Obstacle detection system calibration methods, devices, equipment and storage media

Abstract

This invention discloses a calibration method, apparatus, device, and storage medium for an obstacle detection system, belonging to the field of vehicle calibration technology. When the vehicle is stationary, the invention controls a calibration obstacle to move along a slide rail. When the obstacle moves to a preset distance from an ultrasonic probe, the ultrasonic probe's frequency sweep function is activated, and the operating frequency of the ultrasonic probe after the sweep function is activated is recorded. The ultrasonic probe is then controlled to detect the obstacle according to the operating frequency, and the detection time and air parameters are recorded. The obstacle detection system is calibrated based on the preset distance, operating frequency, detection time, and air parameters. This provides factory online calibration of the obstacle detection system, adaptive calibration for the parameters of each ultrasonic sensor, and real-time secondary calibration during vehicle use. This improves signal strength and ensures ranging accuracy, thereby enhancing the safety of automatic side door opening and closing.

Description

Technical Field

[0001] This invention relates to the field of vehicle calibration technology, and in particular to a calibration method, apparatus, equipment and storage medium for an obstacle detection system. Background Technology

[0002] With the increasing sophistication of automotive intelligence, some automakers have already implemented or are about to implement automatic side doors. Automatic side doors offer drivers greater convenience, a better experience, and a more technological feel. Correspondingly, effectively detecting obstacles (people, objects, etc.) within the door's range of motion before and during opening, to ensure controllable door opening and timely stopping to avoid collisions, has become a crucial aspect of ensuring the safety of automatic door opening. To guarantee the safety of automatic door opening, a dedicated side obstacle detection system must be installed on the door. On one hand, ultrasonic probes are the preferred detection method due to their significant advantages in cost-effectiveness, size, and short-range detection. On the other hand, to maintain the aesthetic appeal and appearance of the door panel, the sensors are preferably concealed (installed inside the door, invisible from the outside). Unlike the exposed sensors in front and rear parking assist systems, the installation location, installation status, and condition of the components of the hidden ultrasonic sensor are more unstable. It is necessary to ensure that the door vibrates to penetrate and detect obstacles to achieve the predetermined sensitivity and ranging accuracy, while avoiding false alarms caused by environmental noise and interference. A balance between these two aspects requires calibration and adjustment.

[0003] Currently, the ranging calibration of concealed detection systems uses an offline calibration method. During the development phase, several vehicles are used to calibrate the system against various obstacles and temperature environments, adjusting the ranging parameters. After the calibration parameters are set, they are written into the control system ECU and sensors. Before leaving the OEM production line, only basic detection functions and electrical parameters are tested electronically; specific recalibration of ranging accuracy and signal strength is not performed. However, due to the uncertainties in the installation of the concealed sensors and surrounding components, the optimal operating frequency, ranging parameters, and background noise of each probe may differ from the written calibration parameters, affecting the system's ranging accuracy and consequently the safety of automatic door opening and closing. During vehicle use, factors such as door panel deformation, dirt, and decals or wraps can affect the probe's operating frequency and correction factor, impacting ranging accuracy. Recalibration during actual use is necessary, but the current method does not address calibration during vehicle operation.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide a calibration method, apparatus, device, and storage medium for an obstacle detection system, aiming to solve the technical problems that current calibration methods do not conform to the complex environment in actual vehicle use, affecting the system's ranging accuracy and thus the safety of automatic door opening and closing, while also failing to perform real-time calibration during vehicle use.

[0006] To achieve the above objectives, the present invention provides a calibration method for an obstacle detection system. The obstacle detection system is installed on the side of a vehicle door and consists of multiple ultrasonic sensors, each of which contains an ultrasonic probe.

[0007] The obstacle detection system calibration method includes the following steps:

[0008] When the vehicle is stationary, control the movement of the designated obstacle on the slide rail;

[0009] When the calibrated obstacle moves to a preset distance from the ultrasonic probe, the frequency sweep function of the ultrasonic probe is activated, and the working frequency of the ultrasonic probe after the frequency sweep function is activated is recorded. The working frequency is the working frequency of the ultrasonic probe when the echo energy is at its maximum.

[0010] The ultrasonic probe is controlled to detect obstacles at the operating frequency, and the detection time and air parameters are recorded.

[0011] The obstacle detection system is calibrated based on the preset distance, the operating frequency, the detection duration, and the air parameters.

[0012] Optionally, the preset distance includes a first preset distance and a second preset distance, the operating frequency of the ultrasonic probe when the echo energy is at its maximum includes a first operating frequency and a second operating frequency, the detection duration includes a first detection duration and a second detection duration, and the air parameters include a first air parameter and a second air parameter. The first preset distance corresponds to the first operating frequency, the first detection duration, and the first air parameter, and the second preset distance corresponds to the second operating frequency, the second detection duration, and the second air parameter.

[0013] The calibration of the obstacle detection system based on the preset distance, the operating frequency, the detection duration, and the air parameters includes:

[0014] The obstacle detection system is calibrated based on the first preset distance, the second preset distance, the first operating frequency, the second operating frequency, the first detection duration, the second detection duration, the first air parameter, and the second air parameter.

[0015] Optionally, calibrating the obstacle detection system based on the first preset distance, the second preset distance, the first operating frequency, the second operating frequency, the first detection duration, the second detection duration, the first air parameter, and the second air parameter includes:

[0016] The target operating frequency of the ultrasonic probe is calculated based on the first frequency and the second frequency.

[0017] The signal conversion and echo processing time of the ultrasonic sensor is calculated based on the first preset distance, the first detection time, and the first air parameters.

[0018] The correction factor is calculated based on the signal conversion and echo processing time, the second preset distance, the second detection time, and the second air parameter.

[0019] A distance calibration formula is generated based on the signal conversion and echo processing time, the correction factor, and the real-time monitored air parameters;

[0020] The obstacle detection system is calibrated based on the target operating frequency, the correction factor, and the distance calibration formula.

[0021] Optionally, the step of calculating the correction factor based on the signal conversion and echo processing time, the second preset distance, the second detection time, and the second air parameter includes:

[0022] The ultrasonic velocity is determined based on the second air parameter;

[0023] The test distance between the calibrated obstacle and the ultrasonic probe is calculated based on the signal conversion and echo processing time, the second detection time, and the ultrasonic velocity.

[0024] The correction factor is calculated based on the second preset distance and the test distance.

[0025] Optionally, the obstacle detection system calibration method further includes:

[0026] Acquire the location information of actual obstacles detected by the obstacle detection system during vehicle use;

[0027] Based on the location information, determine whether the obstacle detection system has a ranging deviation;

[0028] If an obstacle exists, the obstacle detection system is calibrated a second time based on the location information.

[0029] Optionally, determining whether the obstacle detection system has a ranging bias based on the location information includes:

[0030] Construct the initial coordinate system corresponding to the opening of the car door;

[0031] The initial coordinates of the actual obstacle relative to the initial coordinate system are determined based on the location information;

[0032] The vehicle door is opened to a preset angle, and a reference coordinate system is constructed corresponding to the door after it is opened to the preset angle;

[0033] The reference coordinates of the actual obstacle relative to the reference coordinate system are determined based on the location information;

[0034] The deviation value is calculated based on the initial coordinates, the reference coordinates, and the preset angle;

[0035] Record the number of consecutive times the deviation value is outside the preset deviation range;

[0036] When the number of consecutive occurrences exceeds a preset number, it is determined that the obstacle detection system has a ranging deviation.

[0037] Optionally, the secondary calibration of the obstacle detection system based on the location information includes:

[0038] Re-enable the frequency sweep function of the ultrasonic probe and record the new operating frequency of the ultrasonic probe when the echo energy is at its maximum after the frequency sweep function is enabled.

[0039] Obtain the current correction factor of the obstacle detection system;

[0040] Calculate a new correction factor based on the deviation value and the current correction factor;

[0041] A new distance calibration formula is generated based on the new correction factor and the new operating frequency;

[0042] The obstacle detection system is calibrated based on the new correction factor, the new operating frequency, and the new distance calibration formula.

[0043] In addition, to achieve the above objectives, the present invention also proposes an obstacle detection system calibration device, wherein the obstacle detection system is installed on the side of the vehicle door and consists of multiple ultrasonic sensors, each of which is equipped with an ultrasonic probe.

[0044] The obstacle detection system calibration device includes:

[0045] The control module is used to control the movement of the calibrated obstacle on the slide rail when the vehicle is stationary;

[0046] The reading module is used to activate the frequency sweep function of the ultrasonic probe when the calibrated obstacle moves to a preset distance from the ultrasonic probe, and to record the working frequency of the ultrasonic probe after the frequency sweep function is activated. The working frequency is the working frequency of the ultrasonic probe when the echo energy is at its maximum.

[0047] The reading module is also used to control the ultrasonic probe to detect obstacles according to the working frequency and record the detection time and air parameters;

[0048] The calibration module is used to calibrate the obstacle detection system based on the preset distance, the operating frequency, the detection duration, and the air parameters.

[0049] Furthermore, to achieve the above objectives, the present invention also proposes an obstacle detection system calibration device, which includes: a memory, a processor, and an obstacle detection system calibration program stored in the memory and running on the processor. The obstacle detection system calibration program is configured to implement the obstacle detection system calibration method described above.

[0050] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing an obstacle detection system calibration program, wherein the obstacle detection system calibration program, when executed by a processor, implements the obstacle detection system calibration method as described above.

[0051] This invention controls a calibrated obstacle to move along a slide rail when the vehicle is stationary. When the obstacle reaches a preset distance from the ultrasonic probe, the ultrasonic probe's frequency sweep function is activated, and the operating frequency of the ultrasonic probe after the sweep function is activated is recorded. This operating frequency is the frequency at which the ultrasonic probe's echo energy is at its maximum. The ultrasonic probe is controlled to detect the obstacle according to the operating frequency, and the detection time and air parameters are recorded. The obstacle detection system is calibrated based on the preset distance, the operating frequency, the detection time, and the air parameters. This method performs factory online calibration of the obstacle detection system, adaptive calibration of the parameters of each ultrasonic sensor, and real-time secondary calibration during vehicle use. This improves signal strength and ensures ranging accuracy, thereby enhancing the safety of automatic side door opening and closing. Attached Figure Description

[0052] Figure 1This is a schematic diagram of the structure of the obstacle detection system calibration device for the hardware operating environment involved in the embodiments of the present invention;

[0053] Figure 2 This is a flowchart illustrating the first embodiment of the obstacle detection system calibration method of the present invention;

[0054] Figure 3 This is a schematic diagram illustrating the ultrasonic detection principle of an embodiment of the obstacle detection system calibration method of the present invention;

[0055] Figure 4 This is a schematic diagram of the factory online calibration of an embodiment of the obstacle detection system calibration method of the present invention;

[0056] Figure 5 This is a flowchart illustrating the second embodiment of the obstacle detection system calibration method of the present invention;

[0057] Figure 6 This is a flowchart illustrating the third embodiment of the obstacle detection system calibration method of the present invention;

[0058] Figure 7 This is a schematic diagram of online calibration during the user operation phase of an embodiment of the obstacle detection system calibration method of the present invention;

[0059] Figure 8 This is a schematic diagram of online calibration during the user operation phase of an embodiment of the obstacle detection system calibration method of the present invention;

[0060] Figure 9 This is a structural block diagram of the first embodiment of the obstacle detection system calibration device of the present invention.

[0061] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0062] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0063] Reference Figure 1 , Figure 1 This is a schematic diagram of the obstacle detection system calibration device structure in the hardware operating environment involved in the embodiments of the present invention.

[0064] like Figure 1As shown, the obstacle detection system calibration device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0065] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the obstacle detection system calibration device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0066] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and an obstacle detection system calibration program.

[0067] exist Figure 1 In the obstacle detection system calibration device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the obstacle detection system calibration device of the present invention can be set in the obstacle detection system calibration device, and the obstacle detection system calibration device calls the obstacle detection system calibration program stored in the memory 1005 through the processor 1001 and executes the obstacle detection system calibration method provided in the embodiment of the present invention.

[0068] This invention provides a calibration method for an obstacle detection system, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the obstacle detection system calibration method of the present invention.

[0069] In this embodiment, the obstacle detection system calibration method includes the following steps:

[0070] Step S10: When the vehicle stops moving, control the calibrated obstacle to move on the slide rail.

[0071] The execution entity in this embodiment can be the obstacle detection system calibration device, which has functions such as data processing, data communication, and program execution. The obstacle detection system calibration device can be a computer device such as a tablet, computer, or server. Of course, other devices with similar functions can also be used, and this embodiment does not limit this. For ease of explanation, this embodiment uses an obstacle detection system calibration device as an example.

[0072] It should be noted that the current ranging calibration of the concealed detection system is done offline. During the development phase, several vehicles are used to calibrate the system against various obstacles and temperature environments, along with the ranging parameters. After the calibration parameters are set, they are written into the control system ECU and sensors. Before leaving the OEM production line, only the basic detection functions and electrical parameters are tested electronically; no further specific verification or calibration is performed on ranging accuracy, signal strength, etc. However, due to the uncertainties in the installation of the concealed sensors and surrounding components, the optimal operating frequency, ranging parameters, and background noise of each probe may differ from the written calibration parameters, thus affecting the system's ranging accuracy and consequently the safety of the automatic door's opening and closing.

[0073] To address the aforementioned technical issues, this embodiment employs composite calibration of the ultrasonic sensor at the vehicle's factory to avoid instability factors such as the sensor's installation location and the condition of its mounting components affecting the ranging accuracy of the obstacle detection system.

[0074] It should be noted that the obstacle detection system in this embodiment is located on the side of the vehicle door and consists of multiple ultrasonic sensors. These ultrasonic sensors are concealed ultrasonic sensors, each containing an ultrasonic probe. The calibration and distance measurement mainly rely on this ultrasonic probe. In this embodiment, the concealed ultrasonic device assembly consists of a spring top cover, a spring, a spring bottom cover, shock absorbers, an ultrasonic probe, a mounting bracket, a sound wave coupling element, a fixing damping rubber, and the outer panel of the vehicle door.

[0075] Furthermore, in this embodiment, in combination with Figure 3 The principle of concealed ultrasonic detection is explained. For example... Figure 3 As shown, the entire concealed ultrasonic detection system involves a mounting bracket, an ultrasonic probe, a sound wave coupling element, a car door outer panel, vibration damping material, and obstacles. The entire detection process involves the ultrasonic probe sending sound waves, the car door outer panel generating high-frequency vibrations, the sound waves being transmitted, the obstacle sending an echo, the echo outer panel vibrating at high frequency, and the ultrasonic probe receiving the echo.

[0076] In this specific implementation, during the vehicle calibration process at the factory, the vehicle is controlled to move forward on the tracks while a vehicle position positioning grating is set. When the grating is triggered, the vehicle stops moving. Then, a calibration obstacle is moved on a slide rail so that it faces the ultrasonic probe. The factory calibration process in this embodiment is as follows: Figure 4 As shown. Obstacle selection for calibration. Standard obstacle posts are equipped with corresponding sliding rails, allowing the obstacles to move.

[0077] Step S20: When the calibrated obstacle moves to a preset distance from the ultrasonic probe, the frequency sweep function of the ultrasonic probe is activated, and the operating frequency of the ultrasonic probe after the frequency sweep function is activated is recorded. The operating frequency is the operating frequency of the ultrasonic probe when the echo energy is at its maximum.

[0078] In practical implementation, when calibrating the ultrasonic sensor, the calibration obstacle needs to be moved to a preset distance from the ultrasonic probe. This preset distance can be set according to actual calibration requirements; this embodiment does not impose any restrictions on it. After reaching the preset distance, the ultrasonic probe's frequency sweep function is activated. After the frequency sweep function is activated, the operating frequency of the ultrasonic probe at its maximum echo energy is recorded. When the calibration obstacle moves to a distance S1 from the ultrasonic probe, the operating frequency of the ultrasonic probe at its maximum echo energy is recorded as F1 after the frequency sweep function is activated. When the calibration obstacle moves to a distance S2 from the ultrasonic probe, the operating frequency of the ultrasonic probe at its maximum echo energy is recorded as F2 after the frequency sweep function is activated.

[0079] Specifically, the ultrasonic operating frequency range is 40K to 60KHz. The ultrasonic system sweeps the frequency from the lowest frequency to the highest frequency in increments of 0.1KHz. The system automatically compares the echo signal energy of a standard obstacle at each frequency and selects the frequency with the highest echo energy as the operating frequency of the probe.

[0080] Step S30: Control the ultrasonic probe to detect obstacles according to the operating frequency, and record the detection time and air parameters.

[0081] In practice, the detection duration varies depending on the location of the calibrated obstacle. Furthermore, the air parameters in the calibration environment change over time. In this embodiment, the air parameters include, but are not limited to, air temperature and humidity. For example, when the calibrated obstacle moves to a distance S1 from the ultrasonic probe, the corresponding detection duration is t1, and the air parameter, such as air temperature, is T1. Similarly, when the calibrated obstacle moves to a distance S2 from the ultrasonic probe, the corresponding detection duration is t2, and the air parameter, such as air temperature, is T2.

[0082] Step S40: Calibrate the obstacle detection system according to the preset distance, the operating frequency, the detection duration, and the air parameters.

[0083] In this specific implementation, different operating frequencies, detection durations, and air parameters are obtained by repeatedly moving the calibrated obstacle to different positions. Based on multiple sets of the above parameters, the operating frequency, correction factor, and distance calibration formula of the ultrasonic probe can be calculated. Then, the obstacle detection system is calibrated using the operating frequency, correction factor, and distance calibration formula. In this embodiment, the above parameters can be written into the ECU of the ultrasonic probe and the obstacle detection system to complete the calibration.

[0084] This embodiment controls the movement of a calibration obstacle on a slide rail when the vehicle is stationary. When the calibration obstacle moves to a preset distance from the ultrasonic probe, the ultrasonic probe's frequency sweep function is activated, and the operating frequency of the ultrasonic probe after the frequency sweep function is activated is recorded. The operating frequency is the frequency at which the ultrasonic probe has the maximum echo energy. The ultrasonic probe is controlled to detect obstacles according to the operating frequency, and the detection time and air parameters are recorded. The obstacle detection system is calibrated based on the preset distance, the operating frequency, the detection time, and the air parameters. This method performs factory online calibration of the obstacle detection system, adaptive calibration of the parameters of each ultrasonic sensor, and real-time secondary calibration during vehicle use. This improves signal strength and ensures ranging accuracy, thereby enhancing the safety of automatic side door opening and closing.

[0085] refer to Figure 5 , Figure 5 This is a flowchart illustrating a second embodiment of the obstacle detection system calibration method of the present invention.

[0086] Based on the first embodiment described above, in the obstacle detection system calibration method of this embodiment, step S40 specifically includes:

[0087] Step S401: Calibrate the obstacle detection system based on the first preset distance, the second preset distance, the first operating frequency, the second operating frequency, the first detection duration, the second detection duration, the first air parameter, and the second air parameter.

[0088] It should be noted that in this embodiment, the obstacle detection system can be calibrated using two sets of parameters. Specifically, the preset distance includes a first preset distance and a second preset distance, the operating frequency of the ultrasonic probe when the echo energy is at its maximum includes a first operating frequency and a second operating frequency, the detection duration includes a first detection duration and a second detection duration, and the air parameters include a first air parameter and a second air parameter. The first preset distance corresponds to the first operating frequency, the first detection duration, and the first air parameter, while the second preset distance corresponds to the second operating frequency, the second detection duration, and the second air parameter.

[0089] In this embodiment, the calibration obstacle is first moved to a first preset distance from the ultrasonic probe. Then, the ultrasonic camera's frequency sweep function is activated. After the frequency sweep function is activated, the first operating frequency of the ultrasonic probe at its maximum echo energy is recorded. The ultrasonic probe is then controlled to operate at the first operating frequency, while simultaneously recording the corresponding first detection duration and first air parameters. After obtaining the above parameters, the calibration obstacle is further moved. When the distance between the calibration obstacle and the ultrasonic probe is a second preset distance, the ultrasonic camera's frequency sweep function is activated. After the frequency sweep function is activated, the second operating frequency of the ultrasonic probe at its maximum echo energy is recorded. The ultrasonic probe is then controlled to operate at the second operating frequency, while simultaneously recording the corresponding second detection duration and second air parameters.

[0090] In specific implementation, after obtaining the first and second operating frequencies, this embodiment can calculate the target operating frequency of the ultrasonic probe, i.e., the optimal operating frequency of the ultrasonic probe, based on the first and second operating frequencies. For example, F = (F1 + F2) / 2, where F is the target operating frequency, F1 is the first operating frequency, and F2 is the second operating frequency. Furthermore, this embodiment can also calculate the signal conversion and echo processing time corresponding to the ultrasonic sensor based on the first preset distance, the first detection time, and the first air parameter. For example, assuming the air parameter is air temperature, combining the formula relationship between ultrasound and air temperature V = 332 + 0.607 × T (°C), t can be obtained. 固 = t1 - 2*S1 / (332 + 0.607*T1), where t 固The signal conversion and echo processing time corresponding to the ultrasonic sensor represents the time from when the sound wave is emitted by the probe to when the outer plate vibrates and emits an echo, causing the outer plate to vibrate, and then when the sound wave is received and processed by the probe. This time is fixed and independent of the distance measured. t1 is the first detection time, S1 is the first preset distance, and T1 is the air temperature. Then, a correction factor can be calculated based on the signal conversion and echo processing time, the second preset distance, the second detection time, and the second air parameter. The specific process includes determining the ultrasonic speed based on the second air parameter. For example, assuming the air parameter is air temperature, V2 = 332 + 0.607 * T2, where V2 is the ultrasonic speed and T2 is the second air parameter. It should be emphasized that this embodiment uses air temperature as an example to determine the ultrasonic speed, but in reality, in addition to temperature, humidity in the air will also affect the ultrasonic speed. In this embodiment, other air parameters can also be combined to determine the ultrasonic speed, and there is no limitation on this. The test distance between the calibrated obstacle and the ultrasonic probe is calculated based on the signal conversion and echo processing time, the second detection time, and the ultrasonic speed. For example, S1 = 332 + 0.607 * T2. 测 =(t2-t) 固 )*V2*0.5, where S 测 To calibrate the test distance between the obstacle and the ultrasonic probe, t 固 t2 is the signal conversion and echo processing time, t2 is the second detection time, V2 is the ultrasonic velocity, and finally, a correction factor, such as α, is calculated based on the second preset distance and the test distance. 校 =S2 / S 测 , where α 校 S is the correction factor, S2 is the second preset distance, and S 测 To test the distance, a distance calibration formula is finally generated based on the signal conversion and echo processing time, correction factor, and real-time monitored air parameters, S. 标 =(tt) 固 )*V*0.5*α 校 V is related to real-time air parameters and can be obtained based on the relationship between ultrasonic velocity and air parameters.

[0091] This embodiment calculates the target operating frequency based on the first frequency and the second frequency; calculates the signal conversion and echo processing time corresponding to the ultrasonic sensor based on the first preset distance, the first detection time, and the first air parameter; determines the ultrasonic velocity based on the second air parameter; calculates the test distance between the calibrated obstacle and the ultrasonic probe based on the signal conversion and echo processing time, the second detection time, and the ultrasonic velocity; calculates a correction factor based on the second preset distance and the test distance; generates a distance calibration formula based on the signal conversion and echo processing time and the correction factor; and calibrates the obstacle detection system based on the target operating frequency, the correction factor, and the distance calibration formula. Through the above process, a more accurate target operating frequency, correction factor, and distance calibration formula can be obtained, further improving the accuracy of calibration.

[0092] refer to Figure 6 , Figure 6 This is a flowchart illustrating the third embodiment of the obstacle detection system calibration method of the present invention.

[0093] Based on the first embodiment described above, a third embodiment of the obstacle detection system calibration method of the present invention is proposed.

[0094] In this embodiment, after step S40, the method further includes:

[0095] Step S50: Obtain the location information of the actual obstacles detected by the obstacle detection system during vehicle use.

[0096] It should be noted that, in order to further improve the ranging accuracy of the obstacle detection system and the safety of automatic side door closing in this embodiment, during vehicle use, factors such as deformation, dirt, and car film or decals on the outer door panel may affect the probe's operating frequency and correction factor, thus affecting the ranging accuracy. Therefore, recalibration is required during actual use. However, the current method does not involve calibration during vehicle use. In this embodiment, in addition to calibrating the ultrasonic sensor at the factory stage, a secondary calibration of the ultrasonic sensor is performed during the user's use stage. Specifically, this can be achieved in the following way.

[0097] In this specific implementation, at least one ultrasonic probe is installed on the vehicle. The exact number is not limited in this embodiment. After at least one ultrasonic probe detects an obstacle, secondary calibration can be performed during actual vehicle use based on the detected obstacle's location information. This embodiment combines... Figure 7 As shown, the explanation uses a dual-probe setup as an example. Figure 7 As shown, when the car door is not open, the distance S between probe A and the obstacle can be obtained based on the actual obstacle's position information.测A1 and the distance S between probe B and the obstacle 测B1 .

[0098] Step S60: Determine whether the obstacle detection system has a ranging deviation based on the location information.

[0099] In specific implementation, this embodiment uses Figure 8 Taking an example, when an obstacle is detected before the car door opens, that is, the aforementioned S... 测A1 >0 and S 测B1 >0, in this case, in this embodiment, the initial coordinate system corresponding to the opening of the car door is first constructed, that is... Figure 8 The coordinate system shown is constructed with O1 as the origin. Based on this coordinate system, the initial coordinates of the actual obstacle relative to the initial coordinate system can be obtained, for example, S(X1,Y1). Further, the vehicle door is opened to a preset angle. Figure 8 As shown in the figure, θ is used to construct a reference coordinate system for the opened car door, for example... Figure 8 The coordinate system shown is constructed with O2 as the origin. The reference coordinates of the actual obstacle relative to the reference coordinate system can be obtained from this coordinate system, such as S(X2,Y2). The preset angle can be set according to the actual calibration requirements. This embodiment does not limit this.

[0100] Furthermore, the deviation value can be calculated based on the two sets of coordinates and the preset angle, for example, βx = (X2*Cosθ - Y2*Sinθ) / X1, βy = (X2*Sinθ + Y2*Cosθ) / Y1, where βx and βy are the calculated deviations, (X2, Y2) are the reference coordinates, and (X1, Y1) are the initial coordinates. If βx or βy ≥ 1.1, or βx or βy ≤ 0.9, the deviation value is not within the preset deviation range. The preset deviation range can be set to 0.9 to 1.1, or other ranges can be set depending on the situation; this embodiment does not impose any restrictions on this. When the deviation value is not within the preset deviation range, a count is performed. When the continuous count exceeds the preset number, it is determined that the obstacle detection system has a ranging deviation. In this case, the obstacle detection system needs to be recalibrated, i.e., a second calibration. The preset number of times can be set to 5, or it can be set according to the actual situation. It is important to emphasize that in this embodiment, a deviation detection is performed each time the car door is opened. If β ≥ 1.1 or β ≤ 0.9 is detected, a count of N is performed. If β ≥ 1.1 or β ≤ 0.9 is detected again when the car door is opened, another count is performed, this time the count is N+1. When the cumulative count reaches a preset number, i.e., 5 times, a second calibration is performed when the car door is opened for the 6th time. Furthermore, if any β in the consecutive count is within the range of 0.9-1.1, the cumulative count is reset to zero. For example, if β ≥ 1.1 or β ≤ 0.9 is detected during the first and second opening of the car door, the consecutive count is 2. If β is detected within the range of 0.9-1.1 during the third opening of the car door, the count is reset to zero, and the counting restarts from the fourth opening of the car door.

[0101] Step S70: If the obstacle exists, perform a secondary calibration of the obstacle detection system based on the location information.

[0102] In this implementation, assuming a preset number of calibrations is 5, the obstacle detection system undergoes a second calibration on the sixth calibration in this embodiment. The specific calibration process involves re-enabling the ultrasonic probe's frequency sweep function on the sixth calibration and recording the new operating frequency of the ultrasonic probe at its maximum echo energy after the frequency sweep function is enabled. Simultaneously, the current correction factor of the obstacle detection system is acquired; this current correction factor is the correction factor obtained from the previous calibration. Then, a new correction factor is calculated based on the deviation value and the current correction factor and replaced with it, for example, α. 校 =α 原 *0.5*(|βx-1|+|βy-1|), where α 校 As the new correction factor, α 原βx and βy are the current correction factors, and βx and βy are the deviation values. Finally, a new distance calibration formula is generated according to the method described in Example 1 above. Similarly, in this embodiment, the above parameters can also be written into the ECU of the ultrasonic probe and the obstacle detection system to complete the calibration.

[0103] This embodiment acquires the position information of actual obstacles detected by the obstacle detection system during vehicle use. When the vehicle door is closed, an initial coordinate system corresponding to the door is constructed. The initial coordinates of the actual obstacle relative to the initial coordinate system are determined based on the position information. The vehicle door is opened to a preset angle, and a reference coordinate system corresponding to the opened door is constructed. The reference coordinates of the actual obstacle relative to the reference coordinate system are determined based on the position information. A deviation value is calculated based on the initial coordinates, the reference coordinates, and the preset angle. The number of consecutive times the deviation value is not within a preset deviation range is recorded. When the number of consecutive times exceeds a preset number, it is determined that the obstacle detection system has a ranging deviation. If so, the obstacle detection system is recalibrated based on the position information. The deviation of the obstacle detection system is detected by setting different coordinate systems corresponding to the door opening and closing states, and then the obstacle detection system is recalibrated to further ensure the safety of automatic side door opening and closing.

[0104] Furthermore, this embodiment of the invention also proposes a storage medium storing an obstacle detection system calibration program, which, when executed by a processor, implements the steps of the obstacle detection system calibration method described above.

[0105] Since this storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0106] Reference Figure 9 , Figure 9 This is a structural block diagram of the first embodiment of the obstacle detection system calibration device of the present invention.

[0107] like Figure 9 As shown, the obstacle detection system calibration device proposed in this embodiment of the invention includes:

[0108] The control module 10 is used to control the movement of the calibrated obstacle on the slide rail when the vehicle is stationary.

[0109] The reading module 20 is used to activate the frequency sweep function of the ultrasonic probe when the calibrated obstacle moves to a preset distance from the ultrasonic probe, and to record the working frequency of the ultrasonic probe after the frequency sweep function is activated. The working frequency is the working frequency of the ultrasonic probe when the echo energy is at its maximum.

[0110] The reading module 20 is also used to control the ultrasonic probe to detect obstacles according to the working frequency and record the detection time and air parameters.

[0111] The calibration module 30 is used to calibrate the obstacle detection system based on the preset distance, the operating frequency, the detection duration, and the air parameters.

[0112] This embodiment controls the movement of a calibration obstacle on a slide rail when the vehicle is stationary. When the calibration obstacle moves to a preset distance from the ultrasonic probe, the ultrasonic probe's frequency sweep function is activated, and the operating frequency of the ultrasonic probe after the frequency sweep function is activated is recorded. The operating frequency is the frequency at which the ultrasonic probe has the maximum echo energy. The ultrasonic probe is controlled to detect obstacles according to the operating frequency, and the detection time and air parameters are recorded. The obstacle detection system is calibrated based on the preset distance, the operating frequency, the detection time, and the air parameters. This method performs factory online calibration of the obstacle detection system, adaptive calibration of the parameters of each ultrasonic sensor, and real-time secondary calibration during vehicle use. This improves signal strength and ensures ranging accuracy, thereby enhancing the safety of automatic side door opening and closing.

[0113] In one embodiment, the preset distance includes a first preset distance and a second preset distance, the operating frequency of the ultrasonic probe when the echo energy is at its maximum includes a first operating frequency and a second operating frequency, the detection duration includes a first detection duration and a second detection duration, and the air parameters include a first air parameter and a second air parameter. The first preset distance corresponds to the first operating frequency, the first detection duration, and the first air parameter, and the second preset distance corresponds to the second operating frequency, the second detection duration, and the second air parameter.

[0114] The calibration module 30 is further configured to calibrate the obstacle detection system based on the first preset distance, the second preset distance, the first operating frequency, the second operating frequency, the first detection duration, the second detection duration, the first air parameter, and the second air parameter.

[0115] In one embodiment, the calibration module 30 is further configured to: calculate the target operating frequency of the ultrasonic probe based on the first frequency and the second frequency; calculate the signal conversion and echo processing time corresponding to the ultrasonic sensor based on the first preset distance, the first detection time, and the first air parameter; calculate a correction factor based on the signal conversion and echo processing time, the second preset distance, the second detection time, and the second air parameter; generate a distance calibration formula based on the signal conversion and echo processing time, the correction factor, and the real-time monitored air parameter; and calibrate the obstacle detection system based on the target operating frequency, the correction factor, and the distance calibration formula.

[0116] In one embodiment, the calibration module 30 is further configured to determine the ultrasonic velocity based on the second air parameter; calculate the test distance between the calibration obstacle and the ultrasonic probe based on the signal conversion and echo processing time, the second detection time, and the ultrasonic velocity; and calculate a correction factor based on the second preset distance and the test distance.

[0117] In one embodiment, the calibration module 30 is further configured to acquire the location information of the actual obstacles detected by the obstacle detection system during vehicle use; determine whether the obstacle detection system has a ranging deviation based on the location information; if so, perform a secondary calibration of the obstacle detection system based on the location information.

[0118] In one embodiment, the calibration module 30 is further configured to: construct an initial coordinate system before the vehicle door is opened; determine the initial coordinates of the actual obstacle relative to the initial coordinate system based on the position information; open the vehicle door to a preset angle and construct a reference coordinate system corresponding to the door after it has been opened to the preset angle; determine the reference coordinates of the actual obstacle relative to the reference coordinate system based on the position information; calculate a deviation value based on the initial coordinates, the reference coordinates, and the preset angle; record the number of consecutive times the deviation value is not within a preset deviation range; and determine that the obstacle detection system has a ranging deviation when the number of consecutive times exceeds a preset number.

[0119] In one embodiment, the calibration module 30 is further configured to: reactivate the frequency sweep function of the ultrasonic probe and record the new operating frequency of the ultrasonic probe when the echo energy is at its maximum after the frequency sweep function is activated; acquire the current correction factor of the obstacle detection system; calculate a new correction factor based on the deviation value and the current correction factor; generate a new distance calibration formula based on the new correction factor and the new operating frequency; and calibrate the obstacle detection system based on the new correction factor, the new operating frequency, and the new distance calibration formula.

[0120] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0121] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0122] In addition, for technical details not described in detail in this embodiment, please refer to the obstacle detection system calibration method provided in any embodiment of the present invention, which will not be repeated here.

[0123] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0124] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0125] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0126] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A calibration method for an obstacle detection system, characterized in that, The obstacle detection system is installed on the side of the vehicle door and consists of multiple ultrasonic sensors, each of which contains an ultrasonic probe. The obstacle detection system calibration method includes: When the vehicle is stationary, control the movement of the designated obstacle on the slide rail; When the calibrated obstacle moves to a preset distance from the ultrasonic probe, the frequency sweep function of the ultrasonic probe is activated, and the working frequency of the ultrasonic probe after the frequency sweep function is activated is recorded. The working frequency is the working frequency of the ultrasonic probe when the echo energy is at its maximum. The ultrasonic probe is controlled to detect obstacles at the operating frequency, and the detection time and air parameters are recorded. The preset distance includes a first preset distance and a second preset distance; the operating frequency of the ultrasonic probe when the echo energy is at its maximum includes a first operating frequency and a second operating frequency; the detection duration includes a first detection duration and a second detection duration; the air parameters include a first air parameter and a second air parameter; the first preset distance corresponds to the first operating frequency, the first detection duration, and the first air parameter; and the second preset distance corresponds to the second operating frequency, the second detection duration, and the second air parameter. The target operating frequency of the ultrasonic probe is calculated based on the first operating frequency and the second operating frequency. The signal conversion and echo processing time of the ultrasonic sensor is calculated based on the first preset distance, the first detection time, and the first air parameters. The correction factor is calculated based on the signal conversion and echo processing time, the second preset distance, the second detection time, and the second air parameter. A distance calibration formula is generated based on the signal conversion and echo processing time, the correction factor, and the real-time monitored air parameters; The obstacle detection system is calibrated based on the target operating frequency, the correction factor, and the distance calibration formula.

2. The obstacle detection system calibration method as described in claim 1, characterized in that, The calculation of the correction factor based on the signal conversion and echo processing time, the second preset distance, the second detection time, and the second air parameter includes: The ultrasonic velocity is determined based on the second air parameter; The test distance between the calibrated obstacle and the ultrasonic probe is calculated based on the signal conversion and echo processing time, the second detection time, and the ultrasonic velocity. The correction factor is calculated based on the second preset distance and the test distance.

3. The obstacle detection system calibration method as described in claim 1, characterized in that, The obstacle detection system calibration method also includes: Acquire the location information of actual obstacles detected by the obstacle detection system during vehicle use; Based on the location information, determine whether the obstacle detection system has a ranging deviation; If an obstacle exists, the obstacle detection system is calibrated a second time based on the location information.

4. The obstacle detection system calibration method as described in claim 3, characterized in that, The step of determining whether the obstacle detection system has a ranging deviation based on the location information includes: Construct the initial coordinate system corresponding to the opening of the car door; The initial coordinates of the actual obstacle relative to the initial coordinate system are determined based on the location information; The vehicle door is opened to a preset angle, and a reference coordinate system is constructed corresponding to the door after it is opened to the preset angle; The reference coordinates of the actual obstacle relative to the reference coordinate system are determined based on the location information; The deviation value is calculated based on the initial coordinates, the reference coordinates, and the preset angle; Record the number of consecutive times the deviation value is outside the preset deviation range; When the number of consecutive occurrences exceeds a preset number, it is determined that the obstacle detection system has a ranging deviation.

5. The obstacle detection system calibration method as described in claim 4, characterized in that, The secondary calibration of the obstacle detection system based on the location information includes: Re-enable the frequency sweep function of the ultrasonic probe and record the new operating frequency of the ultrasonic probe when the echo energy is at its maximum after the frequency sweep function is enabled. Obtain the current correction factor of the obstacle detection system; Calculate a new correction factor based on the deviation value and the current correction factor; A new distance calibration formula is generated based on the new correction factor and the new operating frequency; The obstacle detection system is calibrated based on the new correction factor, the new operating frequency, and the new distance calibration formula.

6. A calibration device for an obstacle detection system, characterized in that, The obstacle detection system is installed on the side of the vehicle door and consists of multiple ultrasonic sensors, each of which contains an ultrasonic probe. The obstacle detection system calibration device includes: The control module is used to control the movement of the calibrated obstacle on the slide rail when the vehicle is stationary; The reading module is used to activate the frequency sweep function of the ultrasonic probe when the calibrated obstacle moves to a preset distance from the ultrasonic probe, and to record the working frequency of the ultrasonic probe after the frequency sweep function is activated. The working frequency is the working frequency of the ultrasonic probe when the echo energy is at its maximum. The reading module is also used to control the ultrasonic probe to detect obstacles according to the working frequency and record the detection time and air parameters; The preset distance includes a first preset distance and a second preset distance; the operating frequency of the ultrasonic probe when the echo energy is at its maximum includes a first operating frequency and a second operating frequency; the detection duration includes a first detection duration and a second detection duration; the air parameters include a first air parameter and a second air parameter; the first preset distance corresponds to the first operating frequency, the first detection duration, and the first air parameter; and the second preset distance corresponds to the second operating frequency, the second detection duration, and the second air parameter. The calibration module is used to calculate the target operating frequency of the ultrasonic probe based on the first operating frequency and the second operating frequency; The signal conversion and echo processing time of the ultrasonic sensor is calculated based on the first preset distance, the first detection time, and the first air parameters. The correction factor is calculated based on the signal conversion and echo processing time, the second preset distance, the second detection time, and the second air parameter. A distance calibration formula is generated based on the signal conversion and echo processing time, the correction factor, and the real-time monitored air parameters; The obstacle detection system is calibrated based on the target operating frequency, the correction factor, and the distance calibration formula.

7. A calibration device for an obstacle detection system, characterized in that, The obstacle detection system calibration device includes: a memory, a processor, and an obstacle detection system calibration program stored in the memory and running on the processor, the obstacle detection system calibration program being configured to implement the obstacle detection system calibration method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium stores an obstacle detection system calibration program, which, when executed by a processor, implements the obstacle detection system calibration method as described in any one of claims 1 to 5.

Images