Ultrasonic-based blind zone obstacle detection method, device, equipment and medium

Abstract

The application discloses an ultrasonic blind area obstacle detection method, device, equipment and medium. The method comprises the following steps: acquiring a dynamic afterquake value by using an ultrasonic sensor, wherein the dynamic afterquake value is used to represent an actual afterquake duration value detected by the ultrasonic sensor; determining a process feature of the ultrasonic sensor according to a static afterquake value and the dynamic afterquake value, wherein the static afterquake value is used to represent a real afterquake duration value of the ultrasonic sensor, and the process feature comprises non-overlapping obstacle echo, partially overlapping obstacle echo and completely overlapping obstacle echo; judging whether the ultrasonic sensor enters a blind area locking state or not based on a change process of the process feature, wherein the blind area locking state is used to represent that there is an obstacle in the blind area of the ultrasonic sensor. The technical scheme of the embodiment of the application effectively detects the obstacle in the current detection blind area, and improves the recognition ability of the ultrasonic sensor to the blind area obstacle.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic ranging technology, and in particular to a method, apparatus, equipment and medium for detecting blind-zone obstacles based on ultrasonic waves. Background Technology

[0002] Ultrasonic positioning sensors use a transmitting probe to emit sound waves with a frequency greater than 20 kHz and calculate the time of flight to detect distance. Commonly used ultrasonic frequencies are 40 kHz, 48 kHz, and 58 kHz, with 40 kHz being the most common. Ultrasonic positioning typically achieves an accuracy between 1 cm and 3 cm, and is applicable to a detection range between 0.2 m and 5 m.

[0003] Currently, ultrasonic ranging sensors are widely used in reversing, automatic parking, and blind spot detection. There are two common types of ultrasonic sensors: Ultrasonic Parking Assistance (UPA) and Automatic Parking Assistance (APA). UPA sensors have a shorter detection range, typically 0.1m to 2.5m, and are often installed on the front and rear bumpers of vehicles to assist with reversing. APA sensors have a slightly longer detection range, around 0.3m to 5m, and are generally installed on the sides of vehicles. They also have strong directionality and are used to detect obstacles on the left and right sides of the vehicle.

[0004] However, vehicle-mounted ultrasonic ranging sensors are usually integrated transmitters and receivers. After the sensor's pulse excitation signal ends, the sensor's probe will continue to vibrate for a period of time. That is, the sensor's probe will have aftershocks. During the period of aftershocks, ultrasonic ranging sensors usually do not have the ability to detect obstacles and have a detection blind zone. Summary of the Invention

[0005] This invention provides a method, apparatus, device, and medium for detecting blind spots in ultrasonic sensors, in order to solve the problem of blind spots in obstacle detection by ultrasonic sensors.

[0006] In a first aspect, embodiments of the present invention provide a method for detecting blind-spot obstacles based on ultrasound, comprising:

[0007] Dynamic aftershock values ​​are obtained using an ultrasonic sensor, wherein the dynamic aftershock values ​​represent the actual aftershock duration detected by the ultrasonic sensor.

[0008] Based on the static aftershock value and the dynamic aftershock value, the process characteristics of the ultrasonic sensor are determined, wherein the static aftershock value is used to represent the actual aftershock duration value of the ultrasonic sensor, and the process characteristics include no superposition of obstacle echoes, partial superposition of obstacle echoes, and complete superposition of obstacle echoes.

[0009] Based on the changes in the process characteristics, it is determined whether the ultrasonic sensor has entered a blind zone lock-up state, wherein the blind zone lock-up state indicates that there is an obstacle in the blind zone of the ultrasonic sensor.

[0010] Secondly, embodiments of the present invention provide an ultrasonic blind-spot obstacle detection device, comprising:

[0011] A dynamic aftershock value acquisition module is used to acquire dynamic aftershock values ​​using an ultrasonic sensor, wherein the dynamic aftershock value is used to represent the actual aftershock duration value detected by the ultrasonic sensor.

[0012] The process feature determination module is used to determine the process features of the ultrasonic sensor based on the static aftershock value and the dynamic aftershock value, wherein the static aftershock value is used to represent the actual aftershock duration value of the ultrasonic sensor, and the process features include no superposition of obstacle echoes, partial superposition of obstacle echoes, and complete superposition of obstacle echoes.

[0013] The blind zone locking state determination module is used to determine whether the ultrasonic sensor has entered a blind zone locking state based on the change process of the process characteristics, wherein the blind zone locking state indicates that there is an obstacle in the blind zone of the ultrasonic sensor.

[0014] Thirdly, embodiments of the present invention provide an electronic device, the electronic device comprising:

[0015] At least one processor;

[0016] and memory that is communicatively connected to at least one processor;

[0017] The memory stores a computer program that can be executed by at least one processor, which enables the at least one processor to perform the ultrasonic-based blind-spot obstacle detection method of the first aspect described above.

[0018] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the ultrasonic-based blind-spot obstacle detection method of the first aspect described above.

[0019] The ultrasonic blind zone obstacle detection scheme provided in this invention utilizes an ultrasonic sensor to acquire dynamic aftershock values, where the dynamic aftershock values ​​represent the actual aftershock duration detected by the ultrasonic sensor. Based on static and dynamic aftershock values, the process characteristics of the ultrasonic sensor are determined, where the static aftershock values ​​represent the true aftershock duration. These process characteristics include no obstacle echo superposition, partial obstacle echo superposition, and complete obstacle echo superposition. Based on the changes in these process characteristics, it is determined whether the ultrasonic sensor has entered a blind zone lock-in state, indicating the presence of an obstacle in the blind zone. By employing this technical solution, using dynamic and static aftershock values ​​to determine the process characteristics of the ultrasonic sensor, and then based on the changes in these characteristics, it is possible to determine whether an obstacle exists in the blind zone of the ultrasonic sensor, effectively detecting obstacles within the current detection blind zone and improving the ultrasonic sensor's ability to identify obstacles in blind zones.

[0020] It should be understood that the description in this section is not intended to represent key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a blind-spot obstacle detection method based on ultrasound according to Embodiment 1 of the present invention;

[0023] Figure 2 This is a flowchart of a blind zone obstacle detection method based on ultrasound according to Embodiment 2 of the present invention;

[0024] Figure 3 This is a flowchart of a blind zone obstacle detection method based on ultrasound according to Embodiment 3 of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of an ultrasonic blind zone obstacle detection device provided in Embodiment 4 of the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0029] Example 1

[0030] Figure 1 The flowchart of the ultrasonic blind zone obstacle detection method provided in Embodiment 1 of the present invention is applicable to the detection of blind zone obstacles using ultrasonic sensors. The method can be executed by an ultrasonic blind zone obstacle detection device, which can be implemented in hardware and / or software. The ultrasonic blind zone obstacle detection device can be configured in an electronic device, which can be composed of two or more physical entities or a single physical entity.

[0031] like Figure 1 As shown, the blind-spot obstacle detection method based on ultrasound provided in Embodiment 1 of the present invention specifically includes the following steps:

[0032] S101. Obtain dynamic aftershock values ​​using ultrasonic sensors.

[0033] Among them, the dynamic aftershock value is used to represent the actual aftershock duration value detected by the ultrasonic sensor.

[0034] In this embodiment, the ultrasonic sensor can be an onboard ultrasonic ranging radar, which has the ability to transmit and receive ultrasonic signals. The detection method typically involves sending ultrasonic waves to the vicinity of the vehicle, and after the ultrasonic waves are reflected by surrounding objects, calculating the distance between the vehicle and the surrounding objects based on the reflected echoes, thereby providing auxiliary warnings based on the detected distance. The dynamic aftershock value can be understood as the actual real-time aftershock duration value collected by the ultrasonic sensor after it generates a pulse excitation signal, during which the sensor's probe will continue to vibrate for a period of time. During this aftershock period, the ultrasonic sensor may lose its ability to measure the distance to obstacles, which is the detection blind zone of the ultrasonic sensor.

[0035] S102. Determine the process characteristics of the ultrasonic sensor based on the static and dynamic aftershock values.

[0036] Among them, the static aftershock value is used to represent the actual aftershock duration value of the ultrasonic sensor. The process characteristics include no superposition of obstacle echoes, partial superposition of obstacle echoes, and complete superposition of obstacle echoes.

[0037] In this embodiment, the process characteristics of the ultrasonic sensor can be determined by the changes in static and dynamic aftershock values. The static aftershock value can be understood as the actual aftershock duration when the ultrasonic sensor detects an obstacle, i.e., the duration of vibration caused by the ultrasonic sensor's vibration due to the ultrasonic echo reflected back from the obstacle. The static aftershock value can be obtained based on the dynamic aftershock value, or it can be preset according to the inherent properties of the ultrasonic sensor, or it can be dynamically refreshed during the operation of the ultrasonic sensor; the specific method is not limited. Optionally, the latest static aftershock value can be obtained before determining the process characteristics to accurately determine the process characteristics. The process characteristics can be divided according to the relationship between the echo reflected back from the obstacle and the aftershock, for example, it can be divided into obstacle echoes not superimposed, obstacle echoes partially superimposed, and obstacle echoes completely superimposed.

[0038] S103. Based on the changes in process characteristics, determine whether the ultrasonic sensor has entered the blind zone lock-up state.

[0039] The blind zone lockout state indicates that there is an obstacle in the blind zone of the ultrasonic sensor.

[0040] In this embodiment, the presence of an obstacle in the blind zone of the ultrasonic sensor can be determined based on the sequence of changes in process characteristics, such as no obstacle echo, partial obstacle echo, and complete obstacle echo. This indicates whether the sensor has entered a blind zone locking state.

[0041] This invention provides an ultrasonic blind zone obstacle detection method. It utilizes an ultrasonic sensor to acquire dynamic aftershock values, where the dynamic aftershock values ​​represent the actual aftershock duration detected by the ultrasonic sensor. Based on static and dynamic aftershock values, the process characteristics of the ultrasonic sensor are determined. The static aftershock values ​​represent the true aftershock duration of the ultrasonic sensor. These process characteristics include no obstacle echo superposition, partial obstacle echo superposition, and complete obstacle echo superposition. Based on the changes in these process characteristics, it is determined whether the ultrasonic sensor has entered a blind zone locking state, indicating the presence of an obstacle in the blind zone. This invention utilizes dynamic and static aftershock values ​​to determine the process characteristics of the ultrasonic sensor. By analyzing the changes in these process characteristics, it can determine whether an obstacle exists in the blind zone of the ultrasonic sensor, effectively detecting obstacles within the current blind zone and improving the ultrasonic sensor's ability to identify obstacles in blind zones.

[0042] Example 2

[0043] Figure 2 This is a flowchart of a blind zone obstacle detection method based on ultrasound provided in Embodiment 2 of the present invention. The technical solution of the present invention is further optimized based on the above optional technical solutions, and provides a specific method for detecting blind zone obstacles using an ultrasonic sensor.

[0044] Optionally, determining whether the ultrasonic sensor has entered a blind zone lock-up state based on the change process of the process characteristics includes: determining whether the change process of the process characteristics conforms to the following sequence: first, the obstacle echo is not superimposed; then, the obstacle echo is partially superimposed; and finally, the obstacle echo is completely superimposed. If so, then it is determined that the ultrasonic sensor has entered a blind zone lock-up state. The advantage of this setting is that it solves the problem that the ultrasonic sensor cannot accurately identify obstacles in the blind zone.

[0045] like Figure 2 As shown in Embodiment 2 of the present invention, a blind-spot obstacle detection method based on ultrasound is provided, which specifically includes the following steps:

[0046] S201. Use an ultrasonic sensor to obtain dynamic aftershock values.

[0047] S202, Obtain static aftershock values.

[0048] Specifically, static aftershock values ​​can be obtained based on the actual aftershock duration detected by the ultrasonic sensor, i.e., the dynamic aftershock value.

[0049] S203. Determine the process characteristics of the ultrasonic sensor based on the static and dynamic aftershock values.

[0050] Optionally, determining the process characteristics of the ultrasonic sensor based on the static aftershock value and the dynamic aftershock value includes:

[0051] (1) If the difference between the static aftershock value and the dynamic aftershock value does not exceed the preset aftershock value, and the ultrasonic sensor does not detect echo information, then the process characteristic of the ultrasonic sensor is that the obstacle echo is not superimposed.

[0052] In this embodiment of the invention, echo information can be understood as ultrasonic information emitted by an ultrasonic sensor and reflected back from an obstacle. The echo information may include the least significant bit of the echo, the number of echoes, the echo distance, the echo height, and the echo width, etc.

[0053] For example, if the preset aftershock value is 60 microseconds, then when the difference between the static aftershock value and the dynamic aftershock value does not exceed 60 microseconds, that is, the obstacle has not entered the blind zone of the ultrasonic sensor, and the ultrasonic sensor has not detected multiple echoes reflected back from the obstacle, it can be determined that the process characteristic of the ultrasonic sensor is that the obstacle echoes are not superimposed.

[0054] (2) If the difference between the static aftershock value and the dynamic aftershock value exceeds the preset aftershock value, and the ultrasonic sensor detects the echo information, then the process characteristic of the ultrasonic sensor is determined to be the superposition of the obstacle echo.

[0055] For example, if the preset aftershock value is 60 microseconds, then when the difference between the static aftershock value and the dynamic aftershock value exceeds 60 microseconds, that is, when the obstacle begins to enter the blind zone of the ultrasonic sensor but does not completely enter, the ultrasonic sensor can detect multiple echoes reflected back from the obstacle. The aftershock of the ultrasonic sensor and the aftershock caused by the echo cannot be effectively distinguished. That is, the aftershock caused by the echo and the actual aftershock of the ultrasonic sensor begin to superimpose. Therefore, it can be determined that the process characteristic of the ultrasonic sensor is the partial superposition of the obstacle echo.

[0056] (3) If the difference between the static aftershock value and the dynamic aftershock value does not exceed the first preset aftershock value, and the ultrasonic sensor detects the echo information, then the process characteristic of the ultrasonic sensor is determined to be that the obstacle echoes are completely superimposed.

[0057] For example, if the preset aftershock value is 60 microseconds, then when the difference between the static aftershock value and the dynamic aftershock value does not exceed 60 microseconds, the ultrasonic sensor can detect multiple echoes reflected back from the obstacle. That is, the obstacle has completely entered the blind zone of the ultrasonic sensor. The aftershocks of the ultrasonic sensor and the aftershocks caused by the echoes cannot be effectively distinguished. The aftershocks caused by the echoes and the actual aftershocks of the ultrasonic sensor are in a state of complete superposition. Therefore, it can be determined that the process characteristic of the ultrasonic sensor is that the obstacle echoes are completely superimposed.

[0058] S204. Determine whether the process of change of the process characteristics conforms to the following sequence: first, the obstacle echo is not superimposed; then, the obstacle echo is partially superimposed; and finally, the obstacle echo is completely superimposed. If yes, execute S205; otherwise, execute S206.

[0059] Specifically, if the sequence of changes in the process characteristics of the ultrasonic sensor detection process is as follows: first, the obstacle echo is not superimposed; then, the obstacle echo is partially superimposed; and finally, the obstacle echo is completely superimposed, then it can be determined that there is an obstacle in the blind zone of the ultrasonic sensor. If the sequence of changes in the process characteristics of the ultrasonic sensor detection process is not as described above, then it can be determined that there is no obstacle in the blind zone of the ultrasonic sensor.

[0060] S205. Determine that the ultrasonic sensor has entered the blind zone lockout state.

[0061] S206. Confirm that the ultrasonic sensor has not entered the blind zone lockout state.

[0062] The ultrasonic blind zone obstacle detection method provided in this invention, after acquiring dynamic aftershock values, determines the process characteristics of ultrasonic sensor detection based on the difference between static and dynamic aftershock values ​​and echo information. Then, based on the sequence of changes in the process characteristics, it can be determined whether there is an obstacle in the blind zone of the ultrasonic sensor. This solves the problem that ultrasonic sensors are weak in detecting obstacles due to aftershocks, improves the blind zone detection capability of ultrasonic sensors, and prevents collisions.

[0063] Based on the above embodiments, the method may further include: refreshing the static aftershock value according to the dynamic aftershock value and / or a preset upper limit value when the preset refresh conditions are met. The advantage of this setting is that by refreshing the static aftershock value, the current static aftershock value can be accurately determined, thereby accurately determining the process characteristics and providing support for accurately identifying obstacles in the blind spot.

[0064] Specifically, the static aftershock value can be obtained based on the dynamic aftershock value and / or a preset upper limit value. When the preset refresh conditions are met, the dynamic aftershock value and / or the preset upper limit value can be assigned to the static aftershock value.

[0065] Furthermore, the step of refreshing the static aftershock value based on the dynamic aftershock value when the preset refresh conditions are met includes at least one of the following:

[0066] (1) Each time the ultrasonic sensor is powered on, the static aftershock value is refreshed according to the preset upper limit value. The advantage of this setting is that it can effectively reduce the probability of false alarms of process characteristics.

[0067] For example, the preset upper limit value can be set according to the factory parameters of the ultrasonic sensor. If the preset upper limit value is the upper limit value that the ultrasonic sensor can detect aftershocks, then when the vehicle ECU (Electronic Control Unit) is powered on, that is, after the ultrasonic sensor is powered on each time, the preset upper limit value can be assigned to the static aftershock value.

[0068] (2) If the ambient temperature meets the preset conditions, and the process characteristics of the ultrasonic sensor are neither partial superposition of obstacle echoes nor complete superposition of obstacle echoes, then the static aftershock value is refreshed according to the preset upper limit value. The preset conditions include an ambient temperature higher than the rated temperature of the ultrasonic sensor. The advantage of this setting is that it can effectively reduce the impact of excessively high or low ambient temperatures on the determination of process characteristics.

[0069] For example, if the preset conditions are that the ambient temperature is higher than 60 degrees or lower than -20 degrees, then when the ambient temperature is -25 degrees and the process characteristics of the ultrasonic sensor are not partial superposition of obstacle echoes or complete superposition of obstacle echoes, the preset upper limit value can be assigned to the static aftershock value.

[0070] (3) Within a preset time period, if the change in the dynamic aftershock value conforms to a preset change pattern, and the process characteristics of the ultrasonic sensor are neither partial superposition of obstacle echoes nor complete superposition of obstacle echoes, then the static aftershock value will be refreshed based on the dynamic aftershock value. The preset change pattern includes the condition that the difference between the maximum and minimum values ​​of the dynamic aftershock value within the preset time period does not exceed a preset value. The advantage of this setting is that by setting the above refresh conditions, the static aftershock value can be accurately refreshed, laying the foundation for accurate subsequent judgment of whether a vehicle has entered a blind spot.

[0071] For example, if the preset duration is 1 second and the preset change pattern is that the difference between the maximum and minimum values ​​of the dynamic aftershock value does not exceed 60 milliseconds within 1 second, then when the change of the dynamic aftershock value conforms to the preset change pattern, and the process characteristics of the ultrasonic sensor are not partial superposition of obstacle echoes or complete superposition of obstacle echoes, then the dynamic aftershock value is assigned to the static aftershock value.

[0072] Example 3

[0073] Figure 3 This is a flowchart of a blind zone obstacle detection method based on ultrasound provided in Embodiment 3 of the present invention. The technical solution of the present invention is further optimized based on the above optional technical solutions, and provides another way for ultrasonic sensors to detect blind zone obstacles.

[0074] Optionally, the process characteristics of the ultrasonic sensor are determined based on static and dynamic aftershock values. This includes inputting the dynamic and static aftershock values, along with echo information, into a preset process characteristic determination model, and determining the process characteristics of the ultrasonic sensor based on the output of the preset process characteristic model. The preset process characteristic determination model is constructed based on a machine learning algorithm. The advantage of this setup is that using the preset process characteristic determination model can significantly improve the efficiency and accuracy of the ultrasonic sensor in detecting obstacles in blind zones.

[0075] like Figure 3 As shown in Embodiment 3 of the present invention, a blind-spot obstacle detection method based on ultrasound is provided, which specifically includes the following steps:

[0076] S301. Use an ultrasonic sensor to obtain dynamic aftershock values.

[0077] S302. Input the dynamic aftershock value, static aftershock value and echo information into the preset process feature determination model, and determine the process features of the ultrasonic sensor based on the output results of the preset process features.

[0078] The preset process feature determination model is built based on machine learning algorithms.

[0079] For example, dynamic aftershock values, static aftershock values, near-field echo distance, least significant bit of the echo, and echo width can be input into a pre-trained preset process feature determination model to obtain the process features of the ultrasonic sensor detecting obstacles.

[0080] Furthermore, the preset process feature determination model is trained in the following way: using the dynamic aftershock value, static aftershock value and echo information of the ultrasonic sensor at different positions for each obstacle among a variety of obstacles as sample data, and using the process features corresponding to each obstacle at different positions as labels for the sample data, training samples are obtained; the initial process feature determination model is trained using the training samples to obtain the process feature determination model.

[0081] Specifically, various obstacles, such as PVC pipes, walls, traffic cones, and wire mesh, can be collected. The ultrasonic sensors detect dynamic aftershock values, static aftershock values, and echo information at different locations. This data serves as sample data, which can be manually labeled. The process characteristics corresponding to each obstacle at different locations are the labels for the sample data. Using training samples composed of sample data and labels, an initial process feature determination model is trained. Based on feature classification and machine learning algorithms, a process feature determination model can be obtained. The accuracy of the process feature determination model in judging process features needs to reach a preset probability value, such as 95%. Furthermore, the confidence level of the process feature output by the model can be calculated to indicate the degree of confidence in the presence of obstacles within the blind zone.

[0082] S303. Based on the changes in process characteristics, determine whether the ultrasonic sensor has entered the blind zone lock-up state.

[0083] The ultrasonic blind zone obstacle detection method provided in this invention can determine the process characteristics of the ultrasonic sensor by acquiring dynamic aftershock values, static aftershock values, and echo information according to a preset process characteristic judgment model. Thus, the presence of an obstacle in the blind zone of the ultrasonic sensor can be determined based on the sequence of changes in the process characteristics. This improves the efficiency of the ultrasonic sensor in detecting obstacles in the blind zone and also ensures the accuracy of the detection.

[0084] Example 4

[0085] Figure 4 This is a schematic diagram of a blind-spot obstacle detection device based on ultrasound, provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes: a dynamic aftershock value acquisition module 401, a process characteristic determination module 402, and a blind zone locking state judgment module 403, wherein:

[0086] A dynamic aftershock value acquisition module is used to acquire dynamic aftershock values ​​using an ultrasonic sensor, wherein the dynamic aftershock value is used to represent the actual aftershock duration value detected by the ultrasonic sensor.

[0087] The process feature determination module is used to determine the process features of the ultrasonic sensor based on the static aftershock value and the dynamic aftershock value, wherein the static aftershock value is used to represent the actual aftershock duration value of the ultrasonic sensor, and the process features include no superposition of obstacle echoes, partial superposition of obstacle echoes, and complete superposition of obstacle echoes.

[0088] The blind zone locking state determination module is used to determine whether the ultrasonic sensor has entered a blind zone locking state based on the change process of the process characteristics, wherein the blind zone locking state indicates that there is an obstacle in the blind zone of the ultrasonic sensor.

[0089] The ultrasonic blind zone obstacle detection device provided in this invention uses dynamic and static aftershock values ​​to determine the process characteristics of the ultrasonic sensor. Based on the changes in these process characteristics, it can be determined whether there are obstacles in the blind zone of the ultrasonic sensor, effectively detecting obstacles in the current blind zone and improving the ultrasonic sensor's ability to identify obstacles in the blind zone.

[0090] Optionally, the device may also include:

[0091] The static aftershock value refresh module is used to refresh the static aftershock value based on the dynamic aftershock value and / or the preset upper limit value when the preset refresh conditions are met.

[0092] Furthermore, the step of refreshing the static aftershock value based on the dynamic aftershock value under the condition of satisfying the preset refresh conditions includes at least one of the following: refreshing the static aftershock value based on the preset upper limit value each time the ultrasonic sensor is powered on; refreshing the static aftershock value based on the preset upper limit value if the ambient temperature meets the preset conditions and the process characteristics of the ultrasonic sensor are not partial superposition of obstacle echoes or complete superposition of obstacle echoes, wherein the preset conditions include the ambient temperature being higher than the rated temperature of the ultrasonic sensor; refreshing the static aftershock value based on the dynamic aftershock value if the change of the dynamic aftershock value conforms to the preset change law within the preset time period and the process characteristics of the ultrasonic sensor are not partial superposition of obstacle echoes or complete superposition of obstacle echoes, wherein the preset change law includes the difference between the maximum and minimum values ​​of the dynamic aftershock value not exceeding the preset value within the preset time period.

[0093] Optionally, the process feature determination module includes:

[0094] The echo non-overlapping determination unit is used to determine that the process characteristic of the ultrasonic sensor is that the obstacle echo is not overlapped if the difference between the static aftershock value and the dynamic aftershock value does not exceed a preset aftershock value and the ultrasonic sensor does not detect echo information. The echo information is the ultrasonic information emitted by the ultrasonic sensor reflected back by the obstacle.

[0095] The echo component superposition determination unit is used to determine that if the difference between the static aftershock value and the dynamic aftershock value exceeds the preset aftershock value, and the ultrasonic sensor detects echo information, then the process characteristic of the ultrasonic sensor is obstacle echo component superposition.

[0096] The echo superposition determination unit is used to determine that the process characteristic of the ultrasonic sensor is complete superposition of obstacle echoes if the difference between the static aftershock value and the dynamic aftershock value does not exceed the first preset aftershock value and the ultrasonic sensor detects echo information.

[0097] Optionally, the blind zone locking status determination module includes:

[0098] The process sequence determination unit is used to determine whether the change process of the process characteristics conforms to the process sequence of first, when the obstacle echo is not superimposed, then when the obstacle echo is partially superimposed, and then when the obstacle echo is completely superimposed.

[0099] The blind zone lock-up state determination unit is used to determine that the ultrasonic sensor has entered the blind zone lock-up state if the judgment result of the process sequence judgment unit is yes.

[0100] Optionally, the process feature determination module may also include:

[0101] The process feature determination unit is used to input the dynamic aftershock value, the static aftershock value, and the echo information into a preset process feature determination model, and determine the process features of the ultrasonic sensor based on the output of the preset process features, wherein the preset process feature determination model is constructed based on a machine learning algorithm.

[0102] Furthermore, the preset process feature determination model is trained in the following way: using the dynamic aftershock value, static aftershock value and echo information of the ultrasonic sensor at different positions for each of the various obstacles as sample data, and using the process features corresponding to each obstacle at different positions as the labels of the sample data to obtain training samples; using the training samples to train the initial process feature determination model to obtain the process feature determination model.

[0103] The ultrasonic blind-spot obstacle detection device provided in this embodiment of the invention can execute the ultrasonic blind-spot obstacle detection method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0104] Example 5

[0105] Figure 5A schematic diagram of an electronic device 50 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0106] like Figure 5 As shown, the electronic device 50 includes at least one processor 51 and a memory, such as a read-only memory (ROM) 52 and a random access memory (RAM) 53, communicatively connected to the at least one processor 51. The memory stores computer programs executable by the at least one processor. The processor 51 can perform various appropriate actions and processes based on the computer program stored in the ROM 52 or loaded into the RAM 53 from storage unit 58. The RAM 53 can also store various programs and data required for the operation of the electronic device 50. The processor 51, ROM 52, and RAM 53 are interconnected via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0107] Multiple components in electronic device 50 are connected to I / O interface 55, including: input unit 56, such as keyboard, mouse, etc.; output unit 57, such as various types of monitors, speakers, etc.; storage unit 58, such as disk, optical disk, etc.; and communication unit 59, such as network card, modem, wireless transceiver, etc. Communication unit 59 allows electronic device 50 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0108] Processor 51 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 51 performs the various methods and processes described above, such as ultrasonic-based blind-spot obstacle detection methods.

[0109] In some embodiments, the ultrasonic-based blind-spot obstacle detection method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 58. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 50 via ROM 52 and / or communication unit 59. When the computer program is loaded into RAM 53 and executed by processor 51, one or more steps of the ultrasonic-based blind-spot obstacle detection method described above may be performed. Alternatively, in other embodiments, processor 51 may be configured to perform the ultrasonic-based blind-spot obstacle detection method by any other suitable means (e.g., by means of firmware).

[0110] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0111] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0112] The computer equipment provided above can be used to execute the ultrasonic-based blind-spot obstacle detection method provided in any of the above embodiments, and has the corresponding functions and beneficial effects.

[0113] Example 6

[0114] In the context of this invention, a computer-readable storage medium may be a tangible medium, and the computer-executable instructions, when executed by a computer processor, are used to perform an ultrasonic-based blind-spot obstacle detection method, the method comprising:

[0115] Dynamic aftershock values ​​are obtained using an ultrasonic sensor, wherein the dynamic aftershock values ​​represent the actual aftershock duration detected by the ultrasonic sensor.

[0116] Based on the static aftershock value and the dynamic aftershock value, the process characteristics of the ultrasonic sensor are determined, wherein the static aftershock value is used to represent the actual aftershock duration value of the ultrasonic sensor, and the process characteristics include no superposition of obstacle echoes, partial superposition of obstacle echoes, and complete superposition of obstacle echoes.

[0117] Based on the changes in the process characteristics, it is determined whether the ultrasonic sensor has entered a blind zone lock-up state, wherein the blind zone lock-up state indicates that there is an obstacle in the blind zone of the ultrasonic sensor.

[0118] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by, or in conjunction with, an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0119] The computer equipment provided above can be used to execute the ultrasonic-based blind-spot obstacle detection method provided in any of the above embodiments, and has the corresponding functions and beneficial effects.

[0120] It is worth noting that in the embodiments of the ultrasonic blind spot obstacle detection device described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0121] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for detecting blind-spot obstacles based on ultrasound, characterized in that, include: Dynamic aftershock values ​​are obtained using an ultrasonic sensor, wherein the dynamic aftershock values ​​represent the actual aftershock duration detected by the ultrasonic sensor. Based on the static aftershock value and the dynamic aftershock value, the process characteristics of the ultrasonic sensor are determined, wherein the static aftershock value is used to represent the actual aftershock duration value of the ultrasonic sensor, and the process characteristics include no superposition of obstacle echoes, partial superposition of obstacle echoes, and complete superposition of obstacle echoes. Based on the changes in the process characteristics, it is determined whether the ultrasonic sensor has entered a blind zone lock-up state, wherein the blind zone lock-up state indicates that there is an obstacle in the blind zone of the ultrasonic sensor. Under the condition that the preset refresh conditions are met, the static aftershock value is refreshed according to the dynamic aftershock value and / or the preset upper limit value. The step of refreshing the static aftershock value based on the dynamic aftershock value when the preset refresh conditions are met includes at least one of the following: Each time the ultrasonic sensor is powered on, the static aftershock value is refreshed according to the preset upper limit value; If the ambient temperature meets the preset conditions, and the process characteristics of the ultrasonic sensor are not partial superposition of obstacle echoes or complete superposition of obstacle echoes, then the static aftershock value is refreshed according to the preset upper limit value, wherein the preset conditions include an ambient temperature higher than the rated temperature of the ultrasonic sensor. If, within a preset time period, the change in the dynamic aftershock value conforms to a preset change pattern, and the process characteristics of the ultrasonic sensor are neither partial superposition of obstacle echoes nor complete superposition of obstacle echoes, then the static aftershock value will be refreshed based on the dynamic aftershock value. The preset change pattern includes the fact that, within the preset time period, the difference between the maximum and minimum values ​​of the dynamic aftershock value does not exceed a preset value.

2. The method according to claim 1, characterized in that, The process characteristics for determining the ultrasonic sensor based on the static aftershock value and the dynamic aftershock value include: If the difference between the static aftershock value and the dynamic aftershock value does not exceed the preset aftershock value, and the ultrasonic sensor does not detect echo information, then the process characteristic of the ultrasonic sensor is determined to be that the obstacle echo is not superimposed, wherein the echo information is the ultrasonic information emitted by the ultrasonic sensor reflected back by the obstacle. If the difference between the static aftershock value and the dynamic aftershock value exceeds the preset aftershock value, and the ultrasonic sensor detects echo information, then the process characteristic of the ultrasonic sensor is determined to be the superposition of the obstacle echo portion. If the difference between the static aftershock value and the dynamic aftershock value does not exceed the first preset aftershock value, and the ultrasonic sensor detects echo information, then the process characteristic of the ultrasonic sensor is determined to be that the obstacle echoes are completely superimposed.

3. The method according to claim 1, characterized in that, The determination of whether the ultrasonic sensor has entered a blind zone lock-up state based on the change process characteristics includes: Determine whether the change process of the process characteristics conforms to the following sequence: first, the obstacle echo is not superimposed; then, the obstacle echo is partially superimposed; and finally, the obstacle echo is completely superimposed. If so, then the ultrasonic sensor is confirmed to be in a blind zone locked state.

4. The method according to claim 1, characterized in that, The process characteristics of determining the ultrasonic sensor based on the static aftershock value and the dynamic aftershock value include: The dynamic aftershock value, the static aftershock value, and the echo information are input into a preset process feature determination model, and the process features of the ultrasonic sensor are determined based on the output of the preset process features. The preset process feature determination model is constructed based on a machine learning algorithm.

5. The method according to claim 4, characterized in that, The preset process feature determination model is trained in the following way: The dynamic aftershock value, static aftershock value, and echo information of the ultrasonic sensor at different locations for each of the various obstacles are used as sample data. The process characteristics of each obstacle at different locations are used as labels for the sample data to obtain training samples. The initial process feature determination model is trained using the training samples to obtain the process feature determination model.

6. A blind-spot obstacle detection device based on ultrasound, characterized in that, include: A dynamic aftershock value acquisition module is used to acquire dynamic aftershock values ​​using an ultrasonic sensor, wherein the dynamic aftershock value is used to represent the actual aftershock duration value detected by the ultrasonic sensor. The process feature determination module is used to determine the process features of the ultrasonic sensor based on the static aftershock value and the dynamic aftershock value, wherein the static aftershock value is used to represent the actual aftershock duration value of the ultrasonic sensor, and the process features include no superposition of obstacle echoes, partial superposition of obstacle echoes, and complete superposition of obstacle echoes. The blind zone locking state determination module is used to determine whether the ultrasonic sensor has entered a blind zone locking state based on the change process of the process characteristics, wherein the blind zone locking state is used to indicate that there is an obstacle in the blind zone of the ultrasonic sensor; The device further includes: The static aftershock value refresh module is used to refresh the static aftershock value based on the dynamic aftershock value and / or the preset upper limit value when the preset refresh conditions are met. The step of refreshing the static aftershock value based on the dynamic aftershock value when the preset refresh conditions are met includes at least one of the following: Each time the ultrasonic sensor is powered on, the static aftershock value is refreshed according to the preset upper limit value; If the ambient temperature meets the preset conditions, and the process characteristics of the ultrasonic sensor are not partial superposition of obstacle echoes or complete superposition of obstacle echoes, then the static aftershock value is refreshed according to the preset upper limit value, wherein the preset conditions include an ambient temperature higher than the rated temperature of the ultrasonic sensor. If, within a preset time period, the change in the dynamic aftershock value conforms to a preset change pattern, and the process characteristics of the ultrasonic sensor are neither partial superposition of obstacle echoes nor complete superposition of obstacle echoes, then the static aftershock value will be refreshed based on the dynamic aftershock value. The preset change pattern includes the fact that, within the preset time period, the difference between the maximum and minimum values ​​of the dynamic aftershock value does not exceed a preset value.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the ultrasonic blind-spot obstacle detection method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the ultrasonic blind-spot obstacle detection method according to any one of claims 1-5.

Images