged in water. This improves the accuracy of wading sensing and enhances vehicle safety.

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

[0071] In this embodiment, as Figure 2 As shown, the ultrasonic sensor is mounted parallel to the vehicle's horizontal reference plane. The ultrasonic sensor used to perform the embodiments of this application can be an existing mass-produced ultrasonic sensor located at the front and rear positions of the front and rear bumpers of the vehicle body, or it can be an additional ultrasonic sensor; no limitation is made here.

[0072] According to the embodiments of this application, the ultrasonic sensor is installed parallel to the horizontal reference plane of the vehicle, which facilitates compatibility with existing ultrasonic sensors installed at the front and rear bumpers of the vehicle body, reduces manufacturing costs, reduces system complexity, and is more conducive to market promotion and use.

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

[0074] In this embodiment, each sensor group includes four ultrasonic sensors, which can be located on one of the following locations: the front side of the vehicle, the rear side of the vehicle, the left side of the vehicle, or the right side of the vehicle. No limitation is made here.

[0075] The four ultrasonic sensors are mounted at the same height relative to the vehicle's horizontal reference plane.

[0076] Those skilled in the art will 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 including at least two ultrasonic sensors disposed on the front side of the vehicle body, and the rearward sensor group including at least two ultrasonic sensors disposed on the rear side of the vehicle body.

[0078] In this embodiment, as Figure 2 and Figure 3 As shown, the wading sensing system may include at least one of a forward sensor group 1 and a rearward sensor group 2. The forward sensor group 1 includes four ultrasonic sensors disposed on the front side of the vehicle body, and the rearward sensor group 2 includes four ultrasonic sensors disposed on the rear side of the vehicle body. 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 forward and backward ultrasonic sensors may also differ. No limitation is made here.

[0080] In some embodiments, the controller is configured to: when the sensor group is in a self-transmitting and self-receiving operating mode, determine that the ultrasonic sensor is wading through water 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 through water when the number of ultrasonic sensors wading through water 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 operate in a self-transmitting and self-receiving mode. In other words, each ultrasonic sensor in the sensor group receives the echo of the ultrasonic wave it emits.

[0082] The first threshold can be a critical value set for the self-emission and self-reception mode to determine whether the ultrasonic sensor is submerged in water. The first threshold can be set by observing the actual proportion of scattered echoes in the echo when the sensor is submerged in water, in the self-emission and self-reception mode; there is no limitation here.

[0083] Taking a forward sensor group consisting of four ultrasonic sensors as an example, namely ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C, and ultrasonic sensor D. The controller is communicatively connected to each of the four ultrasonic sensors to receive the electrical signals corresponding to the echoes they receive. The controller 10 can determine the proportion of scattered echoes in the echoes based on the electrical signals corresponding to the echoes. If the proportion of scattered echoes in the echoes received by ultrasonic sensor A or ultrasonic sensor C is greater than or equal to a first threshold, it is determined that ultrasonic sensor A or ultrasonic sensor C is wading through water.

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

[0085] For example, in the case of a forward sensor group including four ultrasonic sensors, the number threshold can be set to 1, 2 or 3, etc. Those skilled in the art should understand that no specific limit is made on the number threshold here.

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

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

[0088] Continuing the example above, if the forward sensor group includes four ultrasonic sensors, and the quantity threshold is 3, then if the ultrasonic sensors used for wading in the forward sensor group are ultrasonic sensor A, ultrasonic sensor B, and ultrasonic sensor C, then the vehicle body is determined to be wading. In this case, a schematic diagram of the vehicle body wading could be, for example, as follows: Figure 4 or Figure 5 As shown.

[0089] According to an embodiment of this application, if the quantity threshold is greater than or equal to half the number of ultrasonic sensors in the sensor group, the accuracy and reliability of identifying vehicle wading through water can be improved.

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

[0091] The controller is configured to: determine whether the first ultrasonic sensor is submerged in water based on the scattered echoes received by the other ultrasonic sensors; and determine that the vehicle body is submerged in water if the number of submerged ultrasonic sensors 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 both self-transmitting and self-receiving operating modes. 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 self-transmitting and self-receiving operating mode where the proportion of scattered echo in the received echo is greater than or equal to a first threshold; this is not limited here.

[0093] Taking a backward sensor group consisting of four ultrasonic sensors as an example, namely ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C, and ultrasonic sensor D. The first ultrasonic sensor can be at least one of these four ultrasonic sensors. For example, in the self-transmitting and other-receiving operating mode, the first ultrasonic sensor is ultrasonic sensor A, which emits ultrasonic waves, and the other ultrasonic sensors are ultrasonic sensors B, C, and D, which receive the echoes of the ultrasonic waves emitted by ultrasonic sensor A. The first ultrasonic sensor can also be ultrasonic sensor B and ultrasonic sensor C. When ultrasonic sensor B emits ultrasonic waves, the other ultrasonic sensors are ultrasonic sensors A, C, and D, which receive the echoes of the ultrasonic waves emitted by ultrasonic sensor B. When ultrasonic sensor C emits ultrasonic waves, the other ultrasonic sensors are ultrasonic sensors A, B, and D, which receive the echoes of the ultrasonic waves emitted by ultrasonic sensor C.

[0094] In self-transmitting and other-receiving mode, the controller 10 can determine whether the first ultrasonic sensor is in water based on the scattered echoes in the echoes received by other ultrasonic sensors.

[0095] In some embodiments, the controller is configured to determine that the first ultrasonic sensor is wading when the proportion of scattered echo in the echo 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 submerged in water, other ultrasonic sensors can receive the echo of the ultrasonic wave emitted by the first ultrasonic sensor within a set time when the first ultrasonic sensor emits an ultrasonic wave. The set time can be a pre-set time, in the self-transmitting and other-receiving operating mode of the sensor group, corresponding to the time required from the first ultrasonic sensor emitting the ultrasonic wave to any other ultrasonic sensor receiving the echo when the first ultrasonic sensor is submerged in water. The set time can be determined based on the distance between the ultrasonic sensors included in the sensor group and the speed of sound propagation in the water medium.

[0097] The second threshold can be a critical value set for the self-transmitting and receiving mode to determine whether the first ultrasonic sensor is submerged in water. The second threshold can be set by observing the actual proportion of scattered echoes in the echoes received by other sensors in the self-transmitting and receiving mode when the sensor is submerged in water; this is not limited here. Continuing the example above, in the self-transmitting and receiving mode, if the first ultrasonic sensor is ultrasonic sensor A, and ultrasonic sensor A emits ultrasonic waves, if any one of ultrasonic sensors B, C, and D receives an echo within a set time, and the proportion of scattered echoes in the received echoes is greater than or equal to the second threshold, then ultrasonic sensor A is determined to be submerged in water. If the first ultrasonic sensor is ultrasonic sensor B, and ultrasonic sensor B emits ultrasonic waves, if any one of ultrasonic sensors A, C, and D receives an echo within a set time, and the proportion of scattered echoes in the received echoes is greater than or equal to the second threshold, then ultrasonic sensor B is determined to be submerged in water.

[0098] The number threshold can be less than or equal to the number of ultrasonic sensors in the backward sensor group. For example, it can be 1, 2, 3, or 4.

[0099] In the self-transmitting and receiving mode, if the quantity threshold is 1, the controller determines that the vehicle body is in water if at least one ultrasonic sensor in the backward sensor group is in water.

[0100] In the self-transmitting and receiving mode, if the quantity threshold is 2, the controller determines that the vehicle body is in water if at least two ultrasonic sensors in the rear sensor group are in water.

[0101] In the self-generated and externally received mode, if the quantity threshold is 3, the controller determines that the vehicle body is in water if at least three ultrasonic sensors in the rear sensor group are in water.

[0102] In the self-transmitting and receiving mode, if the quantity threshold is 4, the controller determines that the vehicle body is in water if all four ultrasonic sensors in the rear sensor group are in water.

[0103] According to the embodiments of this application, by controlling the sensor group to be in a self-transmitting and other-receiving working mode, the first ultrasonic sensor is any one of the ultrasonic sensors in the sensor group. Then, based on the scattered echoes in the echoes received by other ultrasonic sensors, it is determined whether the first ultrasonic sensor is in water. If the number of ultrasonic sensors in water is greater than or equal to the number threshold, it is determined that the vehicle body is in water. This can avoid misjudgment caused by the first ultrasonic sensor being blocked by mud or other media on the surface of the vehicle body, thereby improving the accuracy and reliability of the water wading perception system.

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

[0105] In this embodiment, the controller 10 can determine whether there is a first ultrasonic sensor in the sensor group whose received echoes have a scattered echo ratio greater than or equal to a first threshold, based on the scattered echoes in the received echoes received by each ultrasonic sensor in the sensor group when the sensor group is in a self-transmitting and self-receiving working mode. That is, it determines whether each ultrasonic sensor in the sensor group is in water.

[0106] When the sensor group is in self-transmitting and self-receiving mode, if the first ultrasonic sensor is present, the sensor's operating mode is switched from self-transmitting and self-receiving to self-transmitting and self-receiving. After switching to self-transmitting and self-receiving mode, the first ultrasonic sensor emits ultrasonic waves, and the other ultrasonic sensors receive the echoes emitted by the first ultrasonic sensor. Then, based on whether the proportion of scattered echoes in the echoes is greater than or equal to a second threshold, the water immersion status of the first ultrasonic sensor is retested.

[0107] In some examples, in the self-transmitting and self-receiving operating mode, if the proportion of scattered echoes in the echoes received by ultrasonic sensors A and B in the forward sensor group is greater than or equal to a first threshold, then ultrasonic sensors A and B are identified as the first ultrasonic sensors. The controller 10 can switch the operating mode of the forward sensor group from self-transmitting and self-receiving to self-transmitting and self-receiving. In the self-transmitting and self-receiving operating mode, the controller 10 can first control ultrasonic sensor A to emit ultrasonic waves, and ultrasonic sensors B, C, and D to receive the echoes of the ultrasonic waves emitted by ultrasonic sensor A. If any one of ultrasonic sensors B, C, and D 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, then ultrasonic sensor A is determined to be in water. Then, ultrasonic sensor B is controlled to emit ultrasonic waves, and ultrasonic sensors A, C, and D receive the echoes of the ultrasonic waves emitted by ultrasonic sensor B. If any one of ultrasonic sensors A, C, and D 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, then ultrasonic sensor B is determined to be in water.

[0108] Those skilled in the art should understand that the use of two first ultrasonic sensors is merely an example, and the use of one, three, or four first ultrasonic sensors is not limited here.

[0109] Continuing the example above, after switching to the self-transmitting and receiving mode, if it is determined that ultrasonic sensor A and ultrasonic sensor B have waded through water, that is, after retesting it is determined that ultrasonic sensor A and ultrasonic sensor B have waded through water, when the quantity threshold is 2, that is, the number of the first ultrasonic sensor wading through water is equal to the quantity threshold, then it is determined that the vehicle body has waded through water.

[0110] According to the embodiments of this application, when a first ultrasonic sensor is present in the sensor group, the working mode of the sensor group is switched from self-transmitting and self-receiving mode to self-transmitting and other-receiving mode. By retesting whether the first ultrasonic sensor is wading through water in the self-transmitting and other-receiving mode, false judgments caused by the first ultrasonic sensor being blocked by mud or other media on the surface of the vehicle can be avoided, thereby further improving the accuracy and reliability of the wading sensing system.

[0111] In some embodiments, the controller is configured to, when it is determined that the number of first ultrasonic sensors wading in water is less than the number threshold, have a second ultrasonic sensor in the sensor group emit ultrasonic waves, and other ultrasonic sensors receive the echoes of the ultrasonic waves emitted by the second ultrasonic sensor. If the proportion of scattered echoes in the echoes received by any other ultrasonic sensor is greater than or equal to a second threshold, it is determined that the second ultrasonic sensor is wading in water. The second ultrasonic sensor is a sensor whose proportion of scattered echoes in the received echoes is less than the first threshold in the self-emitting and self-receiving operating mode.

[0112] In this embodiment, in the self-transmitting and self-receiving operating mode, the sensor in the sensor group whose received echo has a scattered echo ratio greater than or equal to a first threshold is the first ultrasonic sensor, and the sensor in the sensor group whose received echo has a scattered echo ratio less than the first threshold is the second ultrasonic sensor. When the first ultrasonic sensor is present, the operating mode of the sensor group is switched from self-transmitting and self-receiving to self-transmitting and receiving. In the self-transmitting and receiving mode, the first ultrasonic sensor's water immersion status is retested. After retesting the first ultrasonic sensor's water immersion status, it is determined whether the number of first ultrasonic sensors that have immersed in water is greater than or equal to a number threshold. If it is greater than or equal to the number threshold, the vehicle body is determined to have immersed in water. If it is less than the number threshold, the second ultrasonic sensor in the sensor group emits ultrasonic waves, and the other ultrasonic sensors receive the echoes emitted by the second ultrasonic sensor. When the scattered echo ratio in the echo received by any other ultrasonic sensor is greater than or equal to the second threshold, the second ultrasonic sensor is determined to have immersed in water.

[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 a retest determines that ultrasonic sensors A and B are submerged in water, that is, the number of first ultrasonic sensors submerged in water is 2. If the number threshold is 3 or 4, then the number of first ultrasonic sensors submerged in water is less than the number threshold. Controller 10 can control ultrasonic sensors C and D to emit ultrasonic waves sequentially. For example, ultrasonic sensor C is first controlled to emit ultrasonic waves, and ultrasonic sensors A, B, and D receive the echoes of the ultrasonic waves emitted by ultrasonic sensor C. If any one of ultrasonic sensors A, B, and D 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, then ultrasonic sensor C is determined to be submerged in water. Then, ultrasonic sensor D is controlled to emit ultrasonic waves, and ultrasonic sensors A, B, and C receive the echoes of the ultrasonic waves emitted by ultrasonic sensor D. If any one of ultrasonic sensor A, ultrasonic sensor B, and ultrasonic sensor C receives an echo within a set time, and the proportion of scattered echo in the received echo is greater than or equal to the second threshold, then ultrasonic sensor D is determined to be in water.

[0114] The vehicle body is determined to be in water if the sum of the number of first ultrasonic sensors and the number of second ultrasonic sensors used for wading is greater than or equal to a certain threshold.

[0115] Continuing the example above, the second ultrasonic sensor emits ultrasonic waves sequentially; that is, ultrasonic sensor C and ultrasonic sensor D emit ultrasonic waves sequentially. In the example corresponding to a quantity threshold of 3, if it is determined that ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C, and / or ultrasonic sensor D are wading through water, then the vehicle body is determined to have waded through water. In the example corresponding to a quantity threshold of 4, if it is determined that ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C, and ultrasonic sensor D are wading through water, then the vehicle body is determined to have waded through water. A schematic diagram of a vehicle body wading through water can be, for example, as shown below. Figure 4 or Figure 5 As shown.

[0116] If the sum of the number of first ultrasonic sensors and the number of second ultrasonic sensors used for wading is less than a threshold, it is determined that the vehicle body has not been wading.

[0117] After confirming that the vehicle body had not been submerged in water, the working mode of the sensor group was switched from sensor self-transmission and external reception to sensor self-transmission.

[0118] According to the embodiments of this application, when the number of first ultrasonic sensors involved in water immersion is less than a certain threshold, ultrasonic waves are emitted by second ultrasonic sensors and other ultrasonic sensors receive the echoes. The accuracy of water immersion determination can be improved by determining whether the second ultrasonic sensor is involved in water immersion based on the proportion of scattered echoes in the echoes.

[0119] In some embodiments, if it is determined that the vehicle body has been submerged in water, a warning message regarding the submersion is output.

[0120] In this embodiment, the warning message for the vehicle body wading through water can be text, voice, etc., and there is no limitation here.

[0121] In some examples, the vehicle's multimedia system can output warning messages about the vehicle wading through water.

[0122] Based on the water wading sensing system 100 of the present disclosure embodiments, the present disclosure also provides embodiments of water wading sensing methods. Figure 6 A wading sensing method according to some embodiments is illustrated. This wading sensing method can be implemented by the controller 10 of a wading sensing system 100. For example... Figure 4 As shown, the water wading sensing method may include the following steps S6100 and S6200.

[0123] Step S6100: Receive the echo from the ultrasonic sensor.

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

[0125] An echo is the 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, which the ultrasonic sensor converts into an electrical signal. The controller 10 receives the electrical signal corresponding to the echo.

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

[0127] In other examples, the echo from the ultrasonic sensor can also be received in a self-transmitting and self-receiving operating mode.

[0128] Step S6200: Determine the vehicle body's wading depth based on the scattered echo in the echo.

[0129] In some examples, a vehicle can be determined to have been through water if the proportion of scattered echoes in the received echo exceeds a threshold. This proportion can be either energy proportion or amplitude proportion; no specific limitation is made here.

[0130] For example, if the proportion of energy of the scattered echo in the echo exceeds a threshold, it is determined that the vehicle body has waded through water. Alternatively, if the proportion of amplitude of the scattered echo in the echo exceeds a threshold, it is determined that the vehicle body has waded through water. The amplitude can be the maximum amplitude or the average amplitude.

[0131] Figure 7 A wading sensing method according to other embodiments is shown, which can also be implemented by the controller 10 of the wading sensing system 100. For example... Figure 7 As shown, the water wading sensing method may include steps S1 to S11.

[0132] Step S1: Control the sensor group to be in 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 backward sensor group 2. These two sensor groups operate independently. The forward sensor group 1 may include, for example, ultrasonic sensors A, B, C, and D. The backward sensor group 2 may include, for example, ultrasonic sensors A, B, C, and D. In a self-transmitting and self-receiving mode, each ultrasonic sensor in the forward and backward sensor groups receives the echo of its emitted ultrasonic wave.

[0134] Step S2: Receive the echo from the ultrasonic sensor.

[0135] In this embodiment, when the ultrasonic sensor receives an echo, which is an acoustic signal, the ultrasonic sensor converts the acoustic signal into an electrical signal and sends it to the controller 10. The echo received by the controller 10 is the electrical signal corresponding to the echo received by the ultrasonic sensor.

[0136] Step S3: Is the proportion of scattered echo in the echo greater than or equal to the first threshold? If yes, proceed to step S4; otherwise, proceed to step S1.

[0137] In this embodiment, the proportion of scattered echo in the echo can be the proportion of scattered echo energy, or the proportion of scattered echo amplitude, etc. No limitation is made here.

[0138] In this embodiment, it is possible to detect 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: Switch the working mode of the sensor group from sensor self-transmission and self-reception to sensor self-transmission and external reception.

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

[0141] In step S5, the first ultrasonic sensor emits ultrasonic waves, and the other ultrasonic sensors receive the echoes of the ultrasonic waves emitted by the first ultrasonic sensor.

[0142] In some examples, if the first ultrasonic sensor is a single sensor, such as ultrasonic sensor A, then ultrasonic sensor A emits ultrasonic waves, and ultrasonic sensors B, C, and D receive the echoes of the ultrasonic waves emitted by ultrasonic sensor A. If the first ultrasonic sensor is both ultrasonic sensor A and ultrasonic sensor B, then in the self-transmitting and other-receiving mode, ultrasonic sensors A and B can emit ultrasonic waves sequentially. When ultrasonic sensor A emits ultrasonic waves, ultrasonic sensors B, C, and D are other ultrasonic sensors. When ultrasonic sensor B emits ultrasonic waves, the other ultrasonic sensors are ultrasonic sensors A, C, and D.

[0143] Step S6: Is the proportion of scattered echoes in the echoes received by other ultrasonic sensors greater than or equal to the second threshold? If yes, proceed to step S7; otherwise, proceed to step S1.

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

[0145] Step S7: Is the number of wading ultrasonic sensors greater than or equal to the number threshold? If yes, proceed to step S11; otherwise, proceed to step S8.

[0146] In step S8, the second ultrasonic sensor emits ultrasonic waves, and the other ultrasonic sensors receive the echoes of the ultrasonic waves emitted by the second ultrasonic sensor. Then, step S9 is executed.

[0147] For example, in the forward sensor group, the first ultrasonic sensors 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 area is less than a certain threshold, ultrasonic sensor C and ultrasonic sensor D will emit ultrasonic waves in sequence, and the echoes of the emitted ultrasonic waves will be received by the corresponding other ultrasonic sensors.

[0148] Step S9: Is the proportion of scattered echoes in the echoes received by other ultrasonic sensors greater than or equal to the second threshold? If yes, proceed to step S10; otherwise, proceed to step S1.

[0149] For example, the second ultrasonic sensor is ultrasonic sensor C and ultrasonic sensor D. When ultrasonic sensor C emits ultrasonic waves, if the proportion of scattered echo in the echo received by any one of ultrasonic sensors A, B, and D is greater than a second threshold, then ultrasonic sensor C is determined to be in water. When ultrasonic sensor D emits ultrasonic waves, if the proportion of scattered echo in the echo received by any one of ultrasonic sensors A, B, and C is greater than a second threshold, then ultrasonic sensor D is determined to be in water.

[0150] If it is determined that ultrasonic sensor C and / or ultrasonic sensor D are in water, proceed to step S10.

[0151] Step S10: Is the number of wading ultrasonic sensors greater than or equal to the number threshold? If yes, proceed to step S11; otherwise, proceed to step S1.

[0152] Step S11: Confirm that the vehicle body has been submerged in water and output a prompt message regarding the vehicle body being submerged in water.

[0153] In some embodiments, such as Figure 8 As shown, a 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, which are used to control the processor 802 to operate in order to execute the wading sensing method described in the embodiments of this application.

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

[0155] In other embodiments, such as Figure 10 As shown, vehicle 900 includes, for example Figure 8 The water wading sensing device shown.

[0156] This invention can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0157] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

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

[0159] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent 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 the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving 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., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0160] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, 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 apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of 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 to cause a series of operational steps to be 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 perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0163] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0164] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A vehicle wading sensing system, characterized in that, include: An ultrasonic sensor, the ultrasonic sensor being used to emit ultrasonic waves and receive the echoes of ultrasonic waves; The wading sensing system includes at least one sensor group, which includes at least two ultrasonic sensors disposed on the same side of the vehicle body. Each ultrasonic sensor in the same sensor group has the same installation height, and the ultrasonic sensors are installed parallel to the horizontal reference plane of the vehicle. A controller, configured to determine that the ultrasonic sensor is wading when the proportion of scattered echo in the echo received by the ultrasonic sensor in the sensor group is greater than or equal to a first threshold, while the sensor group is in a self-transmitting and self-receiving operating mode; and If the number of ultrasonic sensors in the sensor group that are wading through water is greater than or equal to a certain threshold, it is determined that the vehicle body is wading through water; wherein, the certain threshold is less than the number of ultrasonic sensors in the sensor group.

2. The water-sensing system according to claim 1, characterized in that, 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 disposed on the front side of the vehicle body, and the rearward sensor group includes at least two ultrasonic sensors disposed on the rear side of the vehicle body.

3. The water-sensing system according to claim 1, characterized in that, The quantity threshold is greater than or equal to half the number of ultrasonic sensors in the sensor group.

4. The water-sensing system according to claim 1, characterized in that, When the sensor group is in a self-transmitting and other-receiving operating mode, the first ultrasonic sensor in the sensor group emits ultrasonic waves, and the other ultrasonic sensors receive the echoes of the ultrasonic waves emitted by the first ultrasonic sensor; the controller is configured to: determine whether the first ultrasonic sensor is in water based on the scattered echoes in the echoes received by the other ultrasonic sensors; and determine that the vehicle body is in water if the number of ultrasonic sensors in the sensor group that are in water is greater than or equal to a number threshold; wherein the number threshold is less than the number of ultrasonic sensors in the sensor group.

5. The water-sensing system according to claim 4, characterized in that, When the sensor group is in the 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 self-transmitting and self-receiving working mode to the self-transmitting and self-receiving working mode; the first ultrasonic sensor is a sensor in the self-transmitting and self-receiving working mode in which the proportion of scattered echo in the received echo is greater than or equal to a first threshold.

6. The water-sensing system according to claim 5, characterized in that, The controller is configured to determine that the first ultrasonic sensor is wading when the proportion of scattered echo in the echo received by any other ultrasonic sensor is greater than or equal to a second threshold.

7. The water-sensing system according to any one of claims 4 to 6, characterized in that, If the number of first ultrasonic sensors wading through water is less than the specified threshold, the second ultrasonic sensor in the sensor group emits ultrasonic waves, and the other ultrasonic sensors receive the echoes of the ultrasonic waves emitted by the second ultrasonic sensor; wherein, the second ultrasonic sensor is a sensor whose proportion of scattered echoes in the received echoes is less than the first threshold in the self-emitting and self-receiving operating mode; 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.

8. A water wading sensing method, characterized in that, The method, applied to a wading sensing system for a vehicle as described in any one of claims 1 to 7, comprises: Receives echoes from an ultrasonic sensor; wherein the ultrasonic sensor is used to emit ultrasonic waves and receive echoes from ultrasonic waves. When the sensor group is in self-transmitting and self-receiving mode, if the proportion of scattered echo in the echo received by the ultrasonic sensor in the sensor group is greater than or equal to a first threshold, it is determined that the ultrasonic sensor is in water; and If the number of ultrasonic sensors in the sensor group that are wading through water is greater than or equal to a certain threshold, it is determined that the vehicle body is wading through water; wherein, the certain threshold is less than the number of ultrasonic sensors in the sensor group.

9. A water wading sensing device, characterized in that, It includes a memory and a processor, the memory storing executable instructions for controlling the processor to operate in order to perform the wading sensing method according to claim 8.

10. A vehicle, characterized in that, It includes the water wading sensing system according to any one of claims 1 to 7, or the water wading sensing device according to claim 9.

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