Vehicle-mounted ultrasonic radar system, its control device and control method

Abstract

An embodiment of the present invention provides an in-vehicle ultrasonic radar system, its control device and control method. The device includes: a radar power-on module for powering on each radar probe of the in-vehicle ultrasonic radar system; a fixed-frequency control module for controlling each radar probe to continuously emit ultrasonic signals at a predetermined emission frequency within each emission cycle according to the fixed-frequency emission mode during the working state to detect obstacles around the motor vehicle and generate and send out first detection information; a frequency-sweeping control module for controlling each radar probe to continuously emit ultrasonic signals within a predetermined emission frequency range within each emission cycle according to the frequency-sweeping emission mode during the working state to detect obstacles around the motor vehicle and generate and send out second detection information; a mode switching module for sending out a mode switching instruction when it is determined that there are no obstacles around the motor vehicle. This embodiment can effectively improve the system response speed and the obstacle detection efficiency.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of vehicle-mounted ultrasonic radars, and in particular, to a vehicle-mounted ultrasonic radar system, its control device and control method. Background Art

[0002] Currently, a vehicle-mounted ultrasonic radar system is usually installed on a motor vehicle to detect obstacles. An existing vehicle-mounted ultrasonic radar system includes several radar probes and a control device connected to each of the radar probes for controlling each radar probe to emit ultrasonic signals. Among them, the traditional control device usually directly controls each radar probe to work in a fixed-frequency working mode after powering on each radar probe, and controls each radar probe to emit ultrasonic signals to detect obstacles in the fixed-frequency working mode in turn. Moreover, the wave emission frequency of the emitted ultrasonic signals remains unchanged. In addition, in order to facilitate the detection of obstacles at a long distance, the detection distance of the ultrasonic signals emitted by the existing radar probes is relatively large (for example: 5 meters). However, each radar probe emits ultrasonic signals to detect obstacles in the fixed-frequency working mode in turn, resulting in a relatively long delay in obstacle detection (for example: 200 milliseconds), the overall reaction speed of the system is slow, and generally, to increase the detection distance, either the wave emission gain is increased (increasing the number of wave emissions or increasing the wave emission energy) or the reception gain is increased. Both of these methods have drawbacks, which will result in a relatively large detection blind area at close range of the motor vehicle or a reduction in anti-interference performance, and the safety is poor. Summary of the Invention

[0003] The technical problem to be solved by the embodiments of the present invention is to provide a control device for a vehicle-mounted ultrasonic radar system, which can effectively improve the reaction speed of the system and the efficiency of obstacle detection.

[0004] The further technical problem to be solved by the embodiments of the present invention is to provide a vehicle-mounted ultrasonic radar system, which can effectively improve the reaction speed of the system and the efficiency of obstacle detection.

[0005] The further technical problem to be solved by the embodiments of the present invention is to provide a control method for a vehicle-mounted ultrasonic radar system, which can effectively improve the reaction speed of the system and the efficiency of obstacle detection.

[0006] To solve the above technical problems, the embodiments of the present invention first provide the following technical solution: A vehicle-mounted ultrasonic radar control device, comprising:

[0007] A radar power-on module, configured to power on each radar probe of the vehicle-mounted ultrasonic radar system and send a power-on signal.

[0008] A fixed-frequency control module, connected to the radar power-on module and each radar probe, is configured to enter the working state in response to the powered-on signal or the mode switching instruction in the standby state, and enter the standby state in response to the mode switching instruction in the working state. When in the working state, it controls each radar probe to continuously emit ultrasonic signals at a predetermined transmission frequency within each transmission cycle according to the fixed-frequency transmission mode to detect obstacles around the motor vehicle, and generate and send out the first detection information;

[0009] A frequency-sweeping control module, connected to each radar probe, is configured to enter the working state in response to the mode switching instruction in the standby state, and enter the standby state in response to the mode switching instruction in the working state. When in the working state, it controls each radar probe to continuously emit ultrasonic signals within a predetermined transmission frequency range within each transmission cycle according to the frequency-sweeping transmission mode to detect obstacles around the motor vehicle, and generate and send out the second detection information; and

[0010] A mode switching module, connected to the fixed-frequency control module and the frequency-sweeping control module, is configured to determine whether there are obstacles around the motor vehicle according to the first detection information or the second detection information when receiving the first detection information or the second detection information respectively, and issue the mode switching instruction when it is determined that there are no obstacles around the motor vehicle.

[0011] Further, the predetermined transmission frequency is the intermediate value of the predetermined transmission frequency range. When transmitting waves according to the frequency-sweeping transmission mode, the transmission frequency of each radar probe within a single transmission cycle decreases from the maximum value of the predetermined transmission frequency range to the minimum value in sequence, or increases from the minimum value of the predetermined transmission frequency range to the maximum value in sequence, and the variation rule of the transmission frequency of each radar probe within a single transmission cycle remains unchanged.

[0012] Further, each radar probe emits a first predetermined number of ultrasonic signals within a single transmission cycle according to the fixed-frequency transmission mode, and each radar probe emits a second predetermined number of ultrasonic signals within a single transmission cycle according to the frequency-sweeping transmission mode, and the second predetermined number is greater than the first predetermined number.

[0013] Further, the predetermined transmission frequency is the center frequency at which each radar probe resonates.

[0014] On the other hand, to solve the above further technical problems, an embodiment of the present invention further provides the following technical solution: A vehicle-mounted ultrasonic radar system includes a plurality of radar probes and a control device connected to each radar probe, and the control device is the control device as described in any one of the above.

[0015] Further, the system further includes:

[0016] An alarm device, connected to the mode switching module of the control device, is configured to give an alarm when the mode switching module determines that there are obstacles around the motor vehicle according to the first detection information or the second detection information.

[0017] On the other hand, to solve the above further technical problems, the embodiments of the present invention further provide the following technical solution: A control method for an in-vehicle ultrasonic radar system, comprising the following steps:

[0018] Power on each radar probe of the in-vehicle ultrasonic radar system by a radar power-on module and send a power-on signal.

[0019] A fixed-frequency control module responds to the power-on signal or a mode switching instruction in the standby state to enter the working state, and responds to the mode switching instruction in the working state to enter the standby state, and controls each radar probe to continuously emit ultrasonic signals at a predetermined emission frequency in each emission cycle according to the fixed-frequency emission mode to detect obstacles around the motor vehicle and generate and send the first detection information in the working state.

[0020] A frequency-sweeping control module responds to the mode switching instruction in the standby state to enter the working state, and responds to the mode switching instruction in the working state to enter the standby state, and controls each radar probe to continuously emit ultrasonic signals within a predetermined emission frequency range in each emission cycle according to the frequency-sweeping emission mode to detect obstacles around the motor vehicle and generate and send the second detection information; and

[0021] A mode switching module determines whether there are obstacles around the motor vehicle according to the first detection information or the second detection information when receiving the first detection information or the second detection information respectively, and issues the mode switching instruction when it is determined that there are no obstacles around the motor vehicle.

[0022] Further, the predetermined emission frequency is the intermediate value of the predetermined emission frequency range, and when emitting waves according to the frequency-sweeping emission mode, the emission frequency of each radar probe within a single emission cycle decreases from the maximum value of the predetermined emission frequency range to the minimum value of the predetermined emission frequency range in sequence, or increases from the minimum value of the predetermined emission frequency range to the maximum value of the predetermined emission frequency range in sequence, and the emission frequency variation rule of each radar probe within a single emission cycle remains unchanged.

[0023] Further, each radar probe emits a first predetermined number of ultrasonic signals within a single emission cycle according to the fixed-frequency emission mode, and each radar probe emits a second predetermined number of ultrasonic signals within a single emission cycle according to the frequency-sweeping emission mode, and the second predetermined number is greater than the first predetermined number.

[0024] Further, the predetermined wave - emitting frequency is the center frequency at which each radar probe resonates.

[0025] After adopting the above - mentioned technical solution, the embodiments of the present invention have at least the following beneficial effects: After the radar power - on module powers on each radar probe of the vehicle - mounted ultrasonic radar system, the fixed - frequency control module controls each radar probe to operate in the fixed - frequency wave - emitting mode. In each wave - emitting cycle of the fixed - frequency wave - emitting mode, ultrasonic signals are continuously emitted at a predetermined wave - emitting frequency to detect obstacles around the motor vehicle and generate first detection information. Since the wave - emitting frequency is relatively fixed and each radar probe emits waves simultaneously, while detecting obstacles near the motor vehicle, the response speed is relatively faster. Similarly, the frequency - sweeping control module responds to the mode - switching instruction to control each radar probe to operate in the frequency - sweeping wave - emitting mode. Thus, each radar probe continuously emits ultrasonic signals at a predetermined wave - emitting frequency range in each wave - emitting cycle to detect obstacles at a long distance around the motor vehicle and generate second detection information. Finally, the mode - switching module determines whether there are obstacles in the corresponding distance range of the motor vehicle according to the first detection information or the second detection information, and realizes the mutual switching between long - distance detection and short - distance detection when it is determined that there are no obstacles in the corresponding distance range of the motor vehicle. Since the wave - emitting frequency of each radar probe continuously changes when operating in the frequency - sweeping wave - emitting mode, the detection of obstacles at a long distance from the motor vehicle can be achieved. Moreover, since the predetermined wave - emitting frequency is within the predetermined wave - emitting frequency range, when realizing long - distance detection, it can also, to a certain extent, avoid the situation that an obstacle suddenly appears in the short - distance range and cannot be detected, thus improving and ensuring the safety of the motor vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic block diagram of an optional embodiment of the vehicle - mounted ultrasonic radar system of the present invention.

[0027] Figure 2 It is a schematic block diagram of another optional embodiment of the vehicle - mounted ultrasonic radar system of the present invention.

[0028] Figure 3 It is a flowchart of steps of an optional embodiment of the control method of the vehicle - mounted ultrasonic radar system of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The following further describes the present application in detail with reference to the drawings and specific embodiments. It should be understood that the following illustrative embodiments and descriptions are only used to explain the present invention and are not intended to limit the present invention. Moreover, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0030] As Figure 1As shown, an alternative embodiment of the present invention provides a control device 1 for an in-vehicle ultrasonic radar system, comprising:

[0031] A radar power-on module 10, configured to power on each radar probe 3 of the in-vehicle ultrasonic radar system and send a power-on signal; A fixed-frequency control module 12, connected to the radar power-on module 10 and each of the radar probes 3, configured to enter the working state in response to the power-on signal or a mode switching instruction in the standby state and enter the standby state in response to the mode switching instruction in the working state, and control each radar probe 3 to continuously emit ultrasonic signals at a predetermined transmission frequency within each transmission cycle according to the fixed-frequency transmission mode to detect obstacles around the motor vehicle and generate and send first detection information in the working state; A frequency-sweeping control module 14, connected to each of the radar probes 3, configured to enter the working state in response to the mode switching instruction in the standby state and enter the standby state in response to the mode switching instruction in the working state, and control each radar probe 3 to continuously emit ultrasonic signals at a predetermined transmission frequency range within each transmission cycle according to the frequency-sweeping transmission mode to detect obstacles around the motor vehicle and generate and send second detection information in the working state; and

[0032] A mode switching module 16, connected to the fixed-frequency control module 12 and the frequency-sweeping control module 14, configured to determine whether there are obstacles around the motor vehicle according to the first detection information or the second detection information when receiving the first detection information or the second detection information respectively, and send the mode switching instruction when it is determined that there are no obstacles around the motor vehicle.

[0033] After the radar power-on module 10 in the embodiment of the present invention powers on each radar probe 3 of the vehicle-mounted ultrasonic radar system, the fixed-frequency control module 12 controls each radar probe 3 to operate in a fixed-frequency wave-emitting mode. In each wave-emitting cycle of the fixed-frequency wave-emitting mode, ultrasonic signals are continuously emitted at a predetermined wave-emitting frequency to detect obstacles around the motor vehicle and generate first detection information. Since the wave-emitting frequency is relatively fixed and each radar probe 3 emits waves simultaneously, while detecting obstacles near the motor vehicle, the response speed is also relatively faster. Similarly, the frequency-sweeping control module 14 responds to the mode switching instruction to control each radar probe 3 to operate in a frequency-sweeping wave-emitting mode. Thus, each radar probe 3 continuously emits ultrasonic signals at a predetermined wave-emitting frequency range in each wave-emitting cycle to detect obstacles at a long distance around the motor vehicle and generate second detection information. Finally, the mode switching module 16 correspondingly determines whether there are obstacles within the corresponding distance range of the motor vehicle according to the first detection information or the second detection information, and realizes the mutual switching between long-distance detection and short-distance detection when it is determined that there are no obstacles within the corresponding distance range of the motor vehicle. Since the wave-emitting frequency of each radar probe 3 continuously changes when operating in the frequency-sweeping wave-emitting mode, the detection of obstacles at a long distance from the motor vehicle can be realized. Moreover, since the predetermined wave-emitting frequency is within the predetermined wave-emitting frequency range, the sudden generation of obstacles within a short distance can be avoided to a certain extent during long-distance detection, thus improving and ensuring the safety of the motor vehicle driving.

[0034] In specific implementation, the short-distance range and the long-distance range of the motor vehicle are relative, and their specific parameter ranges can be determined by the detection range of each radar probe 3. For example: the short distance is 5-10 meters around the motor vehicle, and the long distance is 90-100 meters around the motor vehicle. In addition, through specific experiments, it is measured that the system delay of the control device 1 provided in the embodiment of the present invention can be reduced from the traditional 200 milliseconds to 120 milliseconds. It can be seen that the system delay can be effectively reduced and the system response speed can be improved.

[0035] In an alternative embodiment of the present invention, the predetermined wave - emitting frequency is the median value of the predetermined wave - emitting frequency range. When emitting waves according to the frequency - sweeping wave - emitting mode, the wave - emitting frequencies of each radar probe 3 within a single wave - emitting cycle decrease successively from the maximum value of the predetermined wave - emitting frequency range to the minimum value of the predetermined wave - emitting frequency range, or increase successively from the minimum value of the predetermined wave - emitting frequency range to the maximum value of the predetermined wave - emitting frequency range, and the variation law of the wave - emitting frequencies of each radar probe 3 within a single wave - emitting cycle remains unchanged. In this embodiment, the predetermined wave - emitting frequency is set as the median value of the predetermined wave - emitting frequency range, that is, the predetermined wave - emitting frequency range is [f - Δf, f + Δf] KHz, where f is the predetermined wave - emitting frequency and ±Δf is the bandwidth. By setting in the above - mentioned manner, the obstacle detection efficiency is high, and each radar probe 3 selects one of the increasing or decreasing methods to achieve up - frequency - sweeping and down - frequency - sweeping wave - emitting, which is beneficial to reducing the system blind area for long - distance detection.

[0036] In an alternative embodiment of the present invention, each radar probe 3 emits a first predetermined number of ultrasonic signals within a single wave - emitting cycle according to the fixed - frequency wave - emitting mode, and each radar probe 3 emits a second predetermined number of ultrasonic signals within a single wave - emitting cycle according to the frequency - sweeping wave - emitting mode, and the second predetermined number is greater than the first predetermined number. In this embodiment, the number of emitted waves in the frequency - sweeping wave - emitting mode is greater than that in the fixed - frequency wave - emitting mode. In the fixed - frequency wave - emitting mode, the number of emitted waves is small, the vibration time of the probe core of the radar probe 3 is short, the after - vibration decays quickly, and the after - vibration is small. Therefore, the detection blind area is small, theoretically within 10 centimeters. In the frequency - sweeping wave - emitting mode, the number of emitted waves is large, the signal - to - noise ratio of the long - distance echo is higher, and the system detection stability is higher. In specific implementation, the second predetermined number can reach ten times the first predetermined number. For example, 100 waves are emitted in the frequency - sweeping wave - emitting mode, while 10 waves are emitted in the fixed - frequency wave - emitting mode.

[0037] In an alternative embodiment of the present invention, the predetermined wave - emitting frequency is the center frequency at which each radar probe 3 resonates. In this embodiment, when the predetermined wave - emitting frequency adopts the center frequency at which each radar probe 3 resonates, the control of the control device 1 over each radar probe 3 is relatively simpler and the control efficiency is higher.

[0038] On the other hand, as Figure 1 and Figure 2 shown, the embodiment of the present invention further provides a vehicle - mounted ultrasonic radar system, including a plurality of radar probes 3 and a control device 1 connected to each of the radar probes 3, and the control device 1 is the control device as described in the above - mentioned embodiment. In the embodiments as Figure 1 and Figure 2 for convenience of representation, each module in the control device 1 is connected to a probe group composed of each radar probe 3.

[0039] In an alternative embodiment of the present invention, as Figure 2 shown, the system further includes:

[0040] An alarm device 5, connected to the mode switching module 16 of the control device 1, for alarming when the mode switching module 16 determines that there are obstacles around the motor vehicle according to the first detection information or the second detection information.

[0041] In this embodiment, by further providing the alarm device 5, an alarm is given when it is determined that there are obstacles within the close range of the motor vehicle or within the close range of the motor vehicle, realizing the early warning function of obstacle detection, reminding the driver, and improving the driving safety of the motor vehicle.

[0042] On the other hand, as Figure 3 shown, the embodiment of the present invention further provides a method for controlling an in-vehicle ultrasonic radar system, including the following steps:

[0043] S1: The radar power-on module 10 powers on each radar probe 3 of the in-vehicle ultrasonic radar system and sends a power-on signal;

[0044] S2: The fixed-frequency control module 12 responds to the power-on signal or the mode switching instruction in the standby state to enter the working state, and responds to the mode switching instruction in the working state to enter the standby state, and controls each radar probe 3 to continuously emit ultrasonic signals at a predetermined transmission frequency in each transmission cycle according to the fixed-frequency transmission mode to detect obstacles around the motor vehicle and generate and send the first detection information in the working state;

[0045] S3: The frequency-sweeping control module 14 responds to the mode switching instruction in the standby state to enter the working state, and responds to the mode switching instruction in the working state to enter the standby state, and controls each radar probe 3 to continuously emit ultrasonic signals within a predetermined transmission frequency range in each transmission cycle according to the frequency-sweeping transmission mode to detect obstacles around the motor vehicle and generate and send the second detection information in the working state;

[0046] S4: The mode switching module 16 determines whether there are obstacles around the motor vehicle according to the first detection information or the second detection information when receiving the first detection information or the second detection information respectively, and issues the mode switching instruction when it is determined that there are no obstacles around the motor vehicle.

[0047] In the embodiment of the present invention, after powering on each radar probe 3 of the vehicle-mounted ultrasonic radar system by the above method, each radar probe 3 is controlled to work in a fixed-frequency wave-emitting mode. In each wave-emitting cycle of the fixed-frequency wave-emitting mode, ultrasonic signals are continuously emitted at a predetermined wave-emitting frequency to detect obstacles around the motor vehicle and generate first detection information. Since the wave-emitting frequency is relatively fixed and each radar probe 3 emits waves simultaneously, while detecting obstacles near the motor vehicle, the response speed is relatively faster. Similarly, in response to the mode switching instruction, each radar probe 3 is controlled to work in a sweep-frequency wave-emitting mode. Thus, each radar probe 3 continuously emits ultrasonic signals at a predetermined wave-emitting frequency range in each wave-emitting cycle to detect obstacles at a long distance around the motor vehicle and generate second detection information. Finally, it is determined whether there are obstacles in the corresponding distance range of the motor vehicle according to the first detection information or the second detection information, and when it is determined that there are no obstacles in the corresponding distance range of the motor vehicle, mutual switching between long-distance detection and short-distance detection is realized. Since the wave-emitting frequency of each radar probe 3 continuously changes when working in the sweep-frequency wave-emitting mode, the detection of obstacles at a long distance from the motor vehicle can be realized. Moreover, since the predetermined wave-emitting frequency is within the predetermined wave-emitting frequency range, when long-distance detection is realized, it can also, to a certain extent, avoid obstacles suddenly appearing in the short-distance range and not being detected, thus improving and ensuring the safety of the motor vehicle driving.

[0048] In an alternative embodiment of the present invention, the predetermined wave-emitting frequency is the middle value of the predetermined wave-emitting frequency range. When emitting waves according to the sweep-frequency wave-emitting mode, the wave-emitting frequency of each radar probe 3 within a single wave-emitting cycle decreases from the maximum value of the predetermined wave-emitting frequency range to the minimum value of the predetermined wave-emitting frequency range in sequence, or increases from the minimum value of the predetermined wave-emitting frequency range to the maximum value of the predetermined wave-emitting frequency range in sequence, and the wave-emitting frequency variation rule of each radar probe 3 within a single wave-emitting cycle remains unchanged. In this embodiment, setting the predetermined wave-emitting frequency as the middle value of the predetermined wave-emitting frequency range has high obstacle detection efficiency. Moreover, each radar probe 3 selects one of the increasing or decreasing methods to realize upward sweep-frequency and downward sweep-frequency wave-emitting work, which is beneficial to reducing the system blind area of long-distance detection.

[0049] In an alternative embodiment of the present invention, each radar probe 3 emits a first predetermined number of ultrasonic signals in a single wave emission cycle according to the fixed-frequency wave emission mode, and each radar probe 3 emits a second predetermined number of ultrasonic signals in a single wave emission cycle according to the sweep-frequency wave emission mode, and the second predetermined number is greater than the first predetermined number. In this embodiment, the number of waves emitted in the sweep-frequency wave emission mode is greater than that in the fixed-frequency wave emission mode. In the fixed-frequency wave emission mode, the number of waves emitted is small, the vibration time of the probe core of the radar probe 3 is short, the after-vibration attenuation is fast, and the after-vibration is small. Therefore, the detection blind area is small and can theoretically reach within 10 cm; in the sweep-frequency wave emission mode, the number of waves emitted is large, the signal-to-noise ratio of the long-distance echo is higher, and the detection stability of the system is higher.

[0050] In an alternative embodiment of the present invention, the predetermined wave emission frequency is the center frequency at which each radar probe 3 resonates. In this embodiment, the center frequency at which each radar probe 3 resonates is adopted as the predetermined wave emission frequency, and the control device 1 can control each radar probe 3 relatively more simply and with higher control efficiency.

[0051] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the claims of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A control device for a vehicle-mounted ultrasonic radar system, characterized in that, The device includes: A radar power-on module, configured to power on each radar probe of the vehicle-mounted ultrasonic radar system and send a power-on signal; A fixed-frequency control module, connected to the radar power-on module and each of the radar probes, configured to enter the working state in response to the power-on signal or a mode switching instruction in the standby state, and enter the standby state in response to the mode switching instruction in the working state, and control each radar probe to continuously emit ultrasonic signals at a predetermined transmission frequency within each transmission cycle according to the fixed-frequency transmission mode to detect obstacles around the motor vehicle and generate and send out first detection information in the working state; A frequency-sweeping control module, connected to each of the radar probes, configured to enter the working state in response to the mode switching instruction in the standby state, and enter the standby state in response to the mode switching instruction in the working state, and control each radar probe to continuously emit ultrasonic signals within a predetermined transmission frequency range within each transmission cycle according to the frequency-sweeping transmission mode to detect obstacles around the motor vehicle and generate and send out second detection information in the working state; and A mode switching module, connected to the fixed-frequency control module and the frequency-sweeping control module, configured to determine whether there are obstacles around the motor vehicle according to the first detection information or the second detection information when receiving the first detection information or the second detection information respectively, and send out the mode switching instruction when it is determined that there are no obstacles around the motor vehicle.

2. The control device of the in-vehicle ultrasonic radar system according to claim 1, characterized in that, The predetermined transmission frequency is the middle value of the predetermined transmission frequency range, and when transmitting waves according to the frequency-sweeping transmission mode, the transmission frequency of each radar probe within a single transmission cycle decreases from the maximum value of the predetermined transmission frequency range to the minimum value of the predetermined transmission frequency range in sequence, or increases from the minimum value of the predetermined transmission frequency range to the maximum value of the predetermined transmission frequency range in sequence, and the variation law of the transmission frequency of each radar probe within a single transmission cycle remains unchanged.

3. The control device of the in-vehicle ultrasonic radar system according to claim 1, characterized in that, Each of the radar probes emits a first predetermined number of ultrasonic signals within a single transmission cycle according to the fixed-frequency transmission mode, and each of the radar probes emits a second predetermined number of ultrasonic signals within a single transmission cycle according to the frequency-sweeping transmission mode, and the second predetermined number is greater than the first predetermined number.

4. The control device of the vehicle-mounted ultrasonic radar system according to claim 1 or 2, characterized in that The predetermined transmission frequency is the center frequency at which each radar probe resonates.

5. An in-vehicle ultrasonic radar system, comprising a plurality of radar probes and a control device connected to each of the radar probes, characterized in that, The control device is the control device according to any one of claims 1-4.

6. The vehicle-mounted ultrasonic radar system according to claim 5, characterized in that, The system further includes: An alarm device, connected to the mode switching module of the control device, configured to give an alarm when the mode switching module determines that there are obstacles around the motor vehicle according to the first detection information or the second detection information.

7. A control method for an in-vehicle ultrasonic radar system, characterized in that, The method includes the following steps: Power on each radar probe of the vehicle-mounted ultrasonic radar system by the radar power-on module and send a power-on signal; The fixed-frequency control module responds to the powered-on signal or the mode switching instruction in the standby state to enter the working state, and responds to the mode switching instruction in the working state to enter the standby state. When in the working state, it controls each radar probe to continuously emit ultrasonic signals at a predetermined emission frequency within each emission cycle according to the fixed-frequency emission mode to detect obstacles around the motor vehicle and generate and send out the first detection information; The frequency-sweeping control module responds to the mode switching instruction in the standby state to enter the working state, and responds to the mode switching instruction in the working state to enter the standby state. When in the working state, it controls each radar probe to continuously emit ultrasonic signals within a predetermined emission frequency range within each emission cycle according to the frequency-sweeping emission mode to detect obstacles around the motor vehicle and generate and send out the second detection information; and The mode switching module determines whether there are obstacles around the motor vehicle according to the first detection information or the second detection information when receiving the first detection information or the second detection information respectively, and issues the mode switching instruction when it is determined that there are no obstacles around the motor vehicle.

8. The method for controlling an in-vehicle ultrasonic radar system according to claim 7, wherein The predetermined emission frequency is the intermediate value of the predetermined emission frequency range. When emitting waves according to the frequency-sweeping emission mode, the emission frequency of each radar probe within a single emission cycle decreases from the maximum value of the predetermined emission frequency range to the minimum value of the predetermined emission frequency range in sequence, or increases from the minimum value of the predetermined emission frequency range to the maximum value of the predetermined emission frequency range in sequence, and the variation law of the emission frequency of each radar probe within a single emission cycle remains unchanged.

9. The vehicle-mounted ultrasonic radar system control method according to claim 7, characterized in that, Each radar probe emits a first predetermined number of ultrasonic signals within a single emission cycle according to the fixed-frequency emission mode, and each radar probe emits a second predetermined number of ultrasonic signals within a single emission cycle according to the frequency-sweeping emission mode, and the second predetermined number is greater than the first predetermined number.

10. The method for controlling an in-vehicle ultrasonic radar system according to claim 7 or 8, characterized in that The predetermined emission frequency is the center frequency at which each radar probe resonates.

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