Wading depth detection method, product and vehicle

Abstract

The invention provides a fording depth detection method, a product and a vehicle, and belongs to the technical field of vehicle detection. The method comprises the following steps: acquiring detection data of a plurality of sensors on a vehicle at the current moment; according to the detection data of the plurality of sensors, respectively determining wading detection results of the plurality of sensors; and according to the wading detection results of the plurality of sensors, determining the wading depth at the current moment. The invention aims to obtain a wading detection result with higher reliability.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of vehicle detection, and specifically, to a water depth detection method, product, and vehicle. Background Art

[0002] With the development of vehicle technology, the functions of vehicles are becoming more and more perfect. During the use of vehicles, vehicles may wade through water. Wading for a long time will have a great impact on the vehicle, such as damaged components and backflow of water, which seriously affect the normal use of the vehicle. Moreover, since vehicle drivers cannot intuitively judge the depth of accumulated water, more and more vehicles are currently using the function of wading depth detection, which can timely detect the current wading depth of the vehicle and issue an early warning.

[0003] In common water depth detection solutions, the vehicle's wading depth is detected by installing sensors on the vehicle. However, due to the limited perception accuracy of a single sensor or the inability to accurately detect the wading depth in certain special scenarios, the reliability of the current common vehicle wading depth detection is low. Summary of the Invention

[0004] The embodiments of the present application provide a water depth detection method, product, and vehicle, aiming to obtain more reliable water depth detection results.

[0005] In a first aspect, an embodiment of the present application provides a method for detecting wading depth, the method comprising: Obtain the detection data of multiple sensors on the vehicle at the current moment; Determining water wading detection results of the multiple sensors respectively according to the detection data of the multiple sensors; The wading depth at a current moment is determined according to the wading detection results of the multiple sensors.

[0006] Optionally, determining the wading depth at a current moment according to the wading detection results of the multiple sensors includes: The wading depth at a previous moment is jointly updated based on the wading detection results of the multiple sensors to determine the wading depth at a current moment.

[0007] Optionally, based on the wading detection results of the multiple sensors, jointly updating the wading depth at a previous moment to determine the wading depth at a current moment includes: jointly updating the wading depth at a previous moment based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment; The uncertainty of the sensor is used to characterize the reliability of the water wading detection results corresponding to the sensor.

[0008] Optionally, the multiple sensors include a switch-conduction liquid level sensor, an immersion pressure-sensitive liquid level sensor, and an ultrasonic liquid level ranging sensor.

[0009] Optionally, the relative positions of the switch conduction liquid level sensor, the immersion pressure-sensitive liquid level sensor, and the ultrasonic liquid level ranging sensor when deployed on the vehicle are: The ultrasonic liquid level ranging sensor is higher than the switch conduction type liquid level sensor; The switch conduction type liquid level sensor is higher than the immersion pressure sensitive type liquid level sensor.

[0010] Optionally, determining the water wading detection results of the multiple sensors respectively according to the detection data of the multiple sensors includes: determining, based on detection data from the switch-type liquid level sensor, a first wading detection result corresponding to the switch-type liquid level sensor, wherein the first wading detection result is used to indicate whether the wading depth is less than a critical position, the critical position being a deployment height of the switch-type liquid level sensor on the vehicle; determining a second wading detection result corresponding to the immersed pressure-sensitive liquid level sensor according to the detection data of the immersed pressure-sensitive liquid level sensor; According to the detection data of the ultrasonic liquid level ranging sensor, a third wading detection result corresponding to the ultrasonic liquid level ranging sensor is determined.

[0011] Optionally, jointly updating the wading depth at a previous moment based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment includes: When the first wading detection result is less than a critical position, the second wading detection result indicates no wading, and the third wading detection result is less than a critical position, the wading depth at the previous moment is updated according to the first uncertainty, the second uncertainty, and the third uncertainty to determine the wading depth at the current moment.

[0012] Optionally, based on the first uncertainty, the second uncertainty, and the third uncertainty, the wading depth at the previous moment is updated, and the formula for determining the wading depth at the current moment is:

[0013] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; u3 is the third uncertainty of the ultrasonic liquid level ranging sensor.

[0014] Optionally, jointly updating the wading depth at a previous moment based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment includes: When the first water wading detection result is less than a critical position, the second water wading detection result indicates no water wading, and the third water wading detection result is greater than or equal to a critical position, the water wading depth at the previous moment is updated according to the first uncertainty and the second uncertainty to determine the water wading depth at the current moment.

[0015] Optionally, based on the first uncertainty and the second uncertainty, the wading depth at the previous moment is updated, and the formula for determining the wading depth at the current moment is:

[0016] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor.

[0017] Optionally, jointly updating the wading depth at a previous moment based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment includes: When the water wading detection results of the multiple sensors meet any of the following conditions: When the first water wading detection result is less than a critical position, the second water wading detection result indicates that the water wading is less than a critical position, and the third water wading detection result indicates that there is no water wading; When the first water wading detection result is less than a critical position, the second water wading detection result indicates that the water wading is less than a critical position, and the third water wading detection result is greater than or equal to the critical position; When the first water wading detection result is greater than or equal to a critical position, the second water wading detection result is greater than or equal to a critical position, and the third water wading detection result is less than a critical position; The wading depth at a previous moment is updated according to the first uncertainty, the second uncertainty and the second wading detection result, and the wading depth at a current moment is determined.

[0018] Optionally, based on the first uncertainty, the second uncertainty, and the second wading detection result, the wading depth at the previous moment is updated, and the formula for determining the wading depth at the current moment is:

[0019] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; d 2 is the second water-related detection result.

[0020] Optionally, jointly updating the wading depth at a previous moment based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment includes: When the water wading detection results of the multiple sensors meet any of the following conditions: When the first water wading detection result and the third water wading detection result are both less than a critical position, and the second water wading detection result is greater than or equal to a critical position; When the first water wading detection result and the third water wading detection result are both greater than or equal to a critical position, and the second water wading detection result indicates no water wading; When the first water wading detection result and the third water wading detection result are both greater than or equal to a critical position, and the second water wading detection result indicates that the water wading is less than the critical position; The wading depth at a previous moment is updated according to the first uncertainty, the third uncertainty and the third wading detection result, and the wading depth at a current moment is determined.

[0021] Optionally, based on the first uncertainty, the third uncertainty, and the third wading detection result, the wading depth at the previous moment is updated, and a formula for determining the wading depth at the current moment is:

[0022] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; d 3 is the third water wading detection result.

[0023] Optionally, jointly updating the wading depth at a previous moment based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment includes: When the first wading detection result is less than a critical position, and the second wading detection result and the third wading detection result are both greater than or equal to the critical position, the wading depth at the previous moment is updated according to the first uncertainty and the critical position to determine the wading depth at the current moment.

[0024] Optionally, based on the first uncertainty and the critical position, the wading depth at the previous moment is updated, and the formula for determining the wading depth at the current moment is:

[0025] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; h is the critical position.

[0026] Optionally, jointly updating the wading depth at a previous moment based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment includes: When the first water wading detection result is less than a critical position, and the second water wading detection result and the third water wading detection result both indicate that the water wading is less than a critical position; or, when the first water wading detection result is greater than or equal to a critical position, and the second water wading detection result and the third water wading detection result both indicate that water wading is greater than or equal to a critical position; The wading depth at a previous moment is updated according to the first uncertainty, the second uncertainty, the third uncertainty, the second wading detection result, and the third wading detection result to determine the wading depth at a current moment.

[0027] Optionally, based on the first uncertainty, the second uncertainty, the third uncertainty, the second wading detection result, and the third wading detection result, the wading depth at the previous moment is updated, and the formula for determining the wading depth at the current moment is:

[0028] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; d2 is the second water-related test result; d 3 is the third water wading detection result.

[0029] Optionally, jointly updating the wading depth at a previous moment based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment includes: When the first wading detection result is greater than or equal to the critical position, and the second wading detection result and the third wading detection result both indicate no wading, the wading depth at the previous moment is updated according to the second uncertainty and the third uncertainty to determine the wading depth at the current moment.

[0030] Optionally, based on the second uncertainty and the third uncertainty, the wading depth at the previous moment is updated, and the formula for determining the wading depth at the current moment is:

[0031] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor.

[0032] Optionally, jointly updating the wading depth at a previous moment based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment includes: When the first water wading detection result is greater than or equal to the critical position, the second water wading detection result indicates no water wading, and the third water wading detection result indicates that the water wading is less than the critical position, the water wading depth at the previous moment is updated according to the first uncertainty, the third uncertainty and the critical position to determine the water wading depth at the current moment.

[0033] Optionally, based on the first uncertainty, the third uncertainty, and the critical position, the wading depth at the previous moment is updated, and the formula for determining the wading depth at the current moment is:

[0034] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; h is the critical position.

[0035] Optionally, jointly updating the wading depth at a previous moment based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment includes: When the first water wading detection result is greater than or equal to the critical position, the second water wading detection result indicates that the water wading is less than the critical position, and the third water wading detection result indicates that there is no water wading, the water wading depth at the previous moment is updated according to the second uncertainty and the second water wading detection result to determine the water wading depth at the current moment.

[0036] Optionally, based on the second uncertainty and the second wading detection result, the wading depth at the previous moment is updated, and the formula for determining the wading depth at the current moment is:

[0037] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; d 2 is the second water-related detection result.

[0038] Optionally, jointly updating the wading depth at a previous moment based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment includes: When the first water wading detection result is greater than or equal to the critical position, and the second water wading detection result and the third water wading detection result both indicate that the water wading is less than the critical position, the water wading depth at the previous moment is updated according to the second uncertainty, the third uncertainty, the second water wading detection result, and the third water wading detection result to determine the water wading depth at the current moment.

[0039] Optionally, based on the second uncertainty, the third uncertainty, the second wading detection result, and the third wading detection result, the wading depth at the previous moment is updated, and a formula for determining the wading depth at the current moment is:

[0040] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; d 2 is the second water-related test result;d 3 is the third water wading detection result.

[0041] Optionally, the multiple sensors include switch-conducting liquid level sensors, and obtaining detection data of the multiple sensors on the vehicle at the current moment includes: Obtain the conduction state of the switch conduction type liquid level sensor at the current moment.

[0042] Optionally, determining the water wading detection results of the multiple sensors respectively according to the detection data of the multiple sensors includes: determining a first wading detection result corresponding to the switch-on liquid level sensor according to the current conduction state of the switch-on liquid level sensor; The first wading detection result is used to characterize whether the wading level is less than a critical position, and the critical position is the deployment height of the switch-conducting liquid level sensor on the vehicle.

[0043] Optionally, determining a first wading detection result corresponding to the switch-on liquid level sensor according to the current conduction state of the switch-on liquid level sensor includes: When the switch-conducting liquid level sensor is in the conducting state at the current moment, the first wading detection result is greater than or equal to the critical position.

[0044] Optionally, determining a first wading detection result corresponding to the switch-on liquid level sensor according to the current conduction state of the switch-on liquid level sensor includes: When the switch conductive liquid level sensor is in a non-conductive state at the current moment, the first wading detection result is less than the critical position.

[0045] Optionally, the multiple sensors include an immersed pressure-sensitive liquid level sensor, and obtaining detection data of the multiple sensors on the vehicle at the current moment includes: Obtain a pressure measurement value of the immersed pressure-sensitive liquid level sensor at a current moment.

[0046] Optionally, determining the water wading detection results of the multiple sensors respectively according to the detection data of the multiple sensors includes: According to the pressure measurement value of the immersed pressure-sensitive liquid level sensor at the current moment, a second wading detection result corresponding to the immersed pressure-sensitive liquid level sensor is calculated.

[0047] Optionally, according to the pressure measurement value of the immersed pressure-sensitive liquid level sensor at the current moment, a formula for calculating the second wading detection result corresponding to the immersed pressure-sensitive liquid level sensor is:

[0048] in, d 2 is the second water-related test result; p is the pressure measurement value; p 0 is atmospheric pressure; ρ is the density of water; is the acceleration due to gravity; θ is the pitch angle of the vehicle at the current moment.

[0049] Optionally, the multiple sensors include an ultrasonic liquid level ranging sensor, and obtaining detection data of the multiple sensors on the vehicle at the current moment includes: Obtain the liquid level measurement result of the ultrasonic liquid level ranging sensor at the current moment.

[0050] Optionally, determining the water wading detection results of the multiple sensors respectively according to the detection data of the multiple sensors includes: According to the liquid level measurement result of the ultrasonic liquid level ranging sensor at the current moment, a third wading detection result corresponding to the ultrasonic liquid level ranging sensor is calculated.

[0051] Optionally, according to the liquid level measurement result of the ultrasonic liquid level ranging sensor at the current moment, a formula for calculating the third wading detection result corresponding to the ultrasonic liquid level ranging sensor is:

[0052] in, d 3 is the third water wading test result; x is the longitudinal distance between the ultrasonic liquid level ranging sensor and the vehicle head; y is the vertical distance between the ultrasonic liquid level ranging sensor and the vehicle chassis; d is the liquid level measurement result; θ is the pitch angle of the vehicle at the current moment.

[0053] In a second aspect, an embodiment of the present application provides an electronic device comprising: at least one processor, and a memory, wherein the memory stores a computer program that can be run on the processor, wherein when the processor executes the computer program, the water depth detection method described in the first aspect of the embodiment is executed.

[0054] In a third aspect, an embodiment of the present application provides a non-volatile readable storage medium, which stores a computer program, wherein when the computer program is executed by a processor, the water depth detection method described in the first aspect of the embodiment is executed.

[0055] In a fourth aspect, an embodiment of the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the water depth detection method described in the first aspect of the embodiment.

[0056] In a fifth aspect, an embodiment of the present application provides a vehicle, which is used to execute the water depth detection method described in the first aspect of the embodiment.

[0057] Beneficial effects: This method obtains detection data from multiple sensors on the vehicle at the current moment, then determines the water wading detection results of the multiple sensors based on the detection data of the multiple sensors, and finally determines the wading depth of the vehicle at the current moment based on the water wading detection results of the multiple sensors.

[0058] By using multi-channel water wading detection results based on multiple sensors and then combining the multi-channel water wading detection results of multiple sensors to obtain the wading depth at the current moment, it can not only reduce the problem of being unable to detect the wading depth when any sensor is damaged, but also combine the multi-channel water wading detection results of multiple sensors to obtain a more accurate wading depth result, thereby improving the reliability and accuracy of detecting the wading depth. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0060] Figure 1 This is a flowchart of the steps of the water depth detection method proposed in one embodiment of the present application; Figure 2 This is a functional module diagram of a wading depth detection device proposed in one embodiment of the present application; Figure 3 is a schematic diagram of an electronic device provided in one embodiment of the present application; Figure 4 is a schematic diagram of a non-volatile readable storage medium proposed in an embodiment of the present application; Figure 5 It is a schematic diagram of a computer program product proposed in one embodiment of the present application. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0062] With the development of vehicle technology, the functions of vehicles are becoming more and more perfect. During the use of vehicles, vehicles may wade through water. Wading for a long time will have a great impact on the vehicle. Among them, the biggest impact of wading is that water entering the engine air intake will cause the engine to stall, and then the vehicle will lose power and be unable to escape. In severe cases, it may even pose a threat to life safety. Currently, more and more vehicles have applied the function of wading depth detection, which can timely detect the current wading depth of the vehicle and issue an early warning.

[0063] In common water depth detection solutions, detection is achieved by installing sensors on the vehicle. For example, the ranging sensors installed on some vehicles measure the distance from their own position to the water surface, and then determine the water depth; the pressure sensors installed on some vehicles can measure their own water depth after being immersed in the water, and then convert it into the height between the water surface and the bottom of the wheel.

[0064] However, most current solutions rely on installing a single sensor on the vehicle to detect the wading depth. However, the perception accuracy of a single sensor is limited, and it cannot accurately detect the wading depth in certain special scenarios. For example, when the vehicle is in a large pitch or roll posture, the ranging sensor has detection limitations; sensors that can be immersed in water are easily clogged due to water ingress, leading to false detection; laser sensors are prone to mirror reflection on the water surface, and it is difficult or even impossible to measure accurately due to the tilt of the wading vehicle.

[0065] Therefore, the current common vehicle wading depth detection reliability is low, and there is an urgent need for a more reliable wading detection solution to generate more accurate wading detection results.

[0066] To this end, an embodiment of the present application provides a method for detecting water depth, which can combine multiple sensors to generate more reliable and accurate water detection results.

[0067] Reference Figure 1 , shows a flowchart of the steps of a method for detecting wading depth in an embodiment of the present application, the method may specifically include the following steps: S101: Acquire detection data of multiple sensors on the vehicle at the current moment.

[0068] Specifically, multiple sensors can be deployed on a vehicle. In order to avoid the problem that the water depth cannot be accurately detected in special scenarios due to the same perception accuracy and perception method of sensors of the same type, the multiple sensors include at least two different types of sensors. The perception capabilities of different types of sensors can be combined to obtain more accurate and reliable water depth perception results.

[0069] In the actual implementation process, the number of types of multiple sensors and the number of each sensor can be set according to the needs of the actual application. There is no restriction in this embodiment, and the deployment location corresponding to each sensor is determined according to the sensing method of the selected sensor.

[0070] In a feasible implementation, the plurality of sensors may include a switch-conduction liquid level sensor, an immersion pressure-sensitive liquid level sensor, and an ultrasonic liquid level ranging sensor.

[0071] The process of obtaining the detection data of multiple sensors on the vehicle at the current moment includes obtaining the conduction state of the switch-conducting liquid level sensor at the current moment; obtaining the pressure measurement value of the immersed pressure-sensitive liquid level sensor at the current moment; and obtaining the liquid level measurement result of the ultrasonic liquid level ranging sensor at the current moment.

[0072] Among them, the switch-conductivity liquid level sensor can determine its own conduction state based on whether the sensor is in contact with the water surface; the immersion pressure-sensitive liquid level sensor can determine the vehicle's wading depth based on the detected water pressure when immersed in the liquid surface; the ultrasonic liquid level ranging sensor can detect the distance from itself to the liquid surface, and then determine the vehicle's wading depth.

[0073] When a switch-type liquid level sensor, an immersion pressure-sensitive liquid level sensor, and an ultrasonic liquid level ranging sensor are installed on a vehicle, the relative positions of the three sensors when deployed on the vehicle are as follows: The ultrasonic liquid level ranging sensor is higher than the switch conduction type liquid level sensor; The switch conduction type liquid level sensor is higher than the immersion pressure sensitive type liquid level sensor.

[0074] Because the ultrasonic liquid level ranging sensor determines the vehicle's wading depth by detecting the liquid level, in order to enable the ultrasonic liquid level ranging sensor to effectively sense the liquid level, its deployment position should be relatively high to ensure that the ultrasonic liquid level ranging sensor can be located above the liquid surface most of the time; the immersion pressure-sensitive liquid level sensor needs to be immersed in the liquid surface to detect the water pressure. Therefore, in order to effectively utilize the sensing ability of the immersion pressure-sensitive liquid level sensor, its deployment height should be relatively low.

[0075] In the actual implementation process, the deployment height of the switch conduction liquid level sensor, the immersion pressure-sensitive liquid level sensor and the ultrasonic liquid level ranging sensor on the vehicle can be selected according to the actual application requirements.

[0076] For example, a switch-type liquid level sensor can be deployed at a lower position on the vehicle body, such as within a vertical distance of 400mm-650mm from the vehicle chassis; an immersion pressure-sensitive liquid level sensor can be deployed on the vehicle chassis; an ultrasonic liquid level ranging sensor can be deployed on the vehicle body and vertically downward, such as vertically downward below the vehicle's rearview mirror.

[0077] Since the vehicle's engine has a greater impact on the vehicle when wading through water, the switch-type liquid level sensor can be deployed on the front of the vehicle, and the immersion pressure-sensitive liquid level sensor can be deployed on the chassis close to the front of the vehicle.

[0078] Multiple sensors of the same type can also be deployed on a vehicle. For example, when two ultrasonic liquid level ranging sensors are deployed, the two ultrasonic liquid level ranging sensors can be distributed on the left and right sides of the vehicle body, such as under the left and right rearview mirrors; when four ultrasonic liquid level ranging sensors are deployed, the four ultrasonic liquid level ranging sensors can be arranged at the left front, right front, left rear and right rear positions of the vehicle body.

[0079] When multiple sensors of the same type are deployed, the detection data of the multiple sensors of the same type can be averaged so that each type of sensor ultimately has a detection data for determining the wading detection result.

[0080] After deploying switch-type liquid level sensors, immersion pressure-sensitive liquid level sensors, and ultrasonic liquid level ranging sensors on the vehicle, the position data of each sensor can be determined.

[0081] For example, the position data of the switch-on liquid level sensor includes the vertical distance between the switch-on liquid level sensor and the vehicle chassis. h , h It can also be recorded as the deployment height of the switch-conducting liquid level sensor on the vehicle.

[0082] The position data of the ultrasonic liquid level ranging sensor includes the longitudinal distance between the ultrasonic liquid level ranging sensor and the front of the vehicle x The vertical distance between the ultrasonic liquid level sensor and the vehicle chassis y .

[0083] S102: Determine the water wading detection results of the multiple sensors respectively according to the detection data of the multiple sensors.

[0084] Different sensors have different detection data, and their processing logic for determining the water wading detection results based on the detection data is also different. In the process of determining the vehicle's wading depth by combining multiple sensors, the water wading detection results of each sensor are determined based on the detection data of each sensor.

[0085] In a feasible embodiment, when the multiple sensors include a switch-type liquid level sensor, an immersion pressure-sensitive liquid level sensor, and an ultrasonic liquid level ranging sensor, determining the respective water wading detection results of the multiple sensors includes the following steps: A1: Determine a first wading detection result corresponding to the switch-on liquid level sensor according to the current conduction state of the switch-on liquid level sensor.

[0086] The first wading detection result is used to indicate whether the wading level is less than a critical position, where the critical position is the deployment height of the switch-on liquid level sensor on the vehicle. h .

[0087] When the switch conductive liquid level sensor is in the conductive state at the current moment, the first wading detection result is greater than or equal to the critical position.

[0088] When the switch conductive liquid level sensor is in a non-conductive state at the current moment, the first wading detection result is less than a critical position.

[0089] That is, when the conduction state B of the switch conduction type liquid level sensor is obtained, if B=1, it is in the conduction state, and the first wading detection result d 1≥ h , that is, the liquid level is at least at the deployment height of the switch conductive liquid level sensor on the vehicle; if B=0, it is in the non-conductive state, and the first wading detection result is d 1< h , that is, the liquid level is lower than the deployment height of the switch-conducting liquid level sensor on the vehicle.

[0090] The first wading detection result determined by the conduction state of the switch-conducting liquid level sensor can intuitively reflect the height relationship between the liquid level when the vehicle is wading and the deployment height of the switch-conducting liquid level sensor.

[0091] A2: Calculate a second wading detection result corresponding to the immersed pressure-sensitive liquid level sensor according to the pressure measurement value of the immersed pressure-sensitive liquid level sensor at the current moment.

[0092] The second wading detection result represents the wading depth of the vehicle calculated based on the pressure measurement value detected by the immersed pressure-sensitive liquid level sensor.

[0093] Specifically, after obtaining the pressure measurement value of the immersed pressure-sensitive liquid level sensor at the current moment, the formula for calculating the second wading detection result corresponding to the immersed pressure-sensitive liquid level sensor is:

[0094] in, d 2 is the second water-related test result; p is the pressure measurement value; p 0 is atmospheric pressure; ρ is the density of water; is the acceleration due to gravity; θ is the pitch angle of the vehicle at the current moment.

[0095] In actual implementation, the vehicle's pitch angle θ is vehicle data and can be measured by the vehicle's IMU (Inertial Measurement Unit) or read from the vehicle's control unit, such as the VCU (Vehicle Control Unit).

[0096] A3: Calculate a third wading detection result corresponding to the ultrasonic liquid level ranging sensor based on the liquid level ranging result of the ultrasonic liquid level ranging sensor at the current moment.

[0097] The third wading detection result represents the wading depth of the vehicle calculated based on the liquid level measurement result detected by the ultrasonic liquid level ranging sensor.

[0098] Specifically, after obtaining the liquid level ranging result of the ultrasonic liquid level ranging sensor at the current moment, the formula for calculating the third wading detection result corresponding to the ultrasonic liquid level ranging sensor is:

[0099] in, d 3 is the third water wading test result; x is the longitudinal distance between the ultrasonic liquid level ranging sensor and the vehicle head; y is the vertical distance between the ultrasonic liquid level ranging sensor and the vehicle chassis; d is the liquid level measurement result; θ is the pitch angle of the vehicle at the current moment.

[0100] When using multiple sensors to detect the wading depth of a vehicle, this method determines the processing logic of the wading detection results based on the detection data of each sensor, and generates multiple wading detection results. It can effectively utilize the perception capabilities of different sensors to obtain multiple wading detection results. Subsequently, the obtained wading depth can be updated by combining multiple wading detection results, which has higher reliability and accuracy.

[0101] S103: Determine the wading depth at a current moment according to the wading detection results of the multiple sensors.

[0102] By separately determining the water wading detection results of multiple sensors and obtaining the multi-channel water wading detection results, the multi-channel water wading detection results of multiple sensors are combined to determine the water wading depth at the current moment. This can not only reduce the problem of being unable to detect the water wading depth when any sensor is damaged, but also combine the multi-channel water wading detection results of multiple sensors to obtain a more accurate water wading depth result, thereby improving the reliability and accuracy of detecting the wading depth.

[0103] In a feasible implementation, when determining the wading depth at the current moment, the wading depth at the previous moment can be jointly updated based on the wading detection results of the multiple sensors to determine the wading depth at the current moment. That is, the wading depth at the previous moment is updated by combining the respective wading detection results of the multiple sensors at the current moment, so that a more accurate wading depth of the vehicle at the current moment can be obtained based on the wading depth at the previous moment.

[0104] Specifically, the wading depth at the previous moment may be jointly updated based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at the current moment.

[0105] The uncertainty of a sensor is used to characterize the reliability of the water wading detection result corresponding to the sensor. The smaller the uncertainty of a sensor, the more reliable the water wading detection result obtained based on the detection data of the sensor.

[0106] In the actual implementation process, the variance of each sensor used to detect the vehicle's wading depth can be obtained through pre-experimental calibration, and the variance can be used as the uncertainty of the sensor.

[0107] The first uncertainty of the switch conduction liquid level sensor is expressed as u 1. The second uncertainty of the immersed pressure-sensitive liquid level sensor is recorded as u 2. The third uncertainty of the ultrasonic liquid level distance sensor is recorded as u 3. After experimental calibration of switch conduction liquid level sensor, immersion pressure sensitive liquid level sensor and ultrasonic liquid level ranging sensor, usually 1 < u 1< u 2< u 3. That is, the reliability of the switch conduction type liquid level sensor is higher than that of the immersion pressure type liquid level sensor, and the reliability of the immersion pressure type liquid level sensor is higher than that of the ultrasonic liquid surface ranging sensor.

[0108] According to the detection data of the switch conductive liquid level sensor, the first wading detection result corresponding to the switch conductive liquid level sensor is determined. d 1. Determine the second wading detection result corresponding to the immersed pressure-sensitive liquid level sensor according to the detection data of the immersed pressure-sensitive liquid level sensor d 2. According to the detection data of the ultrasonic liquid level ranging sensor, determine the third wading detection result corresponding to the ultrasonic liquid level ranging sensor d 3. Thereafter, the wading depth at the previous moment is jointly updated based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at the current moment.

[0109] In the actual implementation process, the initialization process D [0]=0.

[0110] For example, jointly updating the wading depth at the previous moment to determine the wading depth at the current moment may include the following different scenarios: B1: When the first water wading detection result is less than the critical position, the second water wading detection result indicates no water wading, and the third water wading detection result is less than the critical position, the water wading depth at the previous moment is updated according to the first uncertainty, the second uncertainty, and the third uncertainty to determine the water wading depth at the current moment.

[0111] Right now d 1< h , d 2≤0, d 3< h ,according to u 1. u 2 and u 3. Update the wading depth at the previous moment and determine the wading depth at the current moment. The formula is:

[0112] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor.

[0113] At this time, due to the first uncertainty of the switch conduction liquid level sensor u 1 minimum, the wading depth does not exceed the critical position is reliable, and the second uncertainty of the immersed pressure-sensitive liquid level sensor u2. The third uncertainty of ultrasonic liquid level distance sensor u 3 small, then d 1< h , d 2≤0 can reliably indicate that the vehicle is not currently wading or the wading depth is very small, such as 10mm. u 1. u 2 and u 3. Update the wading depth at the last moment.

[0114] B2: When the first water wading detection result is less than the critical position, the second water wading detection result indicates no water wading, and the third water wading detection result is greater than or equal to the critical position, the water wading depth at the previous moment is updated according to the first uncertainty and the second uncertainty to determine the water wading depth at the current moment.

[0115] Right now d 1<h, d 2≤0, d 3≥ h When, according to u 1 and u 2. Update the wading depth at the previous moment and determine the wading depth at the current moment. The formula is:

[0116] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor.

[0117] when d 1< h , d When 2≤0, d 1 and d 2 can reliably indicate that the vehicle is not currently wading, and d 3≥ h , it is possible that the ultrasonic liquid level distance sensor with higher uncertainty has a detection error or failure, etc. The ultrasonic liquid level distance sensor is regarded as the sensor that fails in the detection process at the current moment. u 1 and u 2 Update the wading depth at the last moment.

[0118] B3: When the first water wading detection result is less than the critical position, the second water wading detection result indicates that the water wading is less than the critical position, and the third water wading detection result indicates that there is no water wading, the water wading depth at the previous moment is updated according to the first uncertainty, the second uncertainty and the second water wading detection result to determine the water wading depth at the current moment.

[0119] Right now d 1< h ,0< d 2< h , d When 3≤0, according to u 1. u 2 and d 2. Update the wading depth at the previous moment and determine the wading depth at the current moment. The formula is:

[0120] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; d 2 is the second water-related detection result.

[0121] when d 1< h ,0< d 2< h hour, d 1 and d 2 can reliably represent that the vehicle is wading at the current moment but the wading depth is less than the critical position h ,and d 3≤0 indicates that the vehicle is not currently wading. This may be because the ultrasonic liquid level ranging sensor with higher uncertainty has a detection error or failure. The ultrasonic liquid level ranging sensor is regarded as a failed sensor in the current detection process. u 1. u 2 and d 2 Update the wading depth at the last moment.

[0122] B4: When the first water wading detection result is less than the critical position, and the second water wading detection result and the third water wading detection result both indicate that the water wading is less than the critical position, the water wading depth at the previous moment is updated according to the first uncertainty, the second uncertainty, the third uncertainty, the second water wading detection result and the third water wading detection result to determine the water wading depth at the current moment.

[0123] Right nowd 1< h ,0< d 2< h ,0< d 3< h When, according to u 1. u 2. u 3. d 2 and d 3. Update the wading depth at the previous moment and determine the wading depth at the current moment. The formula is:

[0124] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; d 2 is the second water-related test result; d 3 is the third water wading detection result.

[0125] when d 1< h ,0< d 2< h ,0< d 3< h When the three wading detection results all indicate that the vehicle is wading at the current moment and is less than the critical position h , so according to u 1. u 2. u 3. d 2 and d 3. Jointly update the wading depth at the previous moment.

[0126] B5: When the first water wading detection result is less than the critical position, the second water wading detection result indicates that the water wading is less than the critical position, and the third water wading detection result is greater than or equal to the critical position, the water wading depth at the previous moment is updated according to the first uncertainty, the second uncertainty and the second water wading detection result to determine the water wading depth at the current moment.

[0127] Right now d 1< h ,0< d 2< h , d 3≥ h When, according to u 1.u 2 and d 2. Update the wading depth at the previous moment and determine the wading depth at the current moment. The formula is:

[0128] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; d 2 is the second water-related detection result.

[0129] when d 1< h ,0< d 2< h hour, d 1 and d 2 can reliably represent that the vehicle is wading at the current moment but the wading is less than the critical position h ,and d 3≥ h The vehicle being represented is currently wading and is greater than or equal to the critical position h , it may be that the ultrasonic liquid level ranging sensor with higher uncertainty has a detection error or failure, etc., and the ultrasonic liquid level ranging sensor is regarded as a failed sensor in the detection process at the current moment. Therefore, based on u 1. u 2 and d 2. Update the wading depth at the last moment.

[0130] B6: When the first water wading detection result and the third water wading detection result are both less than the critical position, and the second water wading detection result is greater than or equal to the critical position, the water wading depth at the previous moment is updated according to the first uncertainty, the third uncertainty and the third water wading detection result to determine the water wading depth at the current moment.

[0131] Right now d 1< h , d 2≥ h , d 3< h When, according to u 1. u 3 and d 3. Update the wading depth at the previous moment and determine the wading depth at the current moment. The formula is:

[0132] in, D[t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; d 3 is the third water wading detection result.

[0133] when d 1< h , d 3< h When d 1 and d 3 can reliably indicate that the vehicle is currently wading but is less than the critical position h ,and d 2≥ h The vehicle being characterized is currently wading through water and has exceeded a critical position. h , it may be because the immersion pressure-sensitive liquid level sensor has a detection error or a fault, etc., and the immersion pressure-sensitive liquid level sensor is regarded as a failed sensor in the detection process at the current moment, based only on u 1. u 3 and d 3. Update the wading depth at the last moment.

[0134] B7: When the first wading detection result is less than the critical position, and the second wading detection result and the third wading detection result are both greater than or equal to the critical position, the wading depth at the previous moment is updated according to the first uncertainty and the critical position to determine the wading depth at the current moment.

[0135] Right now d 1< h , d 2≥ h , d 3≥ h When, according to u 1 and h , update the wading depth at the previous moment, and determine the formula for the wading depth at the current moment:

[0136] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; h is the critical position.

[0137] Due to the first uncertainty of the switch conduction liquid level sensor u 1 minimum, whend 1< h ,and d 2≥ h , d 3≥ h When the immersion pressure-sensitive liquid level sensor and ultrasonic liquid level ranging sensor can be used as sensors that fail in the current detection process, but because the switch-based conductive liquid level sensor cannot determine the specific wading depth, it can only determine whether the wading exceeds the critical position. Therefore, it can be based on the u 1 and h Update the wading depth at the last moment.

[0138] The above B1-B7 are d 1< h , that is, various scenarios in which the switch conduction type liquid level sensor is conductive without contacting water, the following B8-B15 are d 1≥ h , that is, the scenario where the switch conduction type liquid level sensor is conductive due to contact with water. In the scenario where the switch conduction type liquid level sensor is conductive due to contact with water, although the uncertainty of the switch conduction type liquid level sensor is u 1 is the minimum, but there is a problem that after the vehicle wades beyond the critical position, foreign matter such as mud or aquatic plants may entangle the switch-on liquid level sensor, causing the switch-on liquid level sensor to remain conductive after leaving the water.

[0139] B8: When the first wading detection result is greater than or equal to the critical position, and the second wading detection result and the third wading detection result both indicate no wading, the wading depth at the previous moment is updated according to the second uncertainty and the third uncertainty to determine the wading depth at the current moment.

[0140] Right now d 1≥ h , d 2≤0, d When 3≤0, according to u 2 and u 3. Update the wading depth at the previous moment. The formula for determining the wading depth at the current moment is:

[0141] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor.

[0142] when d 2≤0, d3≤0, that is d 2 and d 3 means the vehicle is not currently wading. d 1≥ h It may be because foreign matter such as mud or water plants are entangled in the switch conduction type liquid level sensor, causing the switch conduction type liquid level sensor to remain conductive after leaving the water. Therefore, the switch conduction type liquid level sensor can be regarded as a failed sensor in the current detection process. u 2 and u 3. Update the wading depth at the last moment.

[0143] B9: When the first water wading detection result is greater than or equal to the critical position, the second water wading detection result indicates no water wading, and the third water wading detection result indicates that the water wading is less than the critical position, the water wading depth at the previous moment is updated according to the first uncertainty, the third uncertainty and the critical position to determine the water wading depth at the current moment.

[0144] Right now d 1≥ h , d 2≤0,0< d 3< h When, according to u 1. u 3 and h , update the wading depth at the previous moment, and determine the formula for the wading depth at the current moment:

[0145] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; h is the critical position.

[0146] when d 1≥ h ,0< d 3< h hour, d 1 indicates that the vehicle is currently wading and is greater than or equal to the critical position h , d 3 indicates that the vehicle is currently wading but is less than or equal to h When the vehicle is currently wading, d 2≤0 indicates that the vehicle is not currently wading, which may be because the immersed pressure-sensitive liquid level sensor has a detection error or a fault, etc., and the immersed pressure-sensitive liquid level sensor is regarded as a failed sensor in the detection process at the current moment; because according tod 1≥ h and 0< d 3< h Unable to reliably determine whether the vehicle is currently wading more than h , then based on u 1. u 3 and h Update the wading depth at the last moment.

[0147] B10: When the first water wading detection result and the third water wading detection result are both greater than or equal to the critical position, and the second water wading detection result indicates no water wading, the water wading depth at the previous moment is updated according to the first uncertainty, the third uncertainty and the third water wading detection result to determine the water wading depth at the current moment.

[0148] Right now d 1≥ h , d 2≤0, d 3≥ h When, according to u 1. u 3 and d 3. Update the wading depth at the previous moment. The formula for determining the wading depth at the current moment is:

[0149] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; d 3 is the third water wading detection result.

[0150] when d 1≥ h , d 3≥ h hour, d 1 and d 3 can reliably indicate that the vehicle is currently wading and is greater than or equal to the critical position h , d 2≤0 indicates that the vehicle is not currently wading. This may be because the immersed pressure-sensitive liquid level sensor has a detection error or a fault. The immersed pressure-sensitive liquid level sensor is regarded as a failed sensor in the current detection process. u 1. u 3 and d 3. Update the wading depth at the last moment.

[0151] B11: When the first water wading detection result is greater than or equal to the critical position, the second water wading detection result indicates that the water wading is less than the critical position, and the third water wading detection result indicates that there is no water wading, the water wading depth at the previous moment is updated according to the second uncertainty and the second water wading detection result to determine the water wading depth at the current moment.

[0152] Right now d 1≥ h ,0< d 2< h , d When 3≤0, according to u 2 and d 2. Update the wading depth at the previous moment. The formula for determining the wading depth at the current moment is:

[0153] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; d 2 is the second water-related detection result.

[0154] When 0< d 2< h , d When 3≤0, we can first determine that the vehicle’s current wading position should not be less than the critical position. h , d 1≥ h It may be because foreign matter such as mud or aquatic plants are entangled in the switch conduction type liquid level sensor, causing the switch conduction type liquid level sensor to remain conductive after leaving the water. Therefore, at this time, the switch conduction type liquid level sensor can be regarded as a failed sensor in the detection process at the current moment.

[0155] The second uncertainty of the immersed pressure-sensitive liquid level sensor is u 2 is greater than the third uncertainty of the ultrasonic liquid level distance sensor u 3, so based on more reliable u 2 and d 2. Update the wading depth at the last moment.

[0156] B12: When the first water wading detection result is greater than or equal to the critical position, and the second water wading detection result and the third water wading detection result both indicate that the water wading depth is less than the critical position, the water wading depth at the previous moment is updated according to the second uncertainty, the third uncertainty, the second water wading detection result and the third water wading detection result to determine the water wading depth at the current moment.

[0157] Right now d1≥ h ,0< d 2< h ,0< d 3< h When, according to u 2. u 3. d 2 and d 3. Update the wading depth at the previous moment. The formula for determining the wading depth at the current moment is:

[0158] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; d 2 is the second water-related test result; d 3 is the third water wading detection result.

[0159] When 0< d 2< h ,0< d 3< h ,Right now d 2 and d 3 means the vehicle is in the current wading position but less than the critical position h , d 1≥ h It may be because foreign matter such as mud or water plants are entangled in the switch conduction type liquid level sensor, causing the switch conduction type liquid level sensor to remain conductive after leaving the water. Therefore, the switch conduction type liquid level sensor can be regarded as a failed sensor in the current detection process. u 2. u 3. d 2 and d 3. Update the wading depth at the last moment.

[0160] B13: When the first water wading detection result and the third water wading detection result are both greater than or equal to the critical position, and the second water wading detection result indicates that the wading depth is less than the critical position, the water wading depth at the previous moment is updated according to the first uncertainty, the third uncertainty and the third water wading detection result to determine the water wading depth at the current moment.

[0161] Right now d 1≥ h ,0< d 2< h , d 3≥ h When, according tou 1. u 3 and d 3. Update the wading depth at the previous moment. The formula for determining the wading depth at the current moment is:

[0162] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; d 3 is the third water wading detection result.

[0163] when d 1≥ h , d 3≥ h When d 1 and d 3 indicates that the vehicle is currently wading and is greater than or equal to the critical position h ,0< d 2< h The vehicle being characterized is currently wading but below the critical position h , it may be that the immersion pressure-sensitive liquid level sensor has a detection error or a fault, etc., and the immersion pressure-sensitive liquid level sensor is regarded as a failed sensor in the detection process at the current moment. u 1. u 3 and d 3. Update the wading depth at the last moment.

[0164] B14: When the first water wading detection result is greater than or equal to the critical position, the second water wading detection result is greater than or equal to the critical position, and the third water wading detection result is less than the critical position, the water wading depth at the previous moment is updated according to the first uncertainty, the second uncertainty and the second water wading detection result to determine the water wading depth at the current moment.

[0165] Right now d 1≥ h , d 2≥ h , d 3< h When, according to u 1. u 2 and d 2. Update the wading depth at the previous moment. The formula for determining the wading depth at the current moment is:

[0166] in, D[t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; d 2 is the second water-related detection result.

[0167] when d 1≥ h , d 2≥ h When d 1 and d 2 can reliably represent that the vehicle is currently wading and is greater than or equal to the critical position h , d 3< h The vehicle being characterized is currently wading but below the critical position h , it may be that the ultrasonic liquid level ranging sensor has a detection error or a fault, etc., and the ultrasonic liquid level ranging sensor is regarded as a failed sensor in the detection process at the current moment, so based on u 1. u 2 and d 2 Update the wading depth at the last moment.

[0168] B15: When the first water wading detection result is greater than or equal to the critical position, and the second water wading detection result and the third water wading detection result both indicate that the water wading is greater than or equal to the critical position, the water wading depth at the previous moment is updated according to the first uncertainty, the second uncertainty, the third uncertainty, the second water wading detection result and the third water wading detection result to determine the water wading depth at the current moment.

[0169] Right now d 1≥ h , d 2≥ h , d 3≥ h ,according to u 1. u 2. u 3. d 2 and d 3. Update the wading depth at the previous moment and determine the wading depth at the current moment. The formula is:

[0170] in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor;u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; d 2 is the second water-related test result; d 3 is the third water wading detection result.

[0171] when d 1≥ h , d 2≥ h , d 3≥ h hour, d 1. d 2 and d 3 All three water wading test results indicate that the vehicle is currently wading and exceeds the critical position h , so according to u 1. u 2. u 3. d 2 and d 3. Jointly update the wading depth at the previous moment.

[0172] This method obtains detection data of multiple sensors on the vehicle at the current moment, and then determines the respective wading detection results of the multiple sensors based on the respective detection data of the multiple sensors. The multi-channel wading detection results based on the multiple sensors are then combined to update the wading depth at the previous moment. This can not only reduce the problem of being unable to detect the wading depth when any sensor is damaged, but also obtain a more accurate wading depth result by combining the multi-channel wading detection results of the multiple sensors, thereby improving the reliability and accuracy of wading depth detection.

[0173] Reference Figure 2 , shows a functional module diagram of a wading depth detection device provided in an embodiment of the present application, the device comprising: An acquisition module 100 is used to acquire detection data of multiple sensors on the vehicle at the current moment; a water wading detection result determination module 200, configured to determine the respective water wading detection results of the plurality of sensors based on the respective detection data of the plurality of sensors; The joint updating module 300 is configured to jointly update the wading depth at a previous moment according to the respective wading detection results of the multiple sensors, and determine the wading depth at a current moment.

[0174] The wading depth detection device is used to execute the wading depth detection method provided in this embodiment.

[0175] Reference Figure 3, shows a schematic diagram of an electronic device provided in an embodiment of the present application, an electronic device comprising: at least one processor, and a memory, wherein the memory stores a computer program that can be run on the processor, wherein the processor executes the water depth detection method described in this embodiment when executing the computer program.

[0176] Reference Figure 4 , shows a schematic diagram of a non-volatile readable storage medium provided in an embodiment of the present application, wherein the non-volatile readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the water depth detection method described in this embodiment is executed.

[0177] Reference Figure 5 , shows a schematic diagram of a computer program product provided in an embodiment of the present application, including a computer program / instruction, which, when executed by a processor, implements the wading depth detection method described in this embodiment.

[0178] This embodiment also provides a vehicle, which is used to execute the wading depth detection method described in this embodiment.

[0179] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0180] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, apparatuses, or computer program products. Therefore, the embodiments of the present application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware. Furthermore, the embodiments of the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0181] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0182] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0183] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0184] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0185] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "includes," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0186] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for detecting wading depth, characterized in that: The method comprises: Obtain the detection data of multiple sensors on the vehicle at the current moment; Determining water wading detection results of the multiple sensors respectively according to the detection data of the multiple sensors; The wading depth at a current moment is determined according to the wading detection results of the multiple sensors.

2. The method according to claim 1, characterized in that Determining the wading depth at a current moment according to the wading detection results of the multiple sensors includes: The wading depth at a previous moment is jointly updated based on the wading detection results of the multiple sensors to determine the wading depth at a current moment.

3. The method according to claim 2, characterized in that The method includes: updating the wading depth at a previous moment based on the wading detection results of the multiple sensors to determine the wading depth at a current moment; jointly updating the wading depth at a previous moment based on the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment; The uncertainty of the sensor is used to characterize the reliability of the water wading detection results corresponding to the sensor.

4. The method according to claim 3, characterized in that The multiple sensors include a switch conduction type liquid level sensor, an immersion pressure sensitive liquid level sensor and an ultrasonic liquid level ranging sensor.

5. The method according to claim 4, characterized in that The relative positions of the switch conduction liquid level sensor, the immersion pressure-sensitive liquid level sensor and the ultrasonic liquid level ranging sensor when deployed on the vehicle are: The ultrasonic liquid level ranging sensor is higher than the switch conduction type liquid level sensor; The switch conduction type liquid level sensor is higher than the immersion pressure sensitive type liquid level sensor.

6. The method according to claim 5, characterized in that Determining water wading detection results of the multiple sensors respectively according to the detection data of the multiple sensors includes: determining, based on detection data from the switch-type liquid level sensor, a first wading detection result corresponding to the switch-type liquid level sensor, wherein the first wading detection result is used to indicate whether the wading depth is less than a critical position, the critical position being a deployment height of the switch-type liquid level sensor on the vehicle; determining a second wading detection result corresponding to the immersed pressure-sensitive liquid level sensor according to the detection data of the immersed pressure-sensitive liquid level sensor; According to the detection data of the ultrasonic liquid level ranging sensor, a third wading detection result corresponding to the ultrasonic liquid level ranging sensor is determined.

7. The method according to claim 6, characterized in that The method includes jointly updating the wading depth at a previous moment according to the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment, including: When the first wading detection result is less than a critical position, the second wading detection result indicates no wading, and the third wading detection result is less than a critical position, the wading depth at the previous moment is updated according to the first uncertainty, the second uncertainty, and the third uncertainty to determine the wading depth at the current moment.

8. The method according to claim 7, characterized in that Based on the first uncertainty, the second uncertainty, and the third uncertainty, the wading depth at the previous moment is updated, and the formula for determining the wading depth at the current moment is: in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor.

9. The method according to claim 6, characterized in that The method includes jointly updating the wading depth at a previous moment according to the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment, including: When the first water wading detection result is less than a critical position, the second water wading detection result indicates no water wading, and the third water wading detection result is greater than or equal to a critical position, the water wading depth at the previous moment is updated according to the first uncertainty and the second uncertainty to determine the water wading depth at the current moment.

10. The method according to claim 9, characterized in that Based on the first uncertainty and the second uncertainty, the wading depth at the previous moment is updated, and the formula for determining the wading depth at the current moment is: in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor.

11. The method according to claim 6, characterized in that The method includes jointly updating the wading depth at a previous moment according to the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment, including: When the water wading detection results of the multiple sensors meet any of the following conditions: When the first water wading detection result is less than a critical position, the second water wading detection result indicates that the water wading is less than a critical position, and the third water wading detection result indicates that there is no water wading; When the first water wading detection result is less than a critical position, the second water wading detection result indicates that the water wading is less than a critical position, and the third water wading detection result is greater than or equal to the critical position; When the first water wading detection result is greater than or equal to a critical position, the second water wading detection result is greater than or equal to a critical position, and the third water wading detection result is less than a critical position; The wading depth at a previous moment is updated according to the first uncertainty, the second uncertainty and the second wading detection result, and the wading depth at a current moment is determined.

12. The method according to claim 11, characterized in that The wading depth at the previous moment is updated based on the first uncertainty, the second uncertainty, and the second wading detection result. The formula for determining the wading depth at the current moment is: in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; d 2 is the second water-related detection result.

13. The method according to claim 6, characterized in that The method includes jointly updating the wading depth at a previous moment according to the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment, including: When the water wading detection results of the multiple sensors meet any of the following conditions: When the first water wading detection result and the third water wading detection result are both less than a critical position, and the second water wading detection result is greater than or equal to a critical position; When the first water wading detection result and the third water wading detection result are both greater than or equal to a critical position, and the second water wading detection result indicates no water wading; When the first water wading detection result and the third water wading detection result are both greater than or equal to a critical position, and the second water wading detection result indicates that the water wading is less than the critical position; The wading depth at a previous moment is updated according to the first uncertainty, the third uncertainty and the third wading detection result, and the wading depth at a current moment is determined.

14. The method according to claim 13, wherein: The wading depth at the previous moment is updated based on the first uncertainty, the third uncertainty, and the third wading detection result. The formula for determining the wading depth at the current moment is: in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; d 3 is the third water wading detection result.

15. The method according to claim 6, characterized in that The method includes jointly updating the wading depth at a previous moment according to the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment, including: When the first wading detection result is less than a critical position, and the second wading detection result and the third wading detection result are both greater than or equal to the critical position, the wading depth at the previous moment is updated according to the first uncertainty and the critical position to determine the wading depth at the current moment.

16. The method according to claim 15, characterized in that The wading depth at the previous moment is updated based on the first uncertainty and the critical position, and the formula for determining the wading depth at the current moment is: in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; h is the critical position.

17. The method according to claim 6, characterized in that The method includes jointly updating the wading depth at a previous moment according to the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment, including: When the first water wading detection result is less than a critical position, and the second water wading detection result and the third water wading detection result both indicate that the water wading is less than a critical position; or, when the first water wading detection result is greater than or equal to a critical position, and the second water wading detection result and the third water wading detection result both indicate that water wading is greater than or equal to a critical position; The wading depth at a previous moment is updated according to the first uncertainty, the second uncertainty, the third uncertainty, the second wading detection result, and the third wading detection result to determine the wading depth at a current moment.

18. The method according to claim 17, characterized in that The wading depth at the previous moment is updated based on the first uncertainty, the second uncertainty, the third uncertainty, the second wading detection result, and the third wading detection result. The formula for determining the wading depth at the current moment is: in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; d 2 is the second water-related test result; d 3 is the third water wading detection result.

19. The method according to claim 6, characterized in that The method includes jointly updating the wading depth at a previous moment according to the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment, including: When the first wading detection result is greater than or equal to the critical position, and the second wading detection result and the third wading detection result both indicate no wading, the wading depth at the previous moment is updated according to the second uncertainty and the third uncertainty to determine the wading depth at the current moment.

20. The method according to claim 19, characterized in that The wading depth at the previous moment is updated based on the second uncertainty and the third uncertainty, and the formula for determining the wading depth at the current moment is: in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor.

21. The method according to claim 6, characterized in that The method includes jointly updating the wading depth at a previous moment according to the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment, including: When the first water wading detection result is greater than or equal to the critical position, the second water wading detection result indicates no water wading, and the third water wading detection result indicates that the water wading is less than the critical position, the water wading depth at the previous moment is updated according to the first uncertainty, the third uncertainty and the critical position to determine the water wading depth at the current moment.

22. The method according to claim 21, characterized in that The wading depth at the previous moment is updated based on the first uncertainty, the third uncertainty, and the critical position. The formula for determining the wading depth at the current moment is: in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 1 is the first uncertainty of the switch conduction type liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; h is the critical position.

23. The method according to claim 6, characterized in that The method includes jointly updating the wading depth at a previous moment according to the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment, including: When the first water wading detection result is greater than or equal to the critical position, the second water wading detection result indicates that the water wading is less than the critical position, and the third water wading detection result indicates that there is no water wading, the water wading depth at the previous moment is updated according to the second uncertainty and the second water wading detection result to determine the water wading depth at the current moment.

24. The method according to claim 23, wherein The wading depth at the previous moment is updated based on the second uncertainty and the second wading detection result. The formula for determining the wading depth at the current moment is: in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; d 2 is the second water-related detection result.

25. The method according to claim 6, characterized in that The method includes jointly updating the wading depth at a previous moment according to the wading detection results of each of the multiple sensors and the uncertainties of each of the multiple sensors to determine the wading depth at a current moment, including: When the first water wading detection result is greater than or equal to the critical position, and the second water wading detection result and the third water wading detection result both indicate that the water wading is less than the critical position, the water wading depth at the previous moment is updated according to the second uncertainty, the third uncertainty, the second water wading detection result, and the third water wading detection result to determine the water wading depth at the current moment.

26. The method according to claim 25, characterized in that The wading depth at the previous moment is updated based on the second uncertainty, the third uncertainty, the second wading detection result, and the third wading detection result. The formula for determining the wading depth at the current moment is: in, D [t] is the wading depth at the current moment, D [t-1] is the wading depth at the previous moment; u 2 is the second uncertainty of the immersed pressure-sensitive liquid level sensor; u 3 is the third uncertainty of the ultrasonic liquid level ranging sensor; d 2 is the second water-related test result; d 3 is the third water wading detection result.

27. The method according to claim 1, wherein The multiple sensors include a switch-conducting liquid level sensor, and obtaining detection data of the multiple sensors on the vehicle at the current moment includes: Obtain the conduction state of the switch conduction type liquid level sensor at the current moment.

28. The method according to claim 27, characterized in that Determining water wading detection results of the multiple sensors respectively according to the detection data of the multiple sensors includes: determining a first wading detection result corresponding to the switch-on liquid level sensor according to the current conduction state of the switch-on liquid level sensor; The first wading detection result is used to characterize whether the wading level is less than a critical position, and the critical position is the deployment height of the switch-conducting liquid level sensor on the vehicle.

29. The method according to claim 28, characterized in that Determining a first wading detection result corresponding to the switch-on liquid level sensor according to the current conduction state of the switch-on liquid level sensor includes: When the switch conductive liquid level sensor is in the conductive state at the current moment, the first wading detection result is greater than or equal to the critical position.

30. The method according to claim 29, wherein Determining a first wading detection result corresponding to the switch-on liquid level sensor according to the current conduction state of the switch-on liquid level sensor includes: When the switch conductive liquid level sensor is in a non-conductive state at the current moment, the first wading detection result is less than the critical position.

31. The method according to claim 1, wherein The multiple sensors include an immersed pressure-sensitive liquid level sensor, and obtaining detection data of the multiple sensors on the vehicle at the current moment includes: Obtain a pressure measurement value of the immersed pressure-sensitive liquid level sensor at a current moment.

32. The method according to claim 31, characterized in that Determining water wading detection results of the multiple sensors respectively according to the detection data of the multiple sensors includes: According to the pressure measurement value of the immersed pressure-sensitive liquid level sensor at the current moment, a second wading detection result corresponding to the immersed pressure-sensitive liquid level sensor is calculated.

33. The method according to claim 32, characterized in that According to the pressure measurement value of the immersed pressure-sensitive liquid level sensor at the current moment, the formula for calculating the second wading detection result corresponding to the immersed pressure-sensitive liquid level sensor is: in, d 2 is the second water-related test result; p is the pressure measurement value; p 0 is atmospheric pressure; ρ is the density of water; is the acceleration due to gravity; θ is the pitch angle of the vehicle at the current moment.

34. The method according to claim 1, wherein The multiple sensors include an ultrasonic liquid level ranging sensor, and obtaining detection data of the multiple sensors on the vehicle at the current moment includes: Obtain the liquid level measurement result of the ultrasonic liquid level ranging sensor at the current moment.

35. The method according to claim 34, wherein Determining water wading detection results of the multiple sensors respectively according to the detection data of the multiple sensors includes: According to the liquid level measurement result of the ultrasonic liquid level ranging sensor at the current moment, a third wading detection result corresponding to the ultrasonic liquid level ranging sensor is calculated.

36. The method according to claim 35, characterized in that According to the liquid level measurement result of the ultrasonic liquid level ranging sensor at the current moment, the formula for calculating the third wading detection result corresponding to the ultrasonic liquid level ranging sensor is: in, d 3 is the third water wading test result; x is the longitudinal distance between the ultrasonic liquid level ranging sensor and the vehicle head; y is the vertical distance between the ultrasonic liquid level ranging sensor and the vehicle chassis; d is the liquid level measurement result; θ is the pitch angle of the vehicle at the current moment.

37. An electronic device, characterized in that: include: At least one processor, and a memory, wherein the memory stores a computer program that can be run on the processor, wherein when the processor executes the computer program, it executes the wading depth detection method described in any one of claims 1-36.

38. A non-volatile readable storage medium, characterized in that The non-volatile readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the water depth detection method according to any one of claims 1 to 36 is executed.

39. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the method for detecting wading depth described in any one of claims 1 to 36 is implemented.

40. A vehicle, characterized in that: The vehicle is used to execute the water depth detection method described in any one of claims 1-36.

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