Vehicle wade sensing system, method and device, and vehicle

Abstract

A vehicle, provided with a wade sensing system, method and device. The system comprises ultrasonic sensors and a controller, wherein the controller is configured to, on the basis of scattered echoes in echoes received by the ultrasonic sensors, determine that a vehicle body is wading.

Description

Vehicle wading perception system, method, device and vehicle Technical Field

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

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

[0003] Summary of the Invention

[0004] An objective of the embodiments of the present disclosure is to provide a new solution for identifying vehicle wading.

[0005] According to a first aspect of the present disclosure, an embodiment of a vehicle wading perception system is provided, the system comprising:

[0006] An ultrasonic sensor configured to transmit ultrasonic waves and receive ultrasonic echoes;

[0007] The controller is configured to determine whether the vehicle body is wading according to scattered echoes among echoes received by the ultrasonic sensor.

[0008] Optionally, the controller is configured to determine that the vehicle body is wading when a proportion of scattered echoes in the echoes received by the ultrasonic sensor exceeds a threshold.

[0009] Optionally, the ultrasonic sensor is installed parallel to a horizontal reference plane of the vehicle.

[0010] Optionally, the wading perception system includes at least one sensor group, the sensor group includes at least two ultrasonic sensors arranged on the same side of the vehicle body, and the ultrasonic sensors in the same sensor group have the same installation height.

[0011] Optionally, the wading sensing system includes at least one sensor group of a forward sensor group and a rearward sensor group, the forward sensor group includes at least two ultrasonic sensors arranged on the front side of the vehicle body, and the rearward sensor group includes at least two ultrasonic sensors arranged on the rear side of the vehicle body.

[0012] Optionally, the controller is configured to: when the sensor group is in a sensor self-transmitting and self-receiving working mode, determine that the ultrasonic sensor is wading when a proportion of scattered echoes in echoes received by the ultrasonic sensors in the sensor group is greater than or equal to a first threshold; and

[0013] When the number of ultrasonic sensors in the sensor group that are wading through water is greater than or equal to a number threshold, it is determined that the vehicle body is wading through water; wherein the number threshold is less than or equal to the number of ultrasonic sensors in the sensor group.

[0014] Optionally, the quantity threshold is greater than or equal to half the number of ultrasonic sensors in the sensor group.

[0015] Optionally, when the sensor group is in a sensor self-transmitting and other-receiving working mode, the first ultrasonic sensor in the sensor group transmits ultrasonic waves, and the other ultrasonic sensors receive echoes of the ultrasonic waves transmitted by the first ultrasonic sensor;

[0016] The controller is configured to: determine whether the first ultrasonic sensor is wading through water based on scattered echoes in the echoes received by the other ultrasonic sensors; and determine that the vehicle body is wading through water when the number of ultrasonic sensors wading through water in the sensor group is greater than or equal to a number threshold; wherein the number threshold is less than or equal to the number of ultrasonic sensors in the sensor group.

[0017] Optionally, when the sensor group is in the sensor self-transmitting and self-receiving working mode, when the first ultrasonic sensor is present, the working mode of the sensor group is switched from the sensor self-transmitting and self-receiving working mode to the sensor self-receiving and other-receiving working mode; the first ultrasonic sensor is a sensor in which, in the self-transmitting and self-receiving working mode, the proportion of scattered echoes in the received echoes is greater than or equal to a first threshold.

[0018] Optionally, the controller is configured to determine that the first ultrasonic sensor is wading when a proportion of scattered echoes in echoes received by any other ultrasonic sensor is greater than or equal to a second threshold.

[0019] Optionally, when it is determined that the number of first ultrasonic sensors wading through water is less than the number threshold, a second ultrasonic sensor in the sensor group transmits an ultrasonic wave, and the other ultrasonic sensors receive an echo of the ultrasonic wave transmitted by the second ultrasonic sensor; wherein the second ultrasonic sensor is a sensor in a self-transmitting and self-receiving working mode, and a proportion of scattered echoes in the received echoes of the second ultrasonic sensor is less than the first threshold;

[0020] The controller is configured to determine that the second ultrasonic sensor is wading when a proportion of scattered echoes in echoes received by any other ultrasonic sensor is greater than or equal to a second threshold.

[0021] According to a second aspect of the present disclosure, an embodiment of a wading sensing method is provided, the method comprising:

[0022] Receive an echo from an ultrasonic sensor; wherein the ultrasonic sensor is used to transmit ultrasonic waves and receive ultrasonic echoes;

[0023] It is determined that the vehicle body is wading according to the scattered echoes in the echoes.

[0024] According to a third aspect of the present disclosure, an embodiment of a wading sensing device is provided, comprising a memory and a processor, wherein the memory stores executable instructions for controlling the processor to operate to execute the wading sensing method as described in the second aspect.

[0025] According to a fourth aspect of the present disclosure, an embodiment of a vehicle is provided, which includes: the wading perception system as described in the first aspect, or the wading perception device as described in the third aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0027] FIG1 is a schematic diagram of the structure of a vehicle wading perception system according to some embodiments;

[0028] FIG2 is a schematic diagram of the installation of a sensor group according to some embodiments (I);

[0029] FIG3 is a schematic diagram of the installation of a sensor group according to some embodiments (II);

[0030] FIG4 is a schematic diagram of a vehicle body wading in water according to some embodiments (I);

[0031] FIG5 is a schematic diagram of a vehicle body wading in water according to some other embodiments (II);

[0032] FIG6 is a flow chart of a water-wading sensing method according to some embodiments;

[0033] FIG7 is a flow chart of a wading sensing method according to other embodiments;

[0034] FIG8 is a schematic structural diagram of a water-wading sensing device according to some embodiments;

[0035] FIG9 is a schematic structural diagram of a vehicle according to some embodiments;

[0036] FIG10 is a schematic structural diagram of a vehicle according to some other embodiments. DETAILED DESCRIPTION

[0037] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0038] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0039] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0040] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0041] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0042] Embodiments of the present disclosure relate to a vehicle water sensing solution for determining vehicle body water wading based on scattered echoes within ultrasonic echoes. Figure 1 illustrates a schematic diagram of the components of a vehicle water sensing system according to some embodiments. As shown in Figure 1, the water sensing system of embodiments of the present application may include an ultrasonic sensor.

[0043] In some examples, the wading perception system may include a single ultrasonic sensor, such as ultrasonic sensor A or ultrasonic sensor B.

[0044] In other examples, the wading perception system may also include multiple ultrasonic sensors, for example, ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C, and ultrasonic sensor D.

[0045] Those skilled in the art should understand that there is no limitation on the number of ultrasonic sensors included in the water sensing system.

[0046] The wading sensing system may further include a controller 10 .

[0047] In some examples, as shown in Figure 1, the controller 10 may be a separate controller, that is, the controller 10 and the ultrasonic sensor may be two independent devices, and the controller 10 is in communication with the ultrasonic sensor. The controller 10 may control the operating mode of the ultrasonic sensor.

[0048] In other examples, the controller 10 may be integrated into the ultrasonic sensor, that is, the controller 10 in the ultrasonic sensor may control the operating mode of the ultrasonic sensor.

[0049] In some embodiments, the operating modes of the ultrasonic sensor are divided into a self-transmitting and self-receiving operating mode and a self-transmitting and other-receiving operating mode.

[0050] In an example where the wading sensing system includes a single ultrasonic sensor, the controller 10 may control the single ultrasonic sensor to operate in a self-transmitting and self-receiving mode, that is, the single ultrasonic sensor itself transmits an ultrasonic signal and receives a returned echo signal.

[0051] In an example where the wading sensing system includes multiple ultrasonic sensors, the controller 10 can control the multiple ultrasonic sensors to operate in a self-transmitting and receiving mode. That is, any one of the multiple ultrasonic sensors transmits an ultrasonic signal, and one or more of the other ultrasonic sensors receives the ultrasonic echo signal. Alternatively, the controller 10 can control the multiple ultrasonic sensors to operate in a self-transmitting and receiving mode.

[0052] Those skilled in the art should understand that there is no limitation on the number and working mode of the ultrasonic sensors.

[0053] Regardless of the working mode of the ultrasonic sensor, the controller 10 can receive the echo received by the ultrasonic sensor to determine whether the vehicle body is wading.

[0054] Specifically, after receiving the echo, the ultrasonic sensor may convert the echo into an electrical signal. The controller 10 may receive the electrical signal corresponding to the echo received by the ultrasonic sensor to determine whether the vehicle body is wading.

[0055] In some examples, the controller 10 may include a control module 11 and a determination module 12 .

[0056] The control module 11 is used to control the working mode of the ultrasonic sensor, and the judgment module 12 is used to receive the electrical signal corresponding to the echo received by the ultrasonic sensor to determine whether the vehicle body is wading.

[0057] The echoes received by an ultrasonic sensor include reflected echoes and scattered echoes. Scattered echoes are echoes generated by scattering, and reflected echoes are echoes generated by reflection. When the ultrasonic sensor is not submerged in water, that is, when it is in air, the reflection effect of the air is strong, while the scattering effect is extremely weak, resulting in a very weak scattered signal. Therefore, the scattered echo in the echo is weak. As shown in Figures 4 and 5, when the ultrasonic sensor is submerged in water, that is, when it is in water, the reflection effect of the water is relatively weak, while the scattering effect is relatively strong, because the water medium is significantly denser than the air medium and contains impurities, and the scattered echo in the echo is significantly enhanced.

[0058] In some embodiments, the controller is configured to determine that the vehicle body is wading based on scattered echoes among echoes received by the ultrasonic sensor.

[0059] In this embodiment, the controller 10 is in communication with the ultrasonic sensor. When determining the working mode of the ultrasonic sensor, the controller 10 receives the echo received by the ultrasonic sensor and determines whether the vehicle body is wading based on the scattered echo in the echo.

[0060] In some examples, the controller 10 may first determine that the working mode of the ultrasonic sensor is the self-transmitting and self-receiving mode, and when the scattered echo in the received echo is significantly enhanced, switch the working mode of the ultrasonic sensor from the self-transmitting and self-receiving mode to the self-transmitting and other-receiving mode.

[0061] In some embodiments, the controller 10 is configured to determine that the vehicle body is wading when the proportion of scattered echoes in the echoes received by the ultrasonic sensor exceeds a threshold.

[0062] In this embodiment, the ultrasonic sensor may convert the received echo into an electrical signal, and the controller 10 may determine the proportion of the scattered echo in the echo according to the electrical signal corresponding to the echo.

[0063] The proportion of the scattered echo may be the proportion of the energy of the scattered echo in the echo. If the proportion of the energy of the scattered echo in the echo exceeds a threshold, it is determined that the vehicle body is wading.

[0064] For example, the proportion of scattered echo energy in an echo can be reflected in the waveform of the electrical signal corresponding to the echo. If there is significant noise in the waveform, the proportion of scattered echo energy in the echo is large, indicating that the vehicle body has waded through water. If there is weak noise in the waveform, the proportion of scattered echo energy in the echo is small, indicating that the vehicle body has not waded through water.

[0065] The proportion of scattered echoes can also be the proportion of scattered echo amplitudes in the echo. If the proportion of scattered echo amplitudes in the echo exceeds a threshold, the vehicle body is determined to be wading. The amplitude can be a maximum amplitude, an average amplitude, a total amplitude, etc., and is not limited here.

[0066] For example, when the ratio of the maximum amplitude of the scattered echo to the maximum amplitude of the echo exceeds a threshold, it is determined that the vehicle body is wading.

[0067] Those skilled in the art should understand that this is merely an illustrative description and should not be taken as a limitation of the present application.

[0068] The wading detection system according to an embodiment of the present application includes an ultrasonic sensor configured to transmit ultrasonic waves and receive ultrasonic echoes; and a controller configured to determine whether a vehicle body is wading based on scattered echoes within the echoes received by the ultrasonic sensor. This system can determine whether a vehicle body is wading based on scattered echoes within the echoes, thereby avoiding the problem in related technologies where the ultrasonic sensor becomes submerged in water when detecting wading based on reflected echoes, thereby improving the accuracy of wading detection and enhancing vehicle safety.

[0069] In some embodiments, the ultrasonic sensor is mounted parallel to a horizontal reference plane of the vehicle.

[0070] In this embodiment, as shown in Figure 2, the ultrasonic sensors are mounted parallel to the horizontal reference plane of the vehicle. The ultrasonic sensors used to implement this embodiment can be ultrasonic sensors located in front of and behind the front and rear bumpers of existing mass-produced vehicles, or they can be additional ultrasonic sensors, without limitation.

[0071] According to the embodiment of the present application, the ultrasonic sensor is installed parallel to the horizontal reference plane of the vehicle, which can facilitate compatibility with existing ultrasonic sensors installed at the front and rear bumpers of the vehicle body, reduce manufacturing costs, reduce system complexity, and be more conducive to market promotion and use.

[0072] In some embodiments, the wading sensing system includes at least one sensor group, and the sensor group includes at least two ultrasonic sensors arranged on the same side of the vehicle body. The ultrasonic sensors in the same sensor group have the same installation height.

[0073] In this embodiment, each sensor group includes four ultrasonic sensors, and the four ultrasonic sensors can be located at one of the front side, rear side, left side, and right side of the vehicle body, which is not limited here.

[0074] The four ultrasonic sensors are installed at the same height relative to a horizontal reference plane of the vehicle.

[0075] Those skilled in the art should understand that there is no limitation on the number of ultrasonic sensors included in each sensor group.

[0076] In some embodiments, the wading sensing system includes at least one sensor group of a forward sensor group and a rearward sensor group, the forward sensor group includes at least two ultrasonic sensors arranged on the front side of the vehicle body, and the rearward sensor group includes at least two ultrasonic sensors arranged on the rear side of the vehicle body.

[0077] In this embodiment, as shown in Figures 2 and 3, the wading sensing system may include at least one of a forward sensor group 1 and a rearward sensor group 2. The forward sensor group 1 includes four ultrasonic sensors disposed on the front side of the vehicle body, and the rearward sensor group 2 includes four ultrasonic sensors disposed on the rear side of the vehicle body. The four ultrasonic sensors are ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C, and ultrasonic sensor D.

[0078] In other examples, the number of forward ultrasonic sensors and rearward ultrasonic sensors may be different, which is not limited here.

[0079] In some embodiments, the controller is configured to: when the sensor group is in a self-transmitting and self-receiving working mode, determine that the ultrasonic sensor is wading when the proportion of scattered echoes in the echoes received by the ultrasonic sensor in the sensor group is greater than or equal to a first threshold; and determine that the vehicle body is wading when the number of ultrasonic sensors wading in the sensor group is greater than or equal to a number threshold; wherein the number threshold is less than or equal to the number of ultrasonic sensors in the sensor group.

[0080] In this embodiment, the controller 10 can control each ultrasonic sensor in the sensor group to be in a self-transmitting and self-receiving working mode. In other words, each ultrasonic sensor in the sensor group receives the echo of the ultrasonic wave it transmits.

[0081] The first threshold value may be a critical value set for the self-transmitting and self-receiving mode for determining whether the ultrasonic sensor is wading. The first threshold value may be set by observing the actual proportion of scattered echoes in the echoes of the sensor in the self-transmitting and self-receiving mode when wading, and is not limited here.

[0082] For example, a forward sensor group includes four ultrasonic sensors: ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C, and ultrasonic sensor D. The controller 10 is communicatively connected to each of the four ultrasonic sensors to receive electrical signals corresponding to the echoes received by each of the sensors. Based on the electrical signals corresponding to the echoes, the controller 10 can determine the proportion of scattered echoes in the echoes. If the proportion of scattered echoes in the echoes received by ultrasonic sensor A or ultrasonic sensor C is greater than or equal to a first threshold, it is determined that ultrasonic sensor A or ultrasonic sensor C is wading.

[0083] The quantity threshold may be set according to the number of ultrasonic sensors in the sensor group.

[0084] For example, when the forward sensor group includes four ultrasonic sensors, the quantity threshold may be set to 1, 2, or 3, etc. It should be understood by those skilled in the art that the quantity threshold is not specifically limited here.

[0085] Continuing with the above example, if the quantity threshold is 1, then when it is determined that the ultrasonic sensor A or the ultrasonic sensor C is wading, it is determined that the vehicle body is wading.

[0086] In some embodiments, the quantity threshold is greater than or equal to half the quantity of ultrasonic sensors in the sensor group.

[0087] Continuing with the above example, if the forward sensor group includes four ultrasonic sensors, and the quantity threshold is 3, then the vehicle body is determined to be wading if the ultrasonic sensors in the forward sensor group that are wading are ultrasonic sensor A, ultrasonic sensor B, and ultrasonic sensor C. In this case, a schematic diagram of the vehicle body wading can be, for example, as shown in Figure 4 or Figure 5 .

[0088] According to an embodiment of the present application, the number threshold is greater than or equal to half the number of ultrasonic sensors in the sensor group, which can improve the accuracy and reliability of identifying vehicle body wading.

[0089] In some embodiments, when the sensor group is in a sensor self-transmitting and other-receiving working mode, the first ultrasonic sensor in the sensor group transmits ultrasonic waves, and the other ultrasonic sensors receive echoes of the ultrasonic waves transmitted by the first ultrasonic sensor;

[0090] The controller is configured to: determine whether the first ultrasonic sensor is wading through water based on scattered echoes in the echoes received by the other ultrasonic sensors; and determine that the vehicle body is wading through water when the number of ultrasonic sensors wading through water in the sensor group is greater than or equal to a number threshold; wherein the number threshold is less than or equal to the number of ultrasonic sensors in the sensor group.

[0091] In this embodiment, the controller 10 can control the sensor group to operate in both a self-transmitting and self-receiving mode. The first ultrasonic sensor can be at least one ultrasonic sensor in the sensor group. The first ultrasonic sensor can also be a sensor in which, in the self-transmitting and self-receiving mode, the proportion of scattered echoes in the received echoes is greater than or equal to a first threshold, although this is not limited here.

[0092] For example, a backward-facing sensor group includes four ultrasonic sensors, namely ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C, and ultrasonic sensor D. The first ultrasonic sensor can be at least one of the four ultrasonic sensors. For example, in the self-transmitting and other-receiving operating mode, the first ultrasonic sensor is ultrasonic sensor A, which transmits ultrasonic waves, and the other ultrasonic sensors are ultrasonic sensors B, ultrasonic sensors C, and ultrasonic sensors D, which receive the echo of the ultrasonic wave transmitted by ultrasonic sensor A. The first ultrasonic sensor can also be ultrasonic sensor B and ultrasonic sensor C. When ultrasonic sensor B transmits ultrasonic waves, the other ultrasonic sensors are ultrasonic sensor A, ultrasonic sensor C, and ultrasonic sensor D, which receive the echo of the ultrasonic wave transmitted by ultrasonic sensor B. When ultrasonic sensor C transmits ultrasonic waves, the other ultrasonic sensors are ultrasonic sensor A, ultrasonic sensor B, and ultrasonic sensor D, which receive the echo of the ultrasonic wave transmitted by ultrasonic sensor C.

[0093] The controller 10 can determine whether the first ultrasonic sensor is wading according to scattered echoes in the echoes received by other ultrasonic sensors in the self-transmitting and other-receiving mode.

[0094] In some embodiments, the controller is configured to determine that the first ultrasonic sensor is wading when a proportion of scattered echoes in echoes received by any other ultrasonic sensor is greater than or equal to a second threshold.

[0095] In this embodiment, if the first ultrasonic sensor is wading through water, then when the first ultrasonic sensor transmits an ultrasonic wave, the other ultrasonic sensors can receive the echo of the ultrasonic wave emitted by the first ultrasonic sensor within a set time. The set time can be a preset time required for the first ultrasonic sensor to transmit the ultrasonic wave and for any other ultrasonic sensor to receive the echo of the ultrasonic wave emitted by the first ultrasonic sensor when the sensor group is in the self-transmitting and other-receiving operating mode, corresponding to when the first ultrasonic sensor is submerged in water. The set time can be determined based on the distance between the ultrasonic sensors included in the sensor group and the speed of sound propagation in the water medium.

[0096] The second threshold can be a critical value set for the self-transmitting and receiving mode to determine whether the first ultrasonic sensor is wading. The second threshold can be set by observing the actual proportion of scattered echoes in the echoes received by other sensors in the self-transmitting and receiving mode when the sensor is wading, and is not limited here. Continuing with the above example, in the self-transmitting and receiving mode, if the first ultrasonic sensor is ultrasonic sensor A, ultrasonic sensor A transmits an ultrasonic wave. When any one of ultrasonic sensor B, ultrasonic sensor C, or ultrasonic sensor D receives an echo within a set time, and the proportion of scattered echoes in the received echo is greater than or equal to the second threshold, ultrasonic sensor A is determined to have waded. If the first ultrasonic sensor is ultrasonic sensor B, ultrasonic sensor B transmits an ultrasonic wave. When any one of ultrasonic sensor A, ultrasonic sensor C, or ultrasonic sensor D receives an echo within a set time, and the proportion of scattered echoes in the received echo is greater than or equal to the second threshold, ultrasonic sensor B is determined to have waded.

[0097] The number threshold may be less than or equal to the number of ultrasonic sensors in the rearward sensor group, for example, 1, 2, 3, or 4.

[0098] In the autonomous transmission and reception mode, if the quantity threshold is 1, the controller determines that the vehicle body is wading when it determines that at least one ultrasonic sensor in the rearward sensor group is wading.

[0099] In the autonomous transmission and reception mode, if the quantity threshold is 2, the controller determines that the vehicle body is wading when it determines that at least two ultrasonic sensors in the rearward sensor group are wading.

[0100] In the autonomous transmission and reception mode, if the quantity threshold is 3, the controller determines that the vehicle body is wading when it determines that at least three ultrasonic sensors in the rearward sensor group are wading.

[0101] In the autonomous transmission and reception mode, if the quantity threshold is 4, the controller determines that the vehicle body is wading when it determines that all four ultrasonic sensors in the rearward sensor group are wading.

[0102] According to an embodiment of the present application, by controlling the sensor group to be in a self-transmitting and self-receiving working mode, the first ultrasonic sensor is any ultrasonic sensor in the sensor group, and then based on the scattered echo in the echo received by other ultrasonic sensors, it is determined whether the first ultrasonic sensor is wading through water. When the number of ultrasonic sensors wading through water is greater than or equal to a number threshold, it is determined that the vehicle body is wading through water. This can avoid misjudgment caused by the first ultrasonic sensor being obscured by other media such as mud on the surface of the vehicle body, thereby improving the accuracy and reliability of the wading perception system.

[0103] In some embodiments, when the sensor group is in the sensor self-transmitting and self-receiving working mode, when the first ultrasonic sensor is present, the working mode of the sensor group is switched from the sensor self-transmitting and self-receiving working mode to the sensor self-receiving and other-receiving working mode, and the first ultrasonic sensor is a sensor in which, in the self-transmitting and self-receiving working mode, the proportion of scattered echoes in the received echoes is greater than or equal to a first threshold.

[0104] In this embodiment, when the sensor group is in the self-transmitting and self-receiving operating mode, the controller 10 can determine, based on the scattered echoes in the echoes received by each ultrasonic sensor in the sensor group, whether there is a first ultrasonic sensor in the sensor group whose proportion of scattered echoes in the received echoes is greater than or equal to a first threshold. In other words, it determines whether each ultrasonic sensor in the sensor group is wading.

[0105] When the sensor group is in the self-transmitting and self-receiving mode, and the first ultrasonic sensor is present, the sensor operating mode is switched from the self-transmitting and self-receiving mode to the self-receiving and self-receiving mode. After switching to the self-transmitting and self-receiving mode, the first ultrasonic sensor transmits an ultrasonic wave, and the other ultrasonic sensors receive the echo of the first ultrasonic sensor's ultrasonic wave. The first ultrasonic sensor is then retested to determine whether it is wading through water based on whether the proportion of scattered echoes in the echo is greater than or equal to a second threshold.

[0106] In some examples, in the autonomous transmission and reception operating mode, if the proportion of scattered echoes in the echoes received by ultrasonic sensors A and B in the forward sensor group is greater than or equal to a first threshold, the first ultrasonic sensors are ultrasonic sensors A and B. The controller 10 can switch the operating mode of the forward sensor group from autonomous transmission and reception to autonomous and independent reception. In the autonomous and independent reception operating mode, the controller 10 can first control ultrasonic sensor A to transmit an ultrasonic wave, and ultrasonic sensors B, C, and D to receive the echo of the ultrasonic wave transmitted by ultrasonic sensor A. If any of ultrasonic sensors B, C, and D receives an echo within a set time, and the proportion of scattered echoes in the received echo is greater than or equal to a second threshold, then ultrasonic sensor A is determined to have waded through water. Then, ultrasonic sensor B is controlled to transmit an ultrasonic wave, and ultrasonic sensors A, C, and D receive the echo of the ultrasonic wave transmitted by ultrasonic sensor B. If any of ultrasonic sensors A, C, and D receives an echo within a set time, and the proportion of scattered echoes in the received echo is greater than or equal to the second threshold, then ultrasonic sensor B is determined to have waded through water.

[0107] Those skilled in the art should understand that the number of the first ultrasonic sensors being two is merely an example, and the number of the first ultrasonic sensors may also be one, three, or four, etc., which is not limited here.

[0108] Continuing with the above example, after switching to the autonomous transmission and reception mode, if ultrasonic sensor A and ultrasonic sensor B are determined to have waded through water, that is, after retesting, ultrasonic sensor A and ultrasonic sensor B are determined to have waded through water, when the quantity threshold is 2, that is, the number of the first ultrasonic sensors wading through water is equal to the quantity threshold, then it is determined that the vehicle body is wading through water.

[0109] According to an embodiment of the present application, when there is a first ultrasonic sensor in the sensor group, the working mode of the sensor group is switched from the spontaneous self-receiving mode to the spontaneous other-receiving mode, and the first ultrasonic sensor is retested in the spontaneous other-receiving mode to see whether it is wading. This can avoid misjudgment caused by the first ultrasonic sensor being obscured by mud or other media on the surface of the vehicle, thereby further improving the accuracy and reliability of the wading perception system.

[0110] In some embodiments, the controller is configured to, when it is determined that the number of first ultrasonic sensors wading through water is less than the number threshold, have the second ultrasonic sensor in the sensor group emit an ultrasonic wave, and the other ultrasonic sensors receive the echo of the ultrasonic wave emitted by the second ultrasonic sensor; when the proportion of scattered echoes in the echoes received by any other ultrasonic sensor is greater than or equal to the second threshold, it is determined that the second ultrasonic sensor is wading through water; wherein, the second ultrasonic sensor is a sensor in which the proportion of scattered echoes in the received echoes is less than the first threshold in the self-transmitting and self-receiving working mode.

[0111] In this embodiment, in the self-transmitting and self-receiving operating mode, the sensor in the sensor group whose received echoes have a scattered echo ratio greater than or equal to a first threshold is the first ultrasonic sensor, and the sensor in the sensor group whose received echoes have a scattered echo ratio less than the first threshold is the second ultrasonic sensor. If the first ultrasonic sensor is present, the sensor group's operating mode is switched from self-transmitting and self-receiving to self-transmitting and receiving. In the self-receiving and receiving operating mode, the first ultrasonic sensor is retested to determine whether it is wading through water. After retesting whether the first ultrasonic sensor is wading through water, it is determined whether the number of first ultrasonic sensors wading through water is greater than or equal to a threshold. If so, it is determined that the vehicle body is wading through water. If so, the second ultrasonic sensor in the sensor group transmits an ultrasonic wave, and the other ultrasonic sensors receive the echoes of the ultrasonic wave transmitted by the second ultrasonic sensor. If the proportion of scattered echoes in the echoes received by any other ultrasonic sensor is greater than or equal to a second threshold, it is determined that the second ultrasonic sensor is wading through water.

[0112] In some examples, the first ultrasonic sensor includes ultrasonic sensor A and ultrasonic sensor B. The second ultrasonic sensor includes ultrasonic sensor C and ultrasonic sensor D. In the self-transmitting and receiving mode, if repeated testing determines that ultrasonic sensors A and B are wading through water, that is, the number of first ultrasonic sensors wading through water is 2, and if the number threshold is 3 or 4, then the number of first ultrasonic sensors wading through water is less than the number threshold. The controller 10 can control ultrasonic sensors C and D to transmit ultrasonic waves in sequence. For example, ultrasonic sensor C is first controlled to transmit ultrasonic waves, and ultrasonic sensors A, B, and D receive the echo of the ultrasonic wave emitted by ultrasonic sensor C. If any of ultrasonic sensors A, B, and D receives an echo within a set time, and the proportion of scattered echoes in the received echo is greater than or equal to a second threshold, it is determined that ultrasonic sensor C is wading through water. Ultrasonic sensor D is then controlled to transmit ultrasonic waves, and ultrasonic sensors A, B, and C receive the echo of the ultrasonic wave emitted by ultrasonic sensor D. If any one of ultrasonic sensor A, ultrasonic sensor B, and ultrasonic sensor C receives an echo within a set time, and the proportion of scattered echoes in the received echoes is greater than or equal to a second threshold, it is determined that ultrasonic sensor D is wading.

[0113] When the sum of the number of the first ultrasonic sensors wading through water and the number of the second ultrasonic sensors wading through water is greater than or equal to the number threshold, it is determined that the vehicle body is wading through water.

[0114] Continuing with the above example, the second ultrasonic sensor sequentially transmits ultrasonic waves, that is, ultrasonic sensor C and ultrasonic sensor D sequentially transmit ultrasonic waves. In the example corresponding to the quantity threshold of 3, if ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C, and / or ultrasonic sensor D are determined to have waded, then the vehicle body is determined to have waded. In the example corresponding to the quantity threshold of 4, if ultrasonic sensor A, ultrasonic sensor B, ultrasonic sensor C, and ultrasonic sensor D are determined to have waded, then the vehicle body is determined to have waded. A schematic diagram of a vehicle body wading can be shown, for example, in Figures 4 or 5.

[0115] When the sum of the number of the first ultrasonic sensors wading through water and the number of the second ultrasonic sensors wading through water is less than the number threshold, it is determined that the vehicle body is not wading through water.

[0116] After determining that the vehicle body is not wading through water, the working mode of the sensor group is switched from the sensor automatically receiving to the sensor automatically sending.

[0117] According to an embodiment of the present application, when the number of first ultrasonic sensors wading through water is less than a number threshold, ultrasonic waves are emitted by the second ultrasonic sensor, and other ultrasonic sensors receive echoes. Whether the second ultrasonic sensor is wading through water is determined based on the proportion of scattered echoes in the echoes, which can improve the accuracy of wading judgment.

[0118] In some embodiments, when it is determined that the vehicle body is wading through water, prompt information about the vehicle body wading through water is output.

[0119] In this embodiment, the prompt information of the vehicle body wading can be text, voice, etc., which is not limited here.

[0120] In some examples, prompt information about the vehicle body wading can be output through the vehicle's multimedia.

[0121] Based on the water sensing system 100 of the present disclosure, the present disclosure also provides embodiments of a water sensing method. FIG6 illustrates a water sensing method according to some embodiments. The water sensing method can be implemented by the controller 10 of the water sensing system 100. As shown in FIG4 , the water sensing method may include the following steps S6100 and S6200.

[0122] Step S6100: receiving the echo from the ultrasonic sensor.

[0123] The ultrasonic sensor in this step S6100 is used to transmit ultrasonic waves and receive ultrasonic echoes.

[0124] The echo is an electrical signal corresponding to the echo received by the ultrasonic sensor. That is, the echo received by the ultrasonic sensor is a sound wave signal, which the ultrasonic sensor converts into an electrical signal. The controller 10 receives the electrical signal corresponding to the echo.

[0125] In some examples, the echo of the ultrasonic sensor may be received in a self-transmitting and self-receiving operating mode.

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

[0127] Step S6200: Determine whether the vehicle body is wading based on the scattered echo in the echo.

[0128] In some examples, if the proportion of scattered echoes in the received echoes exceeds a threshold, it can be determined that the vehicle body is wading. The proportion can be an energy proportion or an amplitude proportion, which is not limited here.

[0129] For example, if the energy percentage of the scattered echo in the echo exceeds a threshold, the vehicle body is determined to be wading. Alternatively, if the amplitude percentage of the scattered echo in the echo exceeds a threshold, the vehicle body is determined to be wading. The amplitude can be the maximum amplitude or the average amplitude.

[0130] Fig. 7 shows a wading perception method according to some other embodiments, which can also be implemented by the controller 10 of the wading perception system 100. As shown in Fig. 7, the wading perception method can include steps S1 to S11.

[0131] Step S1, controlling the sensor group to be in a self-transmitting and self-receiving working mode.

[0132] In some examples, the wading sensing system 100 may include, for example, a forward sensor group 1 and a rearward sensor group 2. The two sensor groups operate independently. Forward sensor group 1 may include, for example, ultrasonic sensors A, B, C, and D. Rearward sensor group 2 may include, for example, ultrasonic sensors A, B, C, and D. In the self-transmitting and self-receiving mode, each ultrasonic sensor in the forward and rearward sensor groups receives the echo of the ultrasonic wave it transmits.

[0133] Step S2: receiving the echo from the ultrasonic sensor.

[0134] In this embodiment, when the ultrasonic sensor receives an echo, the echo is a sound wave signal, and the ultrasonic sensor converts the sound wave signal into an electrical signal to send to the controller 10. The echo received by the controller 10 is the electrical signal corresponding to the echo received by the ultrasonic sensor.

[0135] Step S3: Check whether the proportion of scattered echoes in the echoes is greater than or equal to a first threshold; if so, execute step S4; if not, execute step S1.

[0136] In this embodiment, the proportion of scattered echoes in the echoes may be the proportion of energy of the scattered echoes, or the proportion of amplitude of the scattered echoes, etc. This is not limited here.

[0137] In this embodiment, it may be detected whether the proportion of scattered echoes in the echoes received by each ultrasonic sensor in the forward sensor group and the backward sensor group is greater than or equal to a first threshold.

[0138] Step S4, switching the working mode of the sensor group from sensor self-transmission and self-reception to sensor self-transmission and other-reception.

[0139] In this embodiment, if there is a first ultrasonic sensor in the forward sensor group whose proportion of scattered echoes in the echoes is greater than or equal to the first threshold, the working mode of the forward sensor group is switched to self-transmission and self-reception, and the working mode of the backward sensor group remains self-transmission and self-reception.

[0140] In step S5 , the first ultrasonic sensor transmits ultrasonic waves, and the other ultrasonic sensors receive echoes of the ultrasonic waves transmitted by the first ultrasonic sensor.

[0141] In some examples, if the first ultrasonic sensor is a single ultrasonic sensor, such as ultrasonic sensor A, ultrasonic sensor A transmits the ultrasonic wave, and ultrasonic sensors B, C, and D receive the echo of the ultrasonic wave transmitted by ultrasonic sensor A. If the first ultrasonic sensor is ultrasonic sensor A and ultrasonic sensor B, then in the self-transmitting and other-receiving mode, ultrasonic sensor A and ultrasonic sensor B can transmit the ultrasonic wave sequentially. When ultrasonic sensor A transmits the ultrasonic wave, ultrasonic sensors B, C, and D are other ultrasonic sensors. When ultrasonic sensor B transmits the ultrasonic wave, ultrasonic sensor A, C, and D are other ultrasonic sensors.

[0142] Step S6: Check whether the proportion of scattered echoes in the echoes received by other ultrasonic sensors is greater than or equal to a second threshold; if so, execute step S7; if not, execute step S1.

[0143] Continuing with the above example, when ultrasonic sensor A in the forward sensor group transmits an ultrasonic wave, if the proportion of scattered echoes in the echoes received by any of ultrasonic sensors B, C, and D within a set time is greater than or equal to a second threshold, it is determined that ultrasonic sensor A is wading. Then, step S7 is executed. If not, it is determined that ultrasonic sensor A is not wading, and step S1 is executed.

[0144] Step S7 , whether the number of ultrasonic sensors wading through water is greater than or equal to a threshold number; if so, execute step S11 , if not, execute step S8 .

[0145] In step S8, the second ultrasonic sensor transmits ultrasonic waves, and the other ultrasonic sensors receive echoes of the ultrasonic waves transmitted by the second ultrasonic sensor.

[0146] For example, in the forward sensor group, the first ultrasonic sensors are ultrasonic sensor A and ultrasonic sensor B, and the second ultrasonic sensors are ultrasonic sensor C and ultrasonic sensor D. If the number of first ultrasonic sensors in the wading area is less than a threshold, ultrasonic sensor C and ultrasonic sensor D sequentially transmit ultrasonic waves, and the corresponding other ultrasonic sensors receive echoes of the transmitted ultrasonic waves.

[0147] Step S9 , whether the proportion of scattered echoes in the echoes received by other ultrasonic sensors is greater than or equal to a second threshold; if so, execute step S10 , if not, execute step S1 .

[0148] For example, the second ultrasonic sensors are ultrasonic sensor C and ultrasonic sensor D. When ultrasonic sensor C transmits ultrasonic waves, if the proportion of scattered echoes in the echoes received by any of ultrasonic sensor A, ultrasonic sensor B, and ultrasonic sensor D is greater than a second threshold, it is determined that ultrasonic sensor C has waded through water. When ultrasonic sensor D transmits ultrasonic waves, if the proportion of scattered echoes in the echoes received by any of ultrasonic sensor A, ultrasonic sensor B, and ultrasonic sensor C is greater than a second threshold, it is determined that ultrasonic sensor D has waded through water.

[0149] If it is determined that the ultrasonic sensor C and / or the ultrasonic sensor D is wading through water, step S10 is executed.

[0150] Step S10: Whether the number of ultrasonic sensors wading through water is greater than or equal to a threshold number; if so, executing step S11; if not, executing step S1.

[0151] Step S11 , determining that the vehicle body is wading, and outputting prompt information about the vehicle body wading.

[0152] In some embodiments, as shown in Figure 8, a water-wading sensing device 800 is also provided. The device 600 includes a memory 801 and a processor 802. The memory 801 is used to store executable instructions, and the instructions are used to control the processor 802 to operate to execute the water-wading sensing method described in the embodiment of the present application.

[0153] In some embodiments, a vehicle 900 is further provided, as shown in FIG9 . The vehicle 900 includes the wading perception system 100 as shown in FIG1 .

[0154] In other embodiments, as shown in FIG. 10 , the vehicle 900 includes the wading sensing device shown in FIG. 8 .

[0155] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0156] A computer-readable storage medium can be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination thereof. As used herein, a computer-readable storage medium is not to be construed as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through an electrical wire.

[0157] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0158] The computer program instructions for performing the operation of the present invention can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. The computer readable program instructions can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), is personalized by utilizing the state information of the computer readable program instructions, and the electronic circuit can execute the computer readable program instructions, thereby realizing various aspects of the present invention.

[0159] Various aspects of the present invention are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0160] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0161] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0162] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of an instruction, and the module, program segment or part of the instruction contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

[0163] While various embodiments of the present invention have been described above, the foregoing description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technical improvements to existing technologies, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A vehicle wading sensing system (100), characterized in that: include: an ultrasonic sensor, the ultrasonic sensor being used to transmit ultrasonic waves and receive echoes of ultrasonic waves; and, A controller (10) is configured to determine whether the vehicle body is wading according to scattered echoes in echoes received by the ultrasonic sensor.

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

3. The water wading sensing system according to claim 1 or 2, characterized in that: The ultrasonic sensor is installed parallel to a horizontal reference plane of the vehicle.

4. The water wading sensing system according to any one of claims 1 to 3, characterized in that: The wading sensing system includes at least one sensor group, and the sensor group includes at least two ultrasonic sensors (A, B, C, D) arranged on the same side of the vehicle body, and the ultrasonic sensors in the same sensor group have the same installation height.

5. The water wading sensing system according to any one of claims 1 to 4, characterized in that: The wading sensing system comprises at least one sensor group of a forward sensor group (1) and a rearward sensor group (2), wherein the forward sensor group comprises at least two ultrasonic sensors arranged on the front side of the vehicle body, and the rearward sensor group comprises at least two ultrasonic sensors arranged on the rear side of the vehicle body.

6. The water wading sensing system according to any one of claims 1 to 5, characterized in that: The controller is configured to: When the sensor group is in a sensor self-transmitting and self-receiving working mode, when the proportion of scattered echoes in the echoes received by the ultrasonic sensors in the sensor group is greater than or equal to a first threshold, it is determined that the ultrasonic sensor is wading; and When the number of ultrasonic sensors in the sensor group that are wading is greater than or equal to a number threshold, it is determined that the vehicle body is wading; wherein the number threshold is less than or equal to the number of ultrasonic sensors in the sensor group.

7. The water wading sensing system according to any one of claims 1 to 6, characterized in that: The quantity threshold is greater than or equal to half the quantity of the ultrasonic sensors in the sensor group.

8. The water wading sensing system according to any one of claims 1 to 7, characterized in that: When the sensor group is in the sensor self-transmitting and other-receiving working mode, the first ultrasonic sensor in the sensor group transmits ultrasonic waves, and the other ultrasonic sensors receive echoes of the ultrasonic waves transmitted by the first ultrasonic sensor; the controller is configured to: determine whether the first ultrasonic sensor is wading according to scattered echoes in the echoes received by the other ultrasonic sensors; and determine that the vehicle body is wading when the number of ultrasonic sensors wading in the sensor group is greater than or equal to a number threshold; wherein the number threshold is less than or equal to the number of ultrasonic sensors in the sensor group.

9. The water wading sensing system according to any one of claims 1 to 8, characterized in that: When the sensor group is in the sensor self-transmitting and self-receiving working mode, when the first ultrasonic sensor is present, the working mode of the sensor group is switched from the sensor self-transmitting and self-receiving working mode to the sensor self-transmitting and other-receiving working mode; the first ultrasonic sensor is a sensor in which, in the self-transmitting and self-receiving working mode, the proportion of scattered echoes in the received echoes is greater than or equal to a first threshold.

10. The water wading sensing system according to any one of claims 1 to 9, characterized in that: The controller is configured to determine that the first ultrasonic sensor is wading when the proportion of scattered echoes in the echoes received by any other ultrasonic sensor is greater than or equal to a second threshold.

11. The water wading sensing system according to any one of claims 1 to 10, characterized in that: When it is determined that the number of the first ultrasonic sensors wading through water is less than the number threshold, the second ultrasonic sensor in the sensor group emits an ultrasonic wave, and the other ultrasonic sensors receive the echo of the ultrasonic wave emitted by the second ultrasonic sensor; wherein the second ultrasonic sensor is a sensor in which the proportion of scattered echoes in the received echoes is less than a first threshold under the self-transmitting and self-receiving working mode; and the controller is configured to determine that the second ultrasonic sensor is wading through water when the proportion of scattered echoes in the echoes received by any other ultrasonic sensor is greater than or equal to the second threshold.

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

13. A water-wading sensing device (800), characterized in that: It comprises a memory (801) and a processor (802), wherein the memory stores executable instructions, and the instructions are used to control the processor to operate so as to execute the wading sensing method according to claim 12.

14. A vehicle (900), characterized in that: The invention comprises the water-wading sensing system according to any one of claims 1 to 11, or comprises the water-wading sensing device according to claim 13.

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