Wading depth detection method and device for vehicle, electronic equipment and medium
By acquiring the operating current of the vehicle's cooling fan and using a wading depth database, the problem of numerous and costly sensors in electric vehicle wading depth detection is solved, thus realizing a cost-effective detection method.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BYD CO LTD
- Filing Date
- 2026-02-09
- Publication Date
- 2026-05-08
AI Technical Summary
The current electric vehicle wading depth detection system suffers from the problem of having a large number of sensors and high costs.
By acquiring the operating current of the vehicle's cooling fan in real time and using a wading information database, the wading depth can be determined, eliminating the need for additional sensors.
This reduces vehicle design costs and improves the reliability and safety of wading depth detection.
Smart Images
Figure CN121989840A_ABST
Abstract
Description
Technical Field
[0001] This disclosure belongs to the field of vehicle processing technology, and in particular relates to a method, device, electronic equipment and medium for detecting the wading depth of vehicles. Background Technology
[0002] With the technological advancements in electric vehicles, the number of sensors on these vehicles has increased significantly, undertaking various detection functions and incurring substantial costs. This is particularly true for wading depth detection, which requires complex and numerous sensors, such as wading radar devices mounted under the rearview mirrors, cameras for detecting water levels, and microwave sensors. This design approach further increases the vehicle's design costs. Summary of the Invention
[0003] This disclosure provides a solution to address the reliability problem of excessively high costs in detecting wading depth in related technologies.
[0004] In a first aspect, this disclosure provides a method for detecting wading depth of a vehicle, the method being applicable to an onboard controller, the method comprising: After the vehicle enters wading mode, the operating current of the vehicle's cooling fan is obtained in real time. Based on the wading information database and the operating current, the wading depth of the vehicle is determined. The wading information database contains different operating currents for different fan engine speeds at different wading depths.
[0005] Secondly, this disclosure provides a wading depth detection device for a vehicle, the device being applicable to an on-board controller, the device comprising: The acquisition unit is used to acquire the operating current of the vehicle's cooling fan in real time after the vehicle enters the wading mode. A determining unit is used to determine the wading depth of a vehicle based on a wading information database and the operating current, wherein the wading information database contains different operating currents at different fan engine speeds at different wading depths.
[0006] Thirdly, this disclosure provides an electronic device, including: Processor; and Memory for storing the executable instructions of the processor; The processor is configured to execute the first aspect or any method in a possible implementation of the first aspect by executing the executable instructions.
[0007] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the methods in the first aspect or any possible implementations of the first aspect.
[0008] The technical solution provided in this disclosure acquires the operating current of the vehicle's cooling fan in real time after the vehicle enters wading mode; based on a wading information database and the operating current, the wading depth of the vehicle is determined. The wading information database contains different operating currents for different fan engine speeds at different wading depths. The technical solutions provided in the various embodiments of this disclosure can reuse the cooling fan in the vehicle engine, and achieve wading depth detection by detecting the operating current of the cooling fan, greatly reducing vehicle design costs. Attached Figure Description
[0009] To more clearly illustrate the technical solutions in the embodiments or related technologies of this disclosure, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 A schematic flowchart of a method for detecting the wading depth of a vehicle provided in an embodiment of this disclosure; Figure 2 A schematic diagram of the structure of a vehicle interior control system provided in an embodiment of this disclosure; Figure 3 A schematic flowchart of another method for detecting wading depth of a vehicle provided in an embodiment of this disclosure; Figure 4 A schematic diagram of a wading depth detection device for a vehicle provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present disclosure. Detailed Implementation
[0010] Embodiments of this disclosure are described in detail below, with examples of embodiments illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this disclosure, and should not be construed as limiting this disclosure.
[0011] The terms "first" and "second," etc., used in the specification, claims, and drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the present disclosure described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0012] The wading depth detection method for vehicles provided in this disclosure can run on a terminal device, a server, or an in-vehicle server. The terminal device can be a local terminal device, including wearable devices such as VR (Virtual Reality), AR (Augmented Reality), and MR (Mixed Reality). The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms.
[0013] With the technological advancements in electric vehicles, the number of sensors on these vehicles has increased significantly, undertaking various detection functions and incurring substantial costs. This is particularly true for wading depth detection, which requires complex and numerous sensors, such as wading radar devices mounted under the rearview mirrors, cameras for detecting water levels, and microwave sensors. This design approach further increases the vehicle's design costs.
[0014] The technical solutions of this disclosure and how they solve the aforementioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this disclosure will now be described with reference to the accompanying drawings.
[0015] Figure 1 A schematic flowchart of a wading depth detection method for a vehicle is provided as an exemplary embodiment of this disclosure. The method can be applied to an on-board controller, and the scheme includes at least the following steps S101-S102: S101 acquires the operating current of the vehicle's cooling fan in real time after the vehicle enters wading mode.
[0016] S102, Based on the water wading information database and the operating current, determine the wading depth of the vehicle.
[0017] In some embodiments, the wading information database contains different operating currents for different fan engine speeds at different wading depths.
[0018] Furthermore, Cook acquires water-related information through experiments based on actual conditions. For example, by placing vehicles in water and controlling the water depth and different fan / engine speeds, they test the operating current.
[0019] In some embodiments, since the essential component for engine cooling is the cooling fan, and the cooling fan will stall when submerged in water, this will cause abnormal motor current in the cooling fan. Therefore, the wading depth can be determined based on this current. In step S101, after the vehicle enters wading mode, the current water depth does not yet reach the cooling fan in the engine. Therefore, the operating current detected by the vehicle at this stage does not correspond to the wading depth. Only when the water submerges the cooling fan can the corresponding wading depth be determined based on the detected operating current. In this way, the cooling fan can be directly reused, eliminating the need to add other sensor components and significantly reducing costs.
[0020] In some embodiments, after determining the wading depth of the vehicle, the method further includes: sending the wading depth to the vehicle's central control panel to display the wading depth.
[0021] Specifically, once the wading depth of the vehicle is determined, the onboard controller sends the wading depth information to the vehicle's central control panel and displays the wading depth, allowing the driver to understand the current wading depth. Furthermore, the onboard controller can also send the wading depth information to devices such as a buzzer, notifying the driver via voice announcement. Other methods can also be used to display the wading depth, which will not be elaborated upon here, and can be set according to actual conditions.
[0022] In some embodiments, after determining the wading depth of the vehicle, the method further includes: controlling the vehicle suspension height based on the wading depth.
[0023] Specifically, if the wading depth is greater than the preset depth, the vehicle suspension height can be controlled to protect the vehicle's safety.
[0024] In some embodiments, the method further includes: determining the risk type of the wading depth; if the wading depth is of low risk, controlling the warning light on the vehicle's instrument panel to switch to a low-risk yellow light; if the wading depth is of medium risk, controlling the warning light on the vehicle's instrument panel to switch to a medium-risk orange light; if the wading depth is of high risk, controlling the warning light on the vehicle's instrument panel to switch to a high-risk red light or controlling the vehicle's safety buzzer to sound an alarm.
[0025] Different risk types correspond to different depth ranges.
[0026] In this embodiment, by classifying the wading depth and displaying it to the driver, the driver can understand the current wading depth, further improving the safety of vehicle driving.
[0027] In some embodiments, since the cooling fan is installed in the vehicle engine, when the water submerges the entire cooling fan, the subsequent wading depth cannot be determined solely by the operating current of the cooling fan. Therefore, an electrode needs to be designed and installed below the engine air intake to obtain the wading depth before the engine air intake is submerged. Therefore, after determining the wading depth of the vehicle in step S102, the method further includes: if a wading signal is obtained by an electrode installed at a preset distance below the engine air intake when the wading depth is greater than a first safe water depth and the time for which the current wading depth remains unchanged is greater than a time threshold, then the vehicle is controlled to enter an emergency safety mode.
[0028] The emergency safety mode includes opening the sunroof and unlocking the windows.
[0029] Furthermore, the first safe water depth refers to the water depth at which the cooling fan is completely submerged.
[0030] In some embodiments, the preset distance can be set according to actual conditions, and the specific size is not limited.
[0031] In some embodiments, controlling the vehicle to enter the emergency safety mode includes: determining the risky wading depth based on the wading signal; if the risky wading depth is not greater than the second safe water depth, then executing the engine water ingress protection function; if the risky wading depth is greater than the second safe water depth, then controlling the vehicle to enter the emergency safety mode.
[0032] In some embodiments, in order to ensure the driving safety of the vehicle, if the wading depth is too deep, the vehicle speed must be reduced. Therefore, if a wading signal is obtained by an electrode installed at a preset distance below the engine air intake, the method further includes: controlling the vehicle speed to decrease to a preset speed.
[0033] Furthermore, there are no restrictions on the method of speed reduction; it can be set according to the actual situation.
[0034] To better understand the control logic of the vehicle controller in this solution, combined with... Figure 2 The diagram shows the structure of a control system inside a vehicle. In an actual vehicle, the control works as follows: After receiving the vehicle power supply and ignition signal (IG), the vehicle controller 10 powers on the vehicle and sends a start command to the fan drive controller 20. The fan drive controller 20 drives the cooling fan 30 to operate and monitors the operating current of the cooling fan 30 in real time. The operating current is then transmitted back to the vehicle controller 10, which in turn determines the wading depth based on the operating current.
[0035] The VCU is the core of the vehicle's powertrain system. It can receive protection commands from the onboard controller and perform engine water ingress protection functions.
[0036] IPB monitors vehicle speed and executes the speed limit function after receiving speed limit commands from the on-board controller.
[0037] The active suspension controller 40 receives a raise command from the on-board controller and raises the suspension height while monitoring the suspension height.
[0038] Multimedia 50 includes warning lights, central control panel text / icons, buzzers, etc., which can be referred to in the above embodiments and will not be repeated here.
[0039] In some embodiments, to better understand the application process of this solution in a specific vehicle, combined with Figure 3 As shown, its specific application process is as follows: S11: The driver can actively trigger the wading mode via the vehicle PAD or mobile device.
[0040] -Logic: This is a manual activation process, applicable to users who anticipate entering a flooded section of road (such as during heavy rain or on low-lying roads) and proactively activate the vehicle's "Flood-Specific Monitoring and Protection" function.
[0041] S12: PAD enters wading mode interface, engine starts.
[0042] In some embodiments, the PAD interface switches to a "water wading mode exclusive UI" (such as displaying a water level monitoring area and a risk warning area), while the engine starts (or remains running to ensure that the cooling fan is working).
[0043] S13: Determine if the water level has reached the measurement range of the cooling fan.
[0044] In some embodiments, detecting a corresponding operating current indicates that the water level has reached the measurement range of the cooling fan. The corresponding operating current (including fan motor speed) refers to the current stored in the water erosion database.
[0045] S14: If not, the PAD will not display the specific water depth.
[0046] In some embodiments, if the water level does not reach the fan's measurement range, the PAD interface does not display the real-time water level value, but only maintains the basic state of "wading mode activated". That is, at this time the water level is low (e.g., <15cm), which does not affect the fan's resistance, and there is no need to trigger depth monitoring and warning.
[0047] S15: If so, the vehicle controller determines the wading depth based on the operating current of the cooling fan, displays the specific wading depth on the PAD, and provides response warnings based on different wading depths.
[0048] S16: If a wading depth is greater than the first safe wading depth and the current wading depth remains unchanged for a period of time greater than a time threshold, and a wading signal is obtained through an electrode installed at a preset distance below the engine air intake, the vehicle is controlled to enter the emergency safety mode.
[0049] In some embodiments, if the wading depth exceeds the safety threshold, multiple terminals will simultaneously issue alarms (the instrument panel red light flashes, the PAD pop-up warning is issued, and the buzzer sounds), and the vehicle body system will be activated (such as automatically opening the sunroof and unlocking the windows).
[0050] In other embodiments, after triggering a multi-terminal synchronous alarm, the vehicle controller automatically stores the "last water depth value before exiting normal monitoring" (e.g., "60cm"), which can be used for subsequent fault diagnosis (e.g., analyzing the cause of water ingress), after-sales maintenance (e.g., determining whether the engine was damaged due to water wading) or user retrospection (e.g., reviewing the water wading process).
[0051] The technical solution provided in this disclosure acquires the operating current of the vehicle's cooling fan in real time after the vehicle enters wading mode; based on a wading information database and the operating current, the wading depth of the vehicle is determined. The wading information database contains different operating currents for different fan engine speeds at different wading depths. The technical solutions provided in the various embodiments of this disclosure can reuse the cooling fan in the vehicle engine, and achieve wading depth detection by detecting the operating current of the cooling fan, greatly reducing vehicle design costs.
[0052] Figure 4 A schematic diagram of a wading depth detection device for a vehicle provided as an exemplary embodiment of this disclosure; The device is applicable to an in-vehicle controller and includes: an acquisition unit 201 and a determination unit 202; The acquisition unit 201 is used to acquire the operating current of the vehicle's cooling fan in real time after the vehicle enters the wading mode. The determining unit 202 is used to determine the wading depth of the vehicle based on the wading information database and the operating current. The wading information database contains different operating currents at different fan engine speeds at different wading depths.
[0053] In some embodiments, after the device determines the wading depth of the vehicle, the device is specifically used to: send the wading depth to the vehicle's central control panel to display the wading depth.
[0054] In some embodiments, the device is further configured to: control the vehicle suspension height based on the wading depth.
[0055] In some embodiments, the device is further configured to: Determine the risk type of the wading depth; different risk types correspond to different depth ranges. If the wading depth is classified as low-risk, the warning light on the vehicle's instrument panel will switch to a low-risk yellow light. If the wading depth is classified as medium risk, the warning light on the vehicle's instrument panel will switch to a medium risk orange light. If the wading depth is classified as high-risk, the warning light on the vehicle's instrument panel will be switched to a high-risk red light, or the vehicle's safety buzzer will sound an alarm.
[0056] In some embodiments, after the device is used to determine the wading depth of the vehicle, the device is further used to: If the wading depth is greater than the first safe wading depth and the current wading depth remains unchanged for a period of time greater than a time threshold, and if a wading signal is obtained through an electrode installed at a preset distance below the engine air intake, the vehicle is controlled to enter the emergency safety mode. The emergency safety mode includes opening the sunroof and unlocking the windows.
[0057] In some embodiments, the device is used to control a vehicle to enter an emergency safety mode, and the device is specifically used for: Based on the aforementioned wading signals, the risky wading depth is determined; If the risky wading depth is not greater than the second safe water depth, then the engine water ingress protection function shall be activated; If the risky wading depth is greater than the second safe wading depth, the vehicle will be controlled to enter emergency safety mode.
[0058] In some embodiments, if a wading signal is obtained by an electrode installed at a predetermined distance below the engine air intake, the device is further configured to: control the vehicle speed to decrease to a predetermined speed.
[0059] The technical solution provided in this disclosure acquires the operating current of the vehicle's cooling fan in real time after the vehicle enters wading mode; based on a wading information database and the operating current, the wading depth of the vehicle is determined. The wading information database contains different operating currents for different fan engine speeds at different wading depths. The technical solutions provided in the various embodiments of this disclosure can reuse the cooling fan in the vehicle engine, and achieve wading depth detection by detecting the operating current of the cooling fan, greatly reducing vehicle design costs.
[0060] It should be understood that the device embodiments and method embodiments can correspond to each other, and similar descriptions can be referred to the method embodiments. To avoid repetition, they will not be repeated here. Specifically, the device can execute the above method embodiments, and the foregoing and other operations and / or functions of each module in the device correspond to the corresponding processes in the various methods in the above method embodiments, which will not be repeated here for the sake of brevity.
[0061] The apparatus of this disclosure embodiment has been described above from the perspective of functional modules in conjunction with the accompanying drawings. It should be understood that this functional module can be implemented in hardware, in software instructions, or in a combination of hardware and software modules. Specifically, the steps of the method embodiments in this disclosure can be completed by integrated logic circuits in the processor's hardware and / or by software instructions. The steps of the method disclosed in this disclosure embodiment can be directly embodied as being executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. Optionally, the software module can reside in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps in the above method embodiments.
[0062] Figure 5 This is a schematic block diagram of an electronic device provided in an embodiment of this disclosure. The electronic device may include: The system includes a memory 301 for storing computer programs and a processor 302 for transferring program code to the processor 302. In other words, the processor 302 can retrieve and run the computer program from the memory 301 to implement the methods described in this embodiment.
[0063] For example, the processor 302 can be used to execute the above-described method embodiments according to instructions in the computer program.
[0064] In some embodiments of this disclosure, the processor 302 may include, but is not limited to: General-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
[0065] In some embodiments of this disclosure, the memory 301 includes, but is not limited to: Volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).
[0066] In some embodiments of this disclosure, the computer program may be divided into one or more modules, which are stored in the memory 301 and executed by the processor 302 to perform the method provided in this disclosure. The one or more modules may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the electronic device.
[0067] like Figure 5 As shown, the electronic device may further include: Transceiver 303, which can be connected to processor 302 or memory 301.
[0068] The processor 302 can control the transceiver 303 to communicate with other devices; specifically, it can send information or data to other devices or receive information or data sent by other devices. The transceiver 303 may include a transmitter and a receiver. The transceiver 303 may further include antennas, and the number of antennas may be one or more.
[0069] It should be understood that the various components in the electronic device are connected through a bus system, which includes a data bus, a power bus, a control bus, and a status signal bus.
[0070] This disclosure also provides a computer storage medium storing a computer program thereon, which, when executed by a computer, enables the computer to perform the methods of the above-described method embodiments. Alternatively, embodiments of this disclosure also provide a computer program product containing instructions that, when executed by a computer, cause the computer to perform the methods of the above-described method embodiments.
[0071] When implemented using software, it can be implemented wholly or partially as a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this disclosure are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital video disc (DVD)), or a semiconductor medium (e.g., solid-state disk (SSD)).
[0072] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.
[0073] In the embodiments provided in this disclosure, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.
[0074] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. For example, the functional modules in the various embodiments of this disclosure may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.
[0075] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.
Claims
1. A method for detecting the wading depth of a vehicle, characterized in that, The method is applicable to vehicle-mounted controllers, and the method includes: After the vehicle enters wading mode, the operating current of the vehicle's cooling fan is obtained in real time. Based on the wading information database and the operating current, the wading depth of the vehicle is determined. The wading information database contains different operating currents for different fan engine speeds at different wading depths.
2. The method according to claim 1, characterized in that, After determining the wading depth of the vehicle, the method further includes: sending the wading depth to the vehicle's central control panel to display the wading depth.
3. The method according to claim 1, characterized in that, The method also includes controlling the vehicle suspension height based on the wading depth.
4. The method according to claim 1, characterized in that, The method further includes: Determine the risk type of the wading depth; different risk types correspond to different depth ranges. If the wading depth is classified as low-risk, the warning light on the vehicle's instrument panel will switch to a low-risk yellow light. If the wading depth is classified as medium risk, the warning light on the vehicle's instrument panel will switch to a medium risk orange light. If the wading depth is classified as high-risk, the warning light on the vehicle's instrument panel will be switched to a high-risk red light, or the vehicle's safety buzzer will sound an alarm.
5. The method according to claim 1, characterized in that, After determining the wading depth of the vehicle, the method further includes: If the wading depth is greater than the first safe wading depth and the current wading depth remains unchanged for a period of time greater than a time threshold, and if a wading signal is obtained through an electrode installed at a preset distance below the engine air intake, the vehicle is controlled to enter the emergency safety mode. The emergency safety mode includes opening the sunroof and unlocking the windows.
6. The method according to claim 5, characterized in that, The control of the vehicle to enter emergency safety mode includes: Based on the aforementioned wading signals, the risky wading depth is determined; If the risky wading depth is not greater than the second safe water depth, then the engine water ingress protection function shall be activated; If the risky wading depth is greater than the second safe wading depth, the vehicle will be controlled to enter emergency safety mode.
7. The method according to claim 5, characterized in that, If a wading signal is obtained by an electrode installed at a preset distance below the engine air intake, the method further includes: controlling the vehicle speed to decrease to a preset speed.
8. A device for detecting wading depth of vehicles, characterized in that, The device is suitable for an on-board controller, and the device includes: The acquisition unit is used to acquire the operating current of the vehicle's cooling fan in real time after the vehicle enters the wading mode. A determining unit is used to determine the wading depth of a vehicle based on a wading information database and the operating current, wherein the wading information database contains different operating currents at different fan engine speeds at different wading depths.
9. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the method of any one of claims 1-7 by executing the executable instructions.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1-7.