Waveform identification method and device, terminal equipment and storage medium

Abstract

The invention provides a waveform identification method and device, terminal equipment and a storage medium. The method comprises the following steps: controlling a radar probe core to respectively send a plurality of driving waveforms with preset frequencies in a single detection task; acquiring a preset number of echo data based on each driving waveform; performing preliminary screening on the obtained echo data according to the duration time of each piece of echo data to obtain a first echo data sequence corresponding to each driving waveform; and acquiring the starting time of each piece of echo data in the first echo data sequence, and generating an obstacle waveform recognition result according to a starting time change rule of the echo data in each echo data sequence. According to the invention, the reliability and real-time performance of radar waveform identification can be improved.

Description

Technical Field

[0001] The present invention relates to the field of signal processing technology, and in particular to a waveform recognition method, device, terminal equipment and storage medium. Background Art

[0002] Automotive radar has a wide range of applications in the fields of collision warning systems and parking assistance. It can be used to detect obstacles ahead and issue warnings when a collision is about to occur, triggering emergency braking when necessary to avoid or mitigate accidents. For narrow or complex parking environments, radar can be used to detect surrounding obstacles, provide assistance in steering or acceleration, and simplify the parking process. However, in the actual application of automotive radar, various factors inside and outside the car can cause interference to the radar signal. For example, the engine generates a large amount of mechanical vibration and sound waves when it is working. These sound waves are close to the frequency of radar signals and may be mistakenly received by the radar system, forming interference. Car chargers, radios, navigation systems and other devices may generate electromagnetic disturbances when they are working, causing the waveform returned to the radar controller to be mixed with waveforms caused by non-obstacles, affecting the normal operation of the radar system. Non-target signals are mistaken for actual obstacles, causing the system to frequently issue warnings or take erroneous actions, such as braking or steering without reason. In addition, high-intensity interference signals may mask the echo signals of actual obstacles, making it difficult for the radar to detect the actual obstacles ahead, increasing the risk of collision. Frequent interference signals may cause the radar controller to work unstably, affecting the reliability and safety of the entire driving assistance system.

[0003] In order to deal with the above interference problems, most existing technologies use adaptive filtering algorithms and multi-sensor fusion technology to filter and identify radar waveforms. The adaptive filtering algorithm automatically adjusts the filter parameters according to environmental changes to suppress interference signals in the best way while ensuring the recognition of target signals; multi-sensor fusion technology combines data from other sensors such as cameras and lidars, and reduces the misjudgment rate of a single radar through data fusion algorithms to improve the robustness of the overall system. However, some adaptive filtering algorithms have poor adaptability to different environmental conditions and are not effective in some complex or dynamically changing environments. Multi-sensor fusion and complex filtering algorithms require a lot of computing resources, which limits the real-time response performance of the system. Summary of the invention

[0004] The present invention aims to provide a waveform recognition method, apparatus, terminal equipment and storage medium to solve the above-mentioned technical problems and improve the reliability and real-time performance of radar waveform recognition.

[0005] In order to solve the above technical problems, the present invention provides a waveform recognition method, comprising:

[0006] Control the radar probe core to send a number of driving waveforms of preset frequencies in a single detection mission;

[0007] Collecting a preset number of echo data based on each of the driving waveforms;

[0008] Preliminarily screening the obtained echo data according to the duration of each echo data to obtain a first echo data sequence corresponding to each driving waveform;

[0009] The starting time of each echo data in the first echo data sequence is obtained, and an obstacle waveform recognition result is generated according to a change rule of the starting time of the echo data in each echo data sequence.

[0010] In the above scheme, by sending multiple driving waveforms of different frequencies in a single detection task, the signal reflection characteristics under different environmental conditions can be better adapted. Different objects and environments have different reflection capabilities for different frequencies. Sending multiple frequencies helps to capture more comprehensive echo information, thereby improving the accuracy of obstacle identification. Preliminary screening is performed by the duration of the echo data to filter out irrelevant echo data. This screening method based on time characteristics can effectively reduce noise interference and improve the recognition rate of effective echo data. Furthermore, by analyzing the change law of the start time of the echo data in each echo data sequence, the obstacle waveform recognition result is further generated. This method utilizes the time characteristics of the signal, improves the recognition ability of the real obstacle signal, and reduces the misjudgment rate. Compared with adaptive filtering and multi-sensor fusion technology, the algorithm is simpler and the calculation amount is smaller. There is no need to frequently adjust the filter parameters or perform complex data fusion, which saves computing resources and allows the system to focus more on real-time signal processing.

[0011] In one implementation, after collecting a preset number of echo data based on each of the driving waveforms, it also includes:

[0012] Acquire the maximum detection distance of the radar core, and generate the acquisition time of the echo data based on the detection distance and the sound propagation speed;

[0013] The number of echo data collected within a single collection time is generated according to the waveform duration of the interference wave and the time interval of the echo data.

[0014] In one implementation, the preliminarily screening the obtained echo data according to the duration of each echo data specifically includes:

[0015] Define n first arrays and define the number of elements in the first arrays according to the number of echo data acquisitions corresponding to a single driving waveform; wherein n is the number of driving waveforms sent in a single detection task;

[0016] Recording the waveform duration of each echo data in the first array; wherein each first array corresponds to recording echo data collected based on a driving waveform;

[0017] The echo data whose waveform duration is less than the first preset time is eliminated to obtain the first echo data sequence corresponding to each driving waveform; wherein the first preset time is the waveform duration of the interference wave.

[0018] In one implementation, the acquiring the start time of each echo data in the first echo data sequence and generating the obstacle waveform recognition result according to the change rule of the start time of the echo data in each echo data sequence specifically includes:

[0019] Define n second arrays; wherein n is the number of transmissions of the driving waveform in a single detection task;

[0020] Recording the waveform start time and waveform end time of each echo data in the second array; wherein each second array corresponds to recording echo data collected based on a driving waveform;

[0021] The waveform start times of the echo data in each of the first echo data sequences are compared, and an obstacle waveform recognition result is generated according to the waveform start time.

[0022] In one implementation, comparing the waveform start time of the echo data in each of the first echo data sequences and generating the obstacle waveform recognition result according to the waveform start time specifically includes:

[0023] When each of the first echo data sequences is not empty, acquiring the waveform start time of each of the echo data in each of the first echo data sequences according to the second array;

[0024] When the waveform start times in different echo data sequences gradually decrease, it is determined that the radar core is gradually approaching an obstacle.

[0025] When the waveform start times in different echo data sequences are consistent, it is determined that the distance between the radar core and the obstacle remains unchanged at this time;

[0026] When the waveform start times in different echo data sequences gradually increase, it is determined that the radar core is gradually moving away from the obstacle.

[0027] In one implementation, the waveform recognition method further includes:

[0028] Whenever the radar probe core is detected to send the driving waveform, a timer is started to count;

[0029] inputting the echo data collected based on each of the driving waveforms into an analog switch;

[0030] When it is detected that the output level of the analog switch is pulled low, a timer interrupt is triggered;

[0031] The distance from the obstacle to the radar core is generated according to the count value of the timer and the speed of sound.

[0032] In a second aspect, the present application further provides a waveform recognition device including: a waveform sending module, an echo acquisition module, a waveform screening module and a waveform recognition module;

[0033] Waveform sending module, echo acquisition module, waveform screening module and waveform recognition module;

[0034] The waveform sending module is used to control the radar probe core to send a plurality of driving waveforms of preset frequencies in a single detection task;

[0035] The echo acquisition module is used to acquire a preset number of echo data based on each driving waveform;

[0036] The waveform screening module is used to preliminarily screen the obtained echo data according to the duration of each echo data to obtain a first echo data sequence corresponding to each driving waveform;

[0037] The waveform recognition module is used to obtain the starting time of each echo data in the first echo data sequence, and generate an obstacle waveform recognition result according to the change rule of the starting time of the echo data in each echo data sequence.

[0038] In the above scheme, by sending multiple driving waveforms of different frequencies in a single detection task, the signal reflection characteristics under different environmental conditions can be better adapted. Different objects and environments have different reflection capabilities for different frequencies. Sending multiple frequencies helps to capture more comprehensive echo information, thereby improving the accuracy of obstacle identification. Preliminary screening is performed by the duration of the echo data to filter out irrelevant echo data. This screening method based on time characteristics can effectively reduce noise interference and improve the recognition rate of effective echo data. Furthermore, by analyzing the change law of the start time of the echo data in each echo data sequence, the obstacle waveform recognition result is further generated. This method utilizes the time characteristics of the signal, improves the recognition ability of the real obstacle signal, and reduces the misjudgment rate. Compared with adaptive filtering and multi-sensor fusion technology, the algorithm is simpler and the calculation amount is smaller. There is no need to frequently adjust the filter parameters or perform complex data fusion, which saves computing resources and allows the system to focus more on real-time signal processing.

[0039] In one implementation, after collecting a preset number of echo data based on each of the driving waveforms, it also includes:

[0040] Acquire the maximum detection distance of the radar core, and generate the acquisition time of the echo data based on the detection distance and the sound propagation speed;

[0041] The number of echo data collected within a single collection time is generated according to the waveform duration of the interference wave and the time interval of the echo data.

[0042] In one implementation, the waveform screening module is used to perform preliminary screening on the obtained echo data according to the duration of each echo data, specifically including:

[0043] Define n first arrays and define the number of elements in the first arrays according to the number of echo data acquisitions corresponding to a single driving waveform; wherein n is the number of driving waveforms sent in a single detection task;

[0044] Recording the waveform duration of each echo data in the first array; wherein each first array corresponds to recording echo data collected based on a driving waveform;

[0045] The echo data whose waveform duration is less than the first preset time is eliminated to obtain the first echo data sequence corresponding to each driving waveform; wherein the first preset time is the waveform duration of the interference wave.

[0046] In one implementation, the waveform recognition module is used to obtain the start time of each echo data in the first echo data sequence, and generate an obstacle waveform recognition result according to the change rule of the start time of the echo data in each echo data sequence, specifically including:

[0047] Define n second arrays; wherein n is the number of transmissions of the driving waveform in a single detection task;

[0048] Recording the waveform start time and waveform end time of each echo data in the second array; wherein each second array corresponds to recording echo data collected based on a driving waveform;

[0049] The waveform start times of the echo data in each of the first echo data sequences are compared, and an obstacle waveform recognition result is generated according to the waveform start time.

[0050] In one implementation, comparing the waveform start time of the echo data in each of the first echo data sequences and generating the obstacle waveform recognition result according to the waveform start time specifically includes:

[0051] When each of the first echo data sequences is not empty, acquiring the waveform start time of each of the echo data in each of the first echo data sequences according to the second array;

[0052] When the waveform start times in different echo data sequences gradually decrease, it is determined that the radar core is gradually approaching an obstacle.

[0053] When the waveform start times in different echo data sequences are consistent, it is determined that the distance between the radar core and the obstacle remains unchanged at this time;

[0054] When the waveform start times in different echo data sequences gradually increase, it is determined that the radar core is gradually moving away from the obstacle.

[0055] In one implementation, the waveform recognition device further includes:

[0056] Whenever the radar probe core is detected to send the driving waveform, a timer is started to count;

[0057] inputting the echo data collected based on each of the driving waveforms into an analog switch;

[0058] When it is detected that the output level of the analog switch is pulled low, a timer interrupt is triggered;

[0059] The distance from the obstacle to the radar core is generated according to the count value of the timer and the speed of sound.

[0060] In a third aspect, the present application also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the waveform recognition method as described above is implemented.

[0061] In a fourth aspect, the present application further provides a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the waveform recognition method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A schematic flow chart of a waveform recognition method provided in one embodiment of the present invention;

[0063] Figure 2 A schematic diagram of a module of a waveform recognition device provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0064] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0065] The terms "first" and "second" and the like in the specification, claims and drawings of this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0066] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0067] Example 1

[0068] See also Figure 1 , Figure 1 The following is a flow chart of a waveform recognition method provided in an embodiment of the present invention. The present invention provides a waveform recognition method, including steps 101 to 10, each of which is as follows:

[0069] Step 101: Control the radar probe core to send a plurality of driving waveforms of preset frequencies in a single detection mission.

[0070] In an embodiment of the present invention, when the radar core detects obstacles, three frequency driving waveforms are sent simultaneously to meet the needs of different application scenarios. Preferably, the driving waveform is sent at frequencies of 8 Hz, 16 Hz, and 32 Hz in a single detection task. The sending frequency of 8 Hz is relatively low, which means that the system consumes less power. A lower sending frequency can provide more time for signal processing and filtering, thereby improving the anti-interference ability of the system. In some cases, the radar needs to detect a longer distance, and a lower frequency allows a longer echo reception time, which is more suitable for the detection of long-distance targets; the frequency of 16 Hz provides a medium update rate, which can achieve a better balance between power consumption and response speed. It provides a faster response speed than 8 Hz, and the power consumption is not too high; the frequency of 32 Hz provides a very high update rate, which can respond to rapidly changing environments in real time. This is particularly important for high-speed vehicles or scenarios that require quick response. High-frequency transmission and reception can provide more data points, thereby improving the detection accuracy of target objects, especially when detecting fast-moving objects at close range.

[0071] Step 102: Collecting a preset number of echo data based on each of the driving waveforms.

[0072] In one embodiment, in addition to collecting a preset number of echo data based on each of the driving waveforms, the method further includes: obtaining the maximum detection distance of the radar core, generating a collection time for the echo data based on the detection distance and the sound propagation speed; and generating the number of echo data collected within a single collection time according to the waveform duration of the interference wave and the time interval requirements of the echo data.

[0073] In the embodiment of the present invention, the waveform of the interference wave is collected by an oscilloscope or other equipment for analysis, and the following conclusions are drawn: the interference wave presents an instantaneous peak shape with a high instantaneous intensity; the duration of a single interference waveform is basically within 500 microseconds (500μs); the intervals between interference waves are irregular, which may be random or caused by a specific external interference source. The duration of the obstacle waveform exceeds 500μs, and the duration is related to the target distance. For obstacle waveforms within the detection range, the closer to the probe, the longer the waveform duration. Based on this, a duration threshold (500μs) is set in the embodiment of the present invention, and waveforms with a duration within this threshold are considered to be interference waves. Furthermore, the signal return time of the echo data, that is, the acquisition time of the echo data, is generated according to the maximum detection distance of the radar probe core and the speed of sound propagation. For example, the maximum detection distance of the radar probe core is 2m for illustration, then The radar probe core needs to collect a preset number of echo data within 6ms. Assuming that all the collected echo data are interference waves, the preset collection interval time of each echo data is removed to generate the number of echo data that need to be collected within a single collection time. When the maximum detection distance of the radar probe core is 2m, 10 echo data are collected each time the driving waveform is sent. By reasonably selecting and calculating the various parameters of the radar probe and collecting waveform data multiple times, the system can effectively identify and eliminate interference waves, ensuring that the obstacle waveforms within the testable range are accurately and stably detected.

[0074] Step 103: Preliminarily screening the obtained echo data according to the duration of each echo data to obtain a first echo data sequence corresponding to each driving waveform.

[0075] In one embodiment, the obtained echo data are preliminarily screened according to the duration of each echo data, specifically comprising: defining n first arrays and defining the number of elements in the first arrays according to the number of echo data collection corresponding to a single driving waveform; wherein n is the number of driving waveforms sent in a single detection task; recording the waveform duration of each echo data in the first array; wherein each first array corresponds to a record of echo data collected based on a driving waveform; eliminating echo data with a waveform duration less than a first preset time, to obtain a first echo data sequence corresponding to each driving waveform; wherein the first preset time is the waveform duration of an interference wave.

[0076] In an embodiment of the present invention, several first arrays are defined according to the number of driving waveforms sent, and the number of elements in the first array is defined according to the number of echo data collected. The radar probe core sends driving waveforms at frequencies of 8Hz, 16Hz, and 32Hz, and each driving waveform collects 10 echo data for example. In an embodiment of the present invention, three arrays with 10 elements are defined to store the duration of each echo data. Further, preliminary screening is performed according to the waveform duration of each echo data, and the echo data with a waveform duration less than the waveform duration of the interference wave is eliminated to obtain the first echo data sequence corresponding to each driving waveform. By defining the first array, recording the waveform duration, and eliminating the echo data less than the preset time, the system can effectively distinguish between interference waves and target reflection waves, and improve the accuracy and anti-interference ability of the radar detection system. This preliminary screening strategy ensures that only valid echo data is processed, thereby improving the accuracy of subsequent processing and analysis.

[0077] Step 104: obtaining the start time of each echo data in the first echo data sequence, and generating an obstacle waveform recognition result according to a change rule of the start time of the echo data in each echo data sequence.

[0078] In one embodiment, the method of obtaining the start time of each echo data in the first echo data sequence and generating an obstacle waveform recognition result according to a change rule of the start time of the echo data in each echo data sequence specifically includes: defining n second arrays; wherein n is the number of driving waveforms sent in a single detection task; recording the waveform start time and waveform end time of each echo data in the second array; wherein each second array corresponds to recording echo data collected based on a driving waveform; comparing the waveform start time of the echo data in each of the first echo data sequences, and generating an obstacle waveform recognition result according to the waveform start time.

[0079] In the embodiment of the present invention, a plurality of second arrays are defined according to the number of driving waveforms sent, and the number of elements in the first data is defined according to the number of echo data collected. An example is given in which a radar probe core sends driving waveforms at frequencies of 8 Hz, 16 Hz, and 32 Hz, and each driving waveform collects 10 echo data.

[0080] In the embodiment of the present invention, three arrays with 20 elements are defined to store the waveform start time and waveform end time of each echo data. The waveform start time of each echo data in the first echo data sequence is compared to generate an obstacle waveform recognition result. By defining multiple second arrays to record the time information of the waveform data, and by comparing and analyzing these time data, an accurate obstacle waveform recognition result can be generated. This method effectively improves the radar detection system's ability to identify obstacles and provides a reliable data basis for further processing and analysis.

[0081] In one embodiment, the waveform recognition method further includes: starting a timer count whenever the radar probe core is detected to send the drive waveform; inputting echo data collected based on each drive waveform into an analog switch, triggering a timer interrupt when it is detected that the output level of the analog switch is pulled low, and generating the distance from the obstacle to the radar probe core according to the count value of the timer and the speed of sound.

[0082] In the implementation of the present invention, whenever the radar probe core is detected to send a driving waveform, a timer is started by the MCU chip to measure the time it takes for the reflected signal to return. When the radar wave hits an obstacle and reflects back, the analog switch will receive an obvious level change. This change is usually manifested as a lowering of the output level. When the system detects noise or other interference signals, changes in the amplitude of these signals may also cause the level of the analog switch to decrease. Preferably, a filtering algorithm can be pre-set to filter the received echo data to avoid the influence of interference waves. When the output level of the analog switch is pulled low, the IO port of the MCU can respond quickly by being set to interrupt mode, ensuring that the MCU chip can capture changes in the echo signal in real time. When the output level of the module switch is pulled low, it will trigger the IO port interrupt of the MCU, causing the timer count to be interrupted. At this time, the count value of the timer is read, and according to the formula The distance from the obstacle to the radar detection chip can be obtained.

[0083] In an embodiment of the present invention, a waveform recognition device is also provided, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the above-mentioned waveform recognition method when executing the computer program.

[0084] In an embodiment of the present invention, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored computer program. When the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the above-mentioned waveform recognition method.

[0085] Exemplarily, the computer program can be divided into one or more modules, one or more modules are stored in a memory and executed by a processor to complete the present invention. One or more modules can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program in the waveform recognition device.

[0086] The waveform recognition device may be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The waveform recognition device may include, but is not limited to, a processor, a memory, and a display. Those skilled in the art will appreciate that the above components are merely examples of waveform recognition devices and do not constitute a limitation on waveform recognition processing devices. More or fewer components may be included, or some components may be combined, or different components may be included. For example, the waveform recognition device may also include input and output devices, network access devices, buses, and the like.

[0087] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the waveform recognition device, and uses various interfaces and lines to connect the various parts of the entire waveform recognition device.

[0088] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the waveform recognition device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, a text conversion function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, text message data, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0089] Wherein, if the module based on waveform recognition is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0090] The embodiment of the present invention provides a waveform recognition method, which can better adapt to the signal reflection characteristics under different environmental conditions by sending multiple driving waveforms of different frequencies in a single detection task. Different objects and environments have different reflection capabilities for different frequencies. Sending multiple frequencies helps to capture more comprehensive echo information, thereby improving the accuracy of obstacle recognition. Preliminary screening is performed by the duration of the echo data to filter out irrelevant echo data. This screening method based on time characteristics can effectively reduce noise interference and improve the recognition rate of effective echo data. Furthermore, by analyzing the change law of the start time of the echo data in each echo data sequence, the obstacle waveform recognition result is further generated. This method utilizes the time characteristics of the signal, improves the recognition ability of the real obstacle signal, and reduces the error rate. Compared with adaptive filtering and multi-sensor fusion technology, the algorithm is simpler and the calculation amount is small. There is no need to frequently adjust the filter parameters or perform complex data fusion, which saves computing resources and allows the system to focus more on real-time signal processing.

[0091] Example 2

[0092] See also Figure 2 , Figure 2 Schematic diagram of a waveform recognition device provided in an embodiment of the present invention. The present invention provides a waveform recognition device, including: a waveform sending module 201, an echo acquisition module 202, a waveform screening module 203 and a waveform recognition module 204;

[0093] The waveform sending module 201 is used to control the radar core to send a plurality of driving waveforms of preset frequencies in a single detection task;

[0094] The echo acquisition module 202 is used to acquire a preset number of echo data based on each driving waveform;

[0095] The waveform screening module 203 is used to preliminarily screen the obtained echo data according to the duration of each echo data to obtain a first echo data sequence corresponding to each driving waveform;

[0096] The waveform recognition module 204 is used to obtain the start time of each echo data in the first echo data sequence, and generate an obstacle waveform recognition result according to the change rule of the start time of the echo data in each echo data sequence.

[0097] In one embodiment, in addition to collecting a preset number of echo data based on each of the driving waveforms, the method further includes: obtaining the maximum detection distance of the radar core, generating a collection time for the echo data based on the detection distance and the sound propagation speed; and generating the number of echo data collected within a single collection time according to the waveform duration of the interference wave and the time interval requirements of the echo data.

[0098] In one embodiment, the waveform screening module 203 is used to perform preliminary screening on the obtained echo data according to the duration of each echo data, specifically including: defining n first arrays and defining the number of elements in the first arrays according to the number of echo data collection corresponding to a single driving waveform; wherein n is the number of driving waveforms sent in a single detection task; recording the waveform duration of each echo data in the first array; wherein each first array corresponds to a record of echo data collected based on a driving waveform; eliminating echo data with a waveform duration less than a first preset time, and obtaining a first echo data sequence corresponding to each driving waveform; wherein the first preset time is the waveform duration of the interference wave.

[0099] In one embodiment, the waveform recognition module 204 is used to obtain the start time of each echo data in the first echo data sequence, and generate an obstacle waveform recognition result according to the change rule of the start time of the echo data in each echo data sequence, specifically including: defining n second arrays; wherein n is the number of driving waveforms sent in a single detection task; recording the waveform start time and waveform end time of each echo data in the second array; wherein each second array corresponds to recording echo data collected based on a driving waveform; comparing the waveform start time of the echo data in each of the first echo data sequences, and generating an obstacle waveform recognition result according to the waveform start time.

[0100] In one embodiment, the waveform start time of the echo data in each of the first echo data sequences is compared, and the obstacle waveform recognition result is generated according to the waveform start time, specifically including: when each of the first echo data sequences is not empty, obtaining the waveform start time of each echo data in each of the first echo data sequences according to the second array; when the waveform start time in different echo data sequences gradually decreases, it is determined that the radar core is gradually approaching the obstacle at this time; when the waveform start time in different echo data sequences is consistent, it is determined that the distance between the radar core and the obstacle remains unchanged at this time; when the waveform start time in different echo data sequences gradually increases, it is determined that the radar core is gradually moving away from the obstacle.

[0101] In one implementation, the waveform recognition device also includes: starting a timer count whenever the radar probe core is detected to send the drive waveform; inputting echo data collected based on each drive waveform into an analog switch; triggering a timer interrupt when it is detected that the output level of the analog switch is pulled low; and generating the distance from the obstacle to the radar probe core based on the count value of the timer and the speed of sound.

[0102] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0103] The embodiment of the present invention provides a waveform recognition device, which can better adapt to the signal reflection characteristics under different environmental conditions by sending multiple driving waveforms of different frequencies in a single detection task. Different objects and environments have different reflection capabilities for different frequencies. Sending multiple frequencies helps to capture more comprehensive echo information, thereby improving the accuracy of obstacle recognition. Preliminary screening is performed by the duration of the echo data to filter out irrelevant echo data. This screening method based on time characteristics can effectively reduce noise interference and improve the recognition rate of effective echo data. Furthermore, by analyzing the change law of the start time of the echo data in each echo data sequence, the obstacle waveform recognition result is further generated. This method utilizes the time characteristics of the signal, improves the recognition ability of the real obstacle signal, and reduces the error rate. Compared with adaptive filtering and multi-sensor fusion technology, the algorithm is simpler and the calculation amount is small. There is no need to frequently adjust the filter parameters or perform complex data fusion, which saves computing resources and allows the system to focus more on real-time signal processing.

[0104] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A waveform recognition method, characterized in that: include: Control the radar probe core to send a number of driving waveforms of preset frequencies in a single detection mission; Collecting a preset number of echo data based on each of the driving waveforms; Preliminarily screening the obtained echo data according to the duration of each echo data to obtain a first echo data sequence corresponding to each driving waveform; The starting time of each echo data in the first echo data sequence is obtained, and an obstacle waveform recognition result is generated according to a change rule of the starting time of the echo data in each echo data sequence.

2. A waveform recognition method as claimed in claim 1, characterized in that: After collecting a preset number of echo data based on each of the driving waveforms, the method further includes: Acquire the maximum detection distance of the radar core, and generate the acquisition time of the echo data based on the detection distance and the sound propagation speed; The number of echo data collected within a single collection time is generated according to the waveform duration of the interference wave and the time interval of the echo data.

3. A waveform recognition method as claimed in claim 1, characterized in that: The preliminary screening of the obtained echo data according to the duration of each echo data specifically includes: Define n first arrays and define the number of elements in the first arrays according to the number of echo data acquisitions corresponding to a single driving waveform; wherein n is the number of driving waveforms sent in a single detection task; Recording the waveform duration of each echo data in the first array; wherein each first array corresponds to recording echo data collected based on a driving waveform; The echo data whose waveform duration is less than the first preset time is eliminated to obtain the first echo data sequence corresponding to each driving waveform; wherein the first preset time is the waveform duration of the interference wave.

4. A waveform recognition method as claimed in claim 1, characterized in that: The acquiring the starting time of each echo data in the first echo data sequence and generating the obstacle waveform recognition result according to the changing rule of the starting time of the echo data in each echo data sequence specifically includes: Define n second arrays; wherein n is the number of transmissions of the driving waveform in a single detection task; Recording the waveform start time and waveform end time of each echo data in the second array; wherein each second array corresponds to recording echo data collected based on a driving waveform; The waveform start times of the echo data in each of the first echo data sequences are compared, and an obstacle waveform recognition result is generated according to the waveform start time.

5. A waveform recognition method as claimed in claim 4, characterized in that: The step of comparing the waveform start time of the echo data in each of the first echo data sequences and generating the obstacle waveform recognition result according to the waveform start time specifically includes: When each of the first echo data sequences is not empty, acquiring the waveform start time of each of the echo data in each of the first echo data sequences according to the second array; When the waveform start times in different echo data sequences gradually decrease, it is determined that the radar core is gradually approaching an obstacle. When the waveform start times in different echo data sequences are consistent, it is determined that the distance between the radar core and the obstacle remains unchanged at this time; When the waveform start times in different echo data sequences gradually increase, it is determined that the radar core is gradually moving away from the obstacle.

6. A waveform recognition method as claimed in claim 1, characterized in that: The waveform recognition method further comprises: Whenever the radar probe core is detected to send the driving waveform, a timer is started to count; inputting the echo data collected based on each of the driving waveforms into an analog switch; When it is detected that the output level of the analog switch is pulled low, a timer interrupt is triggered; The distance from the obstacle to the radar core is generated according to the count value of the timer and the speed of sound.

7. A waveform recognition device, characterized in that: include: Waveform sending module, echo acquisition module, waveform screening module and waveform recognition module; The waveform sending module is used to control the radar probe core to send a plurality of driving waveforms of preset frequencies in a single detection task; The echo acquisition module is used to acquire a preset number of echo data based on each driving waveform; The waveform screening module is used to preliminarily screen the obtained echo data according to the duration of each echo data to obtain a first echo data sequence corresponding to each driving waveform; The waveform recognition module is used to obtain the starting time of each echo data in the first echo data sequence, and generate an obstacle waveform recognition result according to the change rule of the starting time of the echo data in each echo data sequence.

8. A waveform recognition device as claimed in claim 7, characterized in that: After collecting a preset number of echo data based on each of the driving waveforms, the method further includes: Acquire the maximum detection distance of the radar core, and generate the acquisition time of the echo data based on the detection distance and the sound propagation speed; The number of echo data collected within a single collection time is generated according to the waveform duration of the interference wave and the time interval of the echo data.

9. A terminal device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the waveform recognition method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the waveform recognition method as claimed in any one of claims 1 to 6.

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