Obstacle detection method, storage medium and electronic device

Abstract

This application discloses an obstacle detection method, storage medium, and electronic device. The method controls all ultrasonic probes to emit waves sequentially at a preset cycle. If, within the echo detection period after wave emission, the emitting probe and at least one adjacent probe receive echo signals, it is determined whether each echo signal is a valid echo signal. If the echo signals from the emitting probe and at least one adjacent probe are valid echo signals, obstacle information is determined based on all the echo signals. This application requires that within the echo detection period after the ultrasonic probe emits waves, both the emitting probe and at least one adjacent probe receive echo signals, and only when the echo signals from the emitting probe and at least one adjacent probe are valid echo signals is an obstacle considered detected, and then obstacle information is determined. This eliminates the influence of interfering sound waves from the surrounding environment on obstacle detection, improving the accuracy of obstacle detection.

Description

Technical Field

[0001] This application relates to the field of automotive-related technologies, and in particular to an obstacle detection method, storage medium, and electronic device. Background Technology

[0002] Currently, obstacle detection in automobiles primarily relies on ultrasonic sensors at the front and rear of the vehicle emitting ultrasonic waves. The received echoes are then processed simply to determine if an obstacle is present. However, this method is insufficient in processing the echo signals. When high-pressure gas sources are present around the vehicle, such as car wash nozzles, truck air brakes, or motorcycle noise, interference signals from the same frequency emitted by the ultrasonic sensors may occur, leading to false obstacle detection and consequently, malfunctions in the low-speed braking system. Summary of the Invention

[0003] The purpose of this application is to overcome the shortcomings of existing obstacle detection technologies, such as interference and the tendency to make false detections, and to provide an obstacle detection method, storage medium, and electronic device that can identify interfering sound waves around a vehicle and has high obstacle detection accuracy.

[0004] The technical solution of this application provides an obstacle detection method, including...

[0005] Control all ultrasonic probes to emit waves sequentially at a preset cycle;

[0006] If, during the echo detection period after the wave is emitted, both the emitting probe and at least one adjacent probe receive an echo signal, then it is determined whether each echo signal is a valid echo signal.

[0007] If the echo signal from the transmitting probe and the echo signal from at least one of the adjacent probes are valid echo signals, then obstacle information is determined based on all the valid echo signals.

[0008] Furthermore, determining whether each echo signal is a valid echo signal specifically includes:

[0009] The echo signal is subjected to primary filtering to obtain a primary filtered signal, and each echo signal corresponds to one primary filtered signal;

[0010] If the primary filtered signal meets the preset conditions, then the echo signal is determined to be a valid echo signal.

[0011] Furthermore, the preset conditions include a first preset condition, which specifically includes:

[0012] The matching degree between the primary filtered signal and the preset interference characteristics of the external interference signal is less than the preset matching degree, and the preset interference characteristics include at least signal strength and pulse width.

[0013] Furthermore, the preset conditions include a second preset condition, which specifically includes:

[0014] The number of echoes of the primary filtered signal is greater than or equal to the preset number of echoes within a preset time period.

[0015] Furthermore, the step of determining that the echo signal is a valid echo signal if the primary filtered signal meets a preset condition specifically includes:

[0016] Acquire information about the vehicle's surrounding environment and determine external interference signals based on the surrounding environment information;

[0017] If the matching degree between the primary filtered signal and the preset interference characteristics of the external interference signal is less than the preset matching degree, then the echo signal is determined to be a valid echo signal.

[0018] Furthermore, the step of determining that the echo signal is a valid echo signal if the primary filtered signal meets a preset condition specifically includes:

[0019] Acquire information about the vehicle's surrounding environment, determine external interference signals based on the surrounding environment information, and determine whether the primary filtered signal meets the first preset condition.

[0020] If the matching degree between the primary filter signal and the preset interference characteristics of the external interference signal is less than the preset matching degree, then it is determined whether the primary filter signal meets the second preset condition.

[0021] If the number of echoes of the primary filtered signal is greater than or equal to the preset number of echoes within a preset time period, then the echo signal is determined to be a valid echo signal.

[0022] Furthermore, determining obstacle information based on all the valid echo signals specifically includes:

[0023] Each valid echo signal identifies a reference obstacle information;

[0024] Obstacle information is determined based on the positional relationship between the transmitting probe and the adjacent probes, and the reference obstacle information for each obstacle.

[0025] Furthermore, determining obstacle information based on all the valid echo signals specifically includes:

[0026] Based on all valid echo signals from the previous cycle, predict the obstacle location for the current cycle.

[0027] Based on all valid echo signals in the current cycle, determine the actual location of the obstacle in the current cycle;

[0028] If the error between the predicted obstacle position and the actual obstacle position for several consecutive cycles is less than the set error range, then

[0029] Obstacle information is determined based on the valid echo signal of the current cycle.

[0030] Furthermore, after determining the obstacle information based on all the valid echo signals, the process also includes...

[0031] If the current vehicle speed is within the preset low speed range, and

[0032] If the collision time calculated based on the current vehicle speed and obstacle information is less than or equal to a preset time threshold, then

[0033] Emergency braking system.

[0034] The technical solution of this application also provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform the obstacle detection method as described above.

[0035] The technical solution of this application also provides an electronic device, including at least one processor; and,

[0036] A memory communicatively connected to the at least one processor; wherein,

[0037] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the obstacle detection method as described above.

[0038] The above technical solution has the following beneficial effects:

[0039] During the echo detection period after the ultrasonic probe emits a wave, the emitting probe and at least one adjacent probe need to receive the echo signal. Only when the echo signal from the emitting probe and the echo signal from at least one adjacent probe are valid echo signals is it considered that an obstacle has been detected, and then the obstacle information is determined. This can eliminate the influence of interfering sound waves around the vehicle on obstacle detection and improve the accuracy of obstacle detection. Attached Figure Description

[0040] The disclosure of this application will become more readily understood with reference to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. In the drawings:

[0041] Figure 1 This is a flowchart of an obstacle detection method in one embodiment of this application;

[0042] Figure 2 This is a schematic diagram showing the distribution of ultrasonic probes in a vehicle;

[0043] Figure 3 This is a flowchart of an obstacle detection method in a preferred embodiment of this application;

[0044] Figure 4 This is a schematic diagram of the hardware structure of an electronic device in one embodiment of this application. Detailed Implementation

[0045] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0046] It is readily understood that, based on the technical solution of this application, various structural and implementation methods can be interchanged by those skilled in the art without altering the essential spirit of this application. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this application and should not be considered as the entirety of this application or as limitations or restrictions on the technical solution of the application.

[0047] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. These are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0048] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meanings of the above in this application according to the specific circumstances.

[0049] The obstacle detection method in the embodiments of this application, such as Figure 1 As shown, including

[0050] Step S101: Control all ultrasonic probes to emit waves sequentially at a preset cycle;

[0051] Step S102: If the transmitting probe and at least one adjacent probe receive an echo signal during the echo detection period after the wave is emitted, then proceed to steps S103-S104; otherwise, proceed to step S105.

[0052] Step S103: Determine whether each of the echo signals is a valid echo signal. If the echo signal of the transmitting probe and the echo signal of at least one adjacent probe are valid echo signals, then proceed to step S104; otherwise, proceed to step S105.

[0053] Step S104: Determine obstacle information based on all the valid echo signals;

[0054] Step S105: Assume there is interference and keep the system silent.

[0055] like Figure 2 As shown, four ultrasonic probes are installed at both the front and rear of the vehicle body. Taking the four ultrasonic probes at the front of the vehicle body as an example, ultrasonic probes 201 and 204 are angle probes, and ultrasonic probes 202 and 203 are center probes. During vehicle operation, step S101 is continuously executed, and the four ultrasonic probes emit waves sequentially in a preset order and at a preset cycle. Only one ultrasonic probe emits a wave within one preset cycle. For example, in the first cycle, ultrasonic probe 201 emits a wave, in the second cycle, ultrasonic probe 202 emits a wave, in the third cycle, ultrasonic probe 203 emits a wave, and in the fourth cycle, ultrasonic probe 204 emits a wave, and so on in a cyclical manner; or, in the first cycle, ultrasonic probe 203 emits a wave, in the second cycle, ultrasonic probe 201 emits a wave, in the third cycle, ultrasonic probe 204 emits a wave, and in the fourth cycle, ultrasonic probe 202 emits a wave, and so on in a cyclical manner.

[0056] Step S102 involves detecting whether the emitting probe and at least one adjacent probe receive an echo signal within the echo detection period after each ultrasonic probe emits a wave. The echo detection period is less than or equal to a preset cycle to ensure that no other ultrasonic probe emits a wave within the echo detection period after the current ultrasonic probe emits a wave, thus preventing the echoes from different ultrasonic probes from affecting the obstacle detection accuracy.

[0057] Specifically, when the corner probe emits a wave, if both the emitting corner probe and its adjacent intermediate probe receive the echo signal, then step S103 is executed; when the intermediate probe emits a wave, if both the emitting intermediate probe and its adjacent intermediate probe and corner probe receive the echo signal, then step S103 is executed. For example, when ultrasonic probe 201 emits a wave, both ultrasonic probe 201 itself and its adjacent ultrasonic probe 202 need to receive the echo signal; when ultrasonic probe 202 emits a wave, both ultrasonic probe 202 and its adjacent ultrasonic probes 201 and 203 need to receive the echo signal.

[0058] In step S102, at least two echo signals are received. In step S103, it is determined whether each echo signal is a valid echo signal. If the echo signal from the transmitting probe is an invalid echo signal, it is considered that there is interference in the echo signal, and step S105 is executed to keep the system silent. Only when the echo signal from the transmitting probe is a valid echo signal and the echo signal from at least one adjacent probe is a valid echo signal, is the echo signal considered to be an echo of an obstacle detected, and step S104 is executed to determine obstacle information, including obstacle position and obstacle movement state, based on all valid echo signals.

[0059] In this embodiment, after the ultrasonic probe emits a wave, it is necessary for both the emitting probe and at least one adjacent probe to receive the echo signal. Then, it is determined whether each echo signal is a valid echo signal. Only when the echo signal from the emitting probe and the echo signal from at least one adjacent probe are both valid is it considered that an obstacle has been detected and the obstacle information has been determined. This can comprehensively eliminate interference from the vehicle's surroundings and improve the accuracy of obstacle detection.

[0060] In one embodiment, determining whether each echo signal is a valid echo signal specifically includes:

[0061] The echo signal is subjected to primary filtering to obtain a primary filtered signal, and each echo signal corresponds to one primary filtered signal;

[0062] If the primary filtered signal meets the preset conditions, then the echo signal is determined to be a valid echo signal.

[0063] In this embodiment, the validity of each echo signal is determined sequentially or simultaneously. Specifically, the echo signal is first subjected to primary filtering. Based on the echo width, the signal is screened and converted from digital to analog to remove background noise, resulting in a primary filtered signal with background noise removed. This facilitates subsequent determination of the validity of the echo signal. Then, it is determined whether the primary filtered signal meets preset conditions. The preset conditions can be determined based on the characteristics of external interference or the characteristics of valid echo signals. Only when the primary filtered signal meets the preset conditions is the echo signal corresponding to that primary filtered signal considered a valid echo signal.

[0064] In this embodiment, the echo signal is first filtered sequentially before determining whether the echo signal is a valid echo signal. The first filtering is a simple filtering to remove background noise. The result of determining the validity after the first filtering is more accurate.

[0065] In one embodiment, the preset condition includes a first preset condition, which specifically includes:

[0066] The matching degree between the primary filtered signal and the preset interference characteristics of the external interference signal is less than the preset matching degree, and the preset interference characteristics include at least signal strength and pulse width.

[0067] Under normal circumstances, after an ultrasonic probe emits a wave, it will return an echo with certain characteristics when it encounters an obstacle. When the sound wave emitted by an external noise source happens to meet the echo correlation characteristics, the ultrasonic probe will mistakenly identify this type of sound wave as an echo signal and receive it. This type of sound wave is called an external interference signal.

[0068] Specifically, by acquiring external interference signals around the vehicle, a comparison waveform of the external interference signal is obtained, and preset interference features, including waveform characteristics such as signal strength and pulse width, are extracted from the comparison waveform. The waveform features of the primary filtered signal are compared with the preset interference features. If the matching degree is less than the preset matching degree, the primary filtered signal is considered to meet the first preset condition, and the corresponding echo signal is considered to be a valid echo signal. The subsequent steps are then executed. Otherwise, the echo signal is considered to have interference, and the system remains silent.

[0069] In this embodiment, the validity of the echo signal corresponding to the primary filter signal is determined based on the external interference signal. When the matching degree between the waveform characteristics of the primary filter signal and the preset interference characteristics is greater than or equal to the preset matching degree, it indicates that the corresponding echo signal is actually an interference signal existing in the vehicle's surrounding environment. Therefore, the influence of the interference sound waves around the vehicle on obstacle detection can be eliminated.

[0070] In one embodiment, the preset condition includes a second preset condition, which specifically includes:

[0071] The number of echoes of the primary filtered signal is greater than or equal to the preset number of echoes within a preset time period.

[0072] Specifically, the primary filtered signal is represented as a waveform with time on the horizontal axis and signal strength on the vertical axis. Within the preset time period, the number of echoes is greater than or equal to a preset number of echoes. On the waveform, this is represented by drawing vertical lines parallel to the vertical axis at the two endpoints of the preset time period on the horizontal axis. The number of waveform peaks between these two lines represents the number of echoes. When the number of echoes is greater than or equal to the preset number of echoes, the echo signal is considered to conform to the characteristics of an obstacle echo. This is because the obstacle will not undergo a sudden change in position within the extremely short time of ultrasonic wave emission; therefore, the reflected echo signal should have multiple stable and continuous echoes within the preset time period.

[0073] If the echo signal is a signal at the same frequency as external interference, then the echo signal will not conform to the above-mentioned obstacle echo characteristics. In this embodiment, the echo signal is determined to be a valid echo signal by judging whether the primary filtered signal after the primary filtering of the echo signal conforms to the obstacle echo characteristics.

[0074] In one embodiment, the step of determining that the echo signal is a valid echo signal if the primary filtered signal meets a preset condition specifically includes:

[0075] Acquire information about the vehicle's surrounding environment and determine external interference signals based on the surrounding environment information;

[0076] If the matching degree between the primary filtered signal and the preset interference characteristics of the external interference signal is less than the preset matching degree, then the echo signal is determined to be a valid echo signal.

[0077] Specifically, the vehicle's current location can be determined using high-precision maps and GPS positioning to obtain information about the vehicle's surrounding environment. This information can then be used to identify external interference signals and determine whether the echo signal is valid. For example, if the vehicle's current location indicates the presence of a truck nearby, interference from train air brake sound waves is suspected; similarly, if the vehicle is near a car wash, interference from car wash nozzle sound waves is suspected.

[0078] This application embodiment uses information about the vehicle's surrounding environment to identify external interference signals, and can quickly distinguish echo signals composed of most single interference signals, accurately eliminating the influence of interfering sound waves around the vehicle on obstacle detection.

[0079] In one embodiment, the step of determining that the echo signal is a valid echo signal if the primary filtered signal meets a preset condition specifically includes:

[0080] Acquire information about the vehicle's surrounding environment, determine external interference signals based on the surrounding environment information, and determine whether the primary filtered signal meets the first preset condition.

[0081] If the matching degree between the primary filter signal and the preset interference characteristics of the external interference signal is less than the preset matching degree, then it is determined whether the primary filter signal meets the second preset condition.

[0082] If the number of echoes of the primary filtered signal is greater than or equal to the preset number of echoes within a preset time period, then the echo signal is determined to be a valid echo signal.

[0083] This embodiment of the application sequentially determines whether the primary filtered signal formed after the echo signal undergoes primary filtering satisfies a first preset condition and a second preset condition. Determining whether the primary filtered signal satisfies the first preset condition can eliminate echo signals composed of a single interference signal; determining whether the primary filtered signal satisfies the second preset condition can eliminate echo signals composed of multiple interference signals. Therefore, this embodiment of the application can more comprehensively eliminate the influence of external interference signals on obstacle detection, improving the accuracy of obstacle detection.

[0084] In one embodiment, determining obstacle information based on the echo signal specifically includes:

[0085] Each valid echo signal identifies a reference obstacle information;

[0086] Obstacle information is determined based on the positional relationship between the transmitting probe and the adjacent probes, and the reference obstacle information for each obstacle.

[0087] In this embodiment, each valid echo signal can be analyzed to obtain reference obstacle information. Combined with the position information of the transmitting probe and adjacent probes, the obstacle information of the current cycle can be accurately determined. The obstacle information includes the obstacle position and the obstacle movement state, etc.

[0088] In one embodiment, determining obstacle information based on the echo signal specifically includes:

[0089] Based on all valid echo signals from the previous cycle, predict the obstacle location for the current cycle.

[0090] Based on all valid echo signals in the current cycle, determine the actual location of the obstacle in the current cycle;

[0091] If the error between the predicted obstacle position and the actual obstacle position for several consecutive cycles is less than the set error range, then

[0092] Obstacle information is determined based on the valid echo signal of the current cycle.

[0093] For each cycle of valid echo signal, Kalman filtering can be used to obtain obstacle information, including the obstacle's current position, speed, and acceleration. Based on the obstacle's position, speed, and acceleration, the obstacle's trajectory can be predicted, and thus the predicted position of the obstacle can be obtained.

[0094] This application embodiment is based on Kalman filtering. It predicts the obstacle's predicted position in the current cycle based on all valid echo signals from the previous cycle. Then, it determines the actual obstacle's position in the current cycle based on all valid echo signals. If the error between the predicted obstacle position and the actual obstacle position in consecutive cycles is within a set error range, it is considered that the obstacle has the potential to collide with the vehicle, and the obstacle information is determined based on the valid echo signals of the current cycle. Otherwise, it means that the obstacle has left the area in front of the vehicle and there is no possibility of collision with the vehicle. In this case, valid echo signals are collected again to detect and judge the next obstacle.

[0095] In one embodiment, after determining the obstacle information based on all the valid echo signals, the process further includes...

[0096] If the current vehicle speed is within the preset low speed range, and

[0097] If the collision time calculated based on the current vehicle speed and obstacle information is less than or equal to a preset time threshold, then

[0098] Emergency braking system.

[0099] In this embodiment of the application, the obstacle position information is used to determine low-speed emergency braking. Specifically, when the vehicle is traveling within a preset low-speed range, the collision time between the vehicle and the obstacle is calculated based on the vehicle's current speed and the obstacle's position, direction of movement, and speed. If the collision time is less than or equal to a preset time threshold, the emergency braking condition is considered to be met. At this time, the braking system performs emergency braking to bring the vehicle to a stop and ensure driving safety.

[0100] This application embodiment serves as an example of the application of obstacle location information. Optionally, the obstacle detection method of this application can also be applied to fields such as autonomous driving and intelligent car control.

[0101] Figure 3 A flowchart of an obstacle detection method in a preferred embodiment of this application is shown, specifically including:

[0102] Step S301: Control all ultrasonic probes to emit waves sequentially at a preset cycle;

[0103] Step S302: If the transmitting probe and at least one adjacent probe receive an echo signal during the echo detection period after the wave is emitted, then proceed to step S303; otherwise, proceed to step S315.

[0104] Step S303: Perform primary filtering on the echo signal to obtain a primary filtered signal, with each echo signal corresponding to one primary filtered signal; then execute steps S304-S306 to determine whether each echo signal is a valid echo signal. If the echo signal of the transmitting probe and the echo signal of at least one adjacent probe are valid echo signals, then execute step S307.

[0105] Step S304: Obtain information about the vehicle's surrounding environment and determine external interference signals based on the surrounding environment information;

[0106] Step S305: If the matching degree of the primary filter signal and the preset interference characteristics of the external interference signal is less than the preset matching degree, then proceed to step S306; otherwise, proceed to step S315.

[0107] Step S306: If the number of echoes of the primary filter signal is greater than or equal to the preset number of echoes within a preset time period, the echo signal is considered to be a valid echo signal, and step S307 is executed; otherwise, step S315 is executed.

[0108] Step S307: Each valid echo signal determines a reference obstacle information;

[0109] Step S308: Determine obstacle information based on the positional relationship between the transmitting probe and the adjacent probes and the information of each reference obstacle. The obstacle information includes the actual position of the obstacle in the current cycle and the predicted position of the obstacle in the next cycle.

[0110] Step S309: Based on all valid echo signals from the previous cycle, predict the obstacle location for the current cycle;

[0111] Step S310: Determine the actual location of the obstacle in the current cycle based on all valid echo signals in the current cycle;

[0112] Step S311: If the error between the predicted position of the obstacle and the actual position of the obstacle in a consecutive set period is less than the set error range, then proceed to step S312; otherwise, return to step S309.

[0113] Step S312: Determine obstacle information based on the valid echo signal of the current cycle;

[0114] Step S313: If the current vehicle speed is within the preset low speed range, and the collision time calculated based on the current vehicle speed and obstacle information is less than or equal to the preset time threshold, then proceed to step S314; otherwise, return to step S309.

[0115] Step S314: Emergency braking of the braking system;

[0116] Step S315: Assume there is interference and keep the system silent.

[0117] The technical solution of this application also provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform the obstacle detection method in any of the foregoing embodiments.

[0118] Figure 4 An electronic device according to this application is shown, comprising:

[0119] At least one processor 401; and,

[0120] The memory 402 is communicatively connected to the at least one processor 401; wherein,

[0121] The memory 402 stores instructions that can be executed by the at least one processor 401 to enable the at least one processor 401 to perform all steps of the obstacle detection method in any of the foregoing method embodiments.

[0122] The electronic device is preferably an in-vehicle electronic control unit (ECU), and more specifically a microcontroller unit (MCU) within the in-vehicle electronic control unit.

[0123] Figure 4 Taking a processor 402 as an example:

[0124] The electronic device may also include an input device 403 and an output device 404.

[0125] The processor 401, memory 402, input device 403 and output device 404 can be connected by a bus or other means. The figure shows an example of connection by bus.

[0126] Memory 402, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the obstacle detection method in the embodiments of this application, for example, Figure 1 The method flow is shown in Figure 3. The processor 401 executes various functional applications and data processing by running non-volatile software programs, instructions, and modules stored in the memory 402, thereby realizing the obstacle detection method in the above embodiments.

[0127] Memory 402 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required for at least one function; the data storage area may store data created based on the use of the obstacle detection method, etc. Furthermore, memory 402 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 402 may optionally include memory remotely located relative to processor 401, and these remote memories may be connected via a network to the apparatus performing the obstacle detection method. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0128] The input device 403 can receive user clicks and generate signal inputs related to user settings and function control of the obstacle detection method. The output device 404 may include a display device such as a display screen.

[0129] When one or more modules are stored in the memory 402, and are run by one or more processors 401, the obstacle detection method in any of the above method embodiments is executed.

[0130] The above description is merely the principle and preferred embodiment of this application. It should be noted that for those skilled in the art, implementation methods obtained by appropriately combining the technical solutions disclosed in different embodiments are also included within the technical scope of this invention. Based on the principle of this application, several other modifications can also be made, which should also be considered within the protection scope of this application.

Claims

1. An obstacle detection method, characterized in that, include Control all ultrasonic probes to emit waves sequentially at a preset cycle; If, during the echo detection period after the wave is emitted, both the emitting probe and at least one adjacent probe receive an echo signal, then it is determined whether each echo signal is a valid echo signal. If the echo signal from the transmitting probe and the echo signal from at least one of the adjacent probes are valid echo signals, then obstacle information is determined based on all the valid echo signals. The determination of whether each echo signal is a valid echo signal specifically includes: The echo signal is subjected to primary filtering to obtain a primary filtered signal, and each echo signal corresponds to one primary filtered signal; If the primary filtered signal meets the preset conditions, then the echo signal is determined to be a valid echo signal; If the primary filtered signal meets a preset condition, then the echo signal is determined to be a valid echo signal, specifically including: Acquire information about the vehicle's surrounding environment, determine external interference signals based on the surrounding environment information, and determine whether the primary filtered signal meets the first preset condition. If the matching degree between the primary filter signal and the preset interference characteristics of the external interference signal is less than the preset matching degree, then it is determined whether the primary filter signal meets the second preset condition. If the number of echoes of the primary filtered signal is greater than or equal to the preset number of echoes within a preset time period, then the echo signal is determined to be a valid echo signal.

2. The obstacle detection method according to claim 1, characterized in that, The preset conditions include a first preset condition, which specifically includes: The matching degree between the primary filtered signal and the preset interference characteristics of the external interference signal is less than the preset matching degree, and the preset interference characteristics include at least signal strength and pulse width.

3. The obstacle detection method according to claim 1 or 2, characterized in that, The preset conditions include a second preset condition, which specifically includes: The number of echoes of the primary filtered signal is greater than or equal to the preset number of echoes within a preset time period.

4. The obstacle detection method according to claim 1, characterized in that, If the primary filtered signal meets a preset condition, then the echo signal is determined to be a valid echo signal, specifically including: Acquire information about the vehicle's surrounding environment and determine external interference signals based on the surrounding environment information; If the matching degree between the primary filtered signal and the preset interference characteristics of the external interference signal is less than the preset matching degree, then the echo signal is determined to be a valid echo signal.

5. The obstacle detection method according to claim 1, characterized in that, The step of determining obstacle information based on all the valid echo signals specifically includes: Each valid echo signal identifies a reference obstacle information; Obstacle information is determined based on the positional relationship between the transmitting probe and the adjacent probes, and the reference obstacle information for each obstacle.

6. The obstacle detection method according to claim 5, characterized in that, The step of determining obstacle information based on all the valid echo signals specifically includes: Based on all valid echo signals from the previous cycle, predict the obstacle location for the current cycle. Based on all valid echo signals in the current cycle, determine the actual location of the obstacle in the current cycle; If the error between the predicted obstacle position and the actual obstacle position for several consecutive cycles is less than the set error range, then Obstacle information is determined based on the valid echo signal of the current cycle.

7. The obstacle detection method according to claim 1, characterized in that, After determining the obstacle information based on all the valid echo signals, the process also includes... If the current vehicle speed is within the preset low speed range, and If the collision time calculated based on the current vehicle speed and obstacle information is less than or equal to a preset time threshold, then Emergency braking system.

8. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by the computer, are used to perform the obstacle detection method as described in any one of claims 1-7.

9. An electronic device, characterized in that, Includes at least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the obstacle detection method as described in any one of claims 1-7.

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