Vehicle wading driving early warning method and system and vehicle

The invention discloses a vehicle wading driving early warning method and system and a vehicle, and relates to the field of vehicle control, and the method comprises the following steps: an MRM scans a vehicle driving road surface; calculating a first water depth measurement value based on the echo time difference of the millimeter waves; the MPC obtains a water surface position relative to a whole vehicle coordinate system; based on the vehicle-mounted high-precision map, generating a road surface position of the high-precision map relative to the whole vehicle coordinate system; determining a second water depth measurement value according to the height difference between the water surface position and the road surface position; the ADCU compares and compensates the first water depth measurement value and the second water depth measurement value to form a third water depth measurement value, and outputs the third water depth measurement value to the ASC; and the ASC judges whether the vehicle can wade and pa