A vehicle width detection method based on ultrasonic waves

Abstract

The present application relates to a kind of vehicle width detection method and system based on ultrasonic wave, comprising: setting multiple parallel circular tube superposition generates the basic model of measured vehicle, test vehicle moves in the direction perpendicular to basic model, constructs basic model equation;Test vehicle moves in the direction perpendicular to measured vehicle, obtains the distance data group d1, data group d2 and corresponding positioning data group s1, data group s2 of measured vehicle and test vehicle in the process of test vehicle approaching and moving away from measured vehicle by the ultrasonic sensor of test vehicle;The position of the two edge points of measured vehicle is calculated, and the width of measured vehicle is calculated based on the position of the two edge points;It can improve the accuracy in the scene of pure ultrasonic wave scanning parking space, so that automatic parking can be more suitable for narrower parking space.

Description

TECHNICAL FIELD

[0001] The present application relates to the related technical field of automatic parking, and in particular to a vehicle width detection method based on ultrasonic waves. BACKGROUND

[0002] Parking space detection based on ultrasonic waves is common in non-marked scenes, and the calculation of parking space width is achieved by fitting the width of two obstacles and the width between vehicles, and the width between vehicles can be regarded as the reverse body width, so the vehicle width detection is the basis and premise of the parking space width detection, and directly affects the accuracy of the parking space extraction.

[0003] At present, most of the vehicle width detection based on ultrasonic waves is realized by taking the jumping point of the distance of the sensor detecting the vehicle head as the basis.

[0004] This detection and calculation method is basically based on statistics to determine the starting point and ending point of a vehicle width. Taking the starting point as an example, the starting point is determined according to the reference point related parameters. The reference point is obtained by processing the first echo width near the jumping point and multiple echoes according to multiple scenes and multiple times, and the deviation from all known effective data is the smallest. This calculation method has relatively large precision deviation, and for narrow parking spaces of 2.3 meters or less, there is a great risk of collision, and it must rely on multiple planning in automatic parking or depth learning of the camera to park, which will complicate the scene, increase the cost of automatic parking, and also bring poor experience to the automatic parking customers. SUMMARY

[0005] The present application provides a vehicle width detection method and system based on ultrasonic waves, which can improve the accuracy in the scene of pure ultrasonic wave scanning parking space and make the automatic parking more suitable for narrower parking spaces.

[0006] According to the first aspect of the present application, a vehicle width detection method based on ultrasonic waves is provided, comprising:

[0007] Step 1, set a plurality of parallel circular tubes to generate a basic model of the vehicle to be measured, and test the vehicle to move in a direction perpendicular to the basic model, and construct a basic model equation y=f(d,s), y represents the most front end position of the basic model, d represents the distance between the basic model and the test vehicle obtained by the ultrasonic sensor of the test vehicle, and s represents the positioning of the test vehicle;

[0008] Step 2, the test vehicle moves perpendicularly to the measured vehicle, the ultrasonic sensor of the test vehicle obtains a plurality of distance data groups d1 of the measured vehicle and the test vehicle in the process of the test vehicle approaching the measured vehicle and corresponding positioning data groups s1 of the test vehicle, and a plurality of distance data groups d2 of the measured vehicle and the test vehicle in the process of the test vehicle moving away from the measured vehicle and corresponding positioning data groups s2 of the test vehicle;

[0009] Step 3, the position of one edge point of the measured vehicle is obtained based on the data group d1 and the data group s1 and the basic model equation, the position of another edge point of the measured vehicle is obtained based on the data group d2 and the data group s2 and the basic model equation, and the width of the measured vehicle is calculated based on the positions of the two edge points.

[0010] On the basis of the above technical solutions, the application can also be improved as follows.

[0011] Optionally, the step 1 comprises:

[0012] The test data of each circular pipe is obtained respectively, including: the distance d' of the circular pipe to the test vehicle and the positioning s' of the test vehicle to obtain the frontmost end position y' of the circular pipe.

[0013] The test data of each circular pipe is superimposed and combined to obtain the basic model equation.

[0014] Optionally, the process of obtaining the frontmost end position y' comprises:

[0015] The distance d1' of the ultrasonic sensor to the circular pipe and the positioning s1' of the test vehicle corresponding to any moment are obtained.

[0016] The nearest distance d2' of the ultrasonic sensor to the circular pipe and the positioning s2' of the test vehicle corresponding to any moment are obtained.

[0017] The position of the test vehicle is determined based on the positioning s1' and the positioning s2' and the position of the test vehicle to form a right triangle, and d1' and d2' are the hypotenuse and one right angle side distance of the right triangle respectively.

[0018] Optionally, the process of determining whether the test vehicle approaches or moves away from the measured vehicle in the step 2 comprises:

[0019] The ultrasonic sensor detects the nearest distance of the test vehicle to the measured vehicle, and each group of distance data before the moment corresponding to the nearest distance is the data group d1, and each group of distance data after the moment corresponding to the nearest distance is the data group d2.

[0020] Optionally, the step 2 further comprises: setting a distance threshold range and a distance and time change trend range.

[0021] Adjust, add or delete each group of distance data according to whether each group of distance data in the data group d1 and the data group d2 belongs to the distance threshold range and / or the distance and time change trend range.

[0022] Optionally, the data is corrected according to the basic model equation, and the corrected data includes one or more of the data group d1 and the corresponding data group s1, the distance d2 and the corresponding data group s2, and the closest distance between the test vehicle and the measured vehicle.

[0023] Optionally, the positioning data of the two edge points of the measured vehicle is corrected according to the closest distance between the test vehicle and the measured vehicle detected by the ultrasonic sensor.

[0024] According to a second aspect of the present application, an ultrasonic-based vehicle width detection system is provided, comprising a basic model equation construction module, a test module and a vehicle width calculation module.

[0025] The basic model equation construction module is configured to set a plurality of parallel circular tubes to be superimposed to generate a basic model of the measured vehicle, and the test vehicle is configured to move in a direction perpendicular to the basic model, and a basic model equation y=f(d,s) is constructed, wherein y represents the most front end position of the basic model, d represents the distance between the basic model and the test vehicle obtained by the ultrasonic sensor of the test vehicle, and s represents the positioning of the test vehicle.

[0026] The test module is configured to make the test vehicle move in a direction perpendicular to the measured vehicle, and obtain a plurality of groups of distance data d1 between the measured vehicle and the test vehicle and corresponding positioning data s1 of the test vehicle during the approach of the test vehicle to the measured vehicle, and a plurality of groups of distance data d2 between the measured vehicle and the test vehicle and corresponding positioning data s2 of the test vehicle during the departure of the test vehicle from the measured vehicle through the ultrasonic sensor of the test vehicle.

[0027] The vehicle width calculation module is configured to obtain the position of one edge point of the measured vehicle based on the data group d1 and the data group s1 and the basic model equation, obtain the position of another edge point of the measured vehicle based on the data group d2 and the data group s2 and the basic model equation, and calculate the width of the measured vehicle based on the positions of the two edge points.

[0028] According to a third aspect of the present application, an electronic device is provided, comprising a memory and a processor, wherein the processor is configured to execute a computer management program stored in the memory to implement the steps of the ultrasonic-based vehicle width detection method.

[0029] According to a fourth aspect of the present application, a computer readable storage medium is provided, having stored thereon a computer management program which, when executed by a processor, implements the steps of the ultrasonic-based vehicle width detection method.

[0030] The present application provides an ultrasonic-based vehicle width detection method, system, electronic device and storage medium, a model of a vehicle to be measured is constructed based on a superimposed circular tube, an equation of a basic model is constructed based on the model, and in a subsequent process of testing the vehicle to be measured, only distance data needs to be collected, and the width of the vehicle to be measured can be obtained by combining the distance data with positioning data of the vehicle, without the need for a plurality of deep learning processes, the process data obtained can also be adjusted according to the basic model, the vehicle width detection precision can be improved, and automatic parking can be more easily implemented in a narrow parking space scenario under non-marked lines or dark vision conditions. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 A flowchart of an ultrasonic-based vehicle width detection method provided by the present application is shown in FIG. 1.

[0032] Figure 2 A schematic diagram of testing a basic model provided by an embodiment of the present application is shown in FIG. 2.

[0033] Figure 3 A schematic diagram of basic model data obtained by testing a basic model provided by an embodiment of the present application is shown in FIG. 3.

[0034] Figure 4 A schematic diagram of testing a basic vertical parking space provided by an embodiment of the present application is shown in FIG. 4.

[0035] Figure 5 A schematic diagram of basic model data obtained by testing a basic vertical parking space provided by an embodiment of the present application is shown in FIG. 5.

[0036] Figure 6 A structural block diagram of an ultrasonic-based vehicle width detection system provided by the present application is shown in FIG. 6.

[0037] Figure 7 A hardware structural schematic diagram of a possible electronic device provided by the present application is shown in FIG. 7.

[0038] Figure 8 A hardware structural schematic diagram of a possible computer readable storage medium provided by the present application is shown in FIG. 8. DETAILED DESCRIPTION

[0039] The principles and features of the present application are described below in conjunction with the accompanying drawings, and the examples are only used to explain the present application and not to limit the scope of the present application.

[0040] Figure 1A vehicle width detection method based on ultrasonic waves provided by the present application is shown in a flow chart as Figure 1 The detection method comprises the following steps:

[0041] Step 1: A plurality of parallel circular tubes are set to generate a basic model of the vehicle to be detected, the test vehicle moves in a direction perpendicular to the basic model, and a basic model equation y=f(d,s) is constructed, wherein y represents the position of the front end of the basic model, d represents the distance between the basic model and the test vehicle obtained by the ultrasonic sensor of the test vehicle, and s represents the positioning of the test vehicle.

[0042] In a specific implementation, the positioning data of the test vehicle can be calculated by using the vehicle body message or obtained from other modules, and the ultrasonic controller obtains the steering angle, vehicle speed, gear pulse and other related data from the vehicle body to calculate the positioning related information.

[0043] Step 2: The test vehicle moves in a direction perpendicular to the vehicle to be detected, a plurality of distance data groups d1 between the vehicle to be detected and the test vehicle and corresponding positioning data groups s1 of the test vehicle during the approach of the test vehicle to the vehicle to be detected are obtained by the ultrasonic sensor of the test vehicle, and a plurality of distance data groups d2 between the vehicle to be detected and the test vehicle and corresponding positioning data groups s2 of the test vehicle during the departure of the test vehicle from the vehicle to be detected are obtained.

[0044] In a specific implementation, the vehicle to be detected can be regarded as an obstacle of the test vehicle, and the ultrasonic sensor first detects a plurality of distance data groups of the test vehicle approaching the obstacle, and then detects a plurality of distance data groups of the test vehicle moving away from the obstacle.

[0045] Step 3: The position of one edge point of the vehicle to be detected is obtained based on the data group d1 and the data group s1 and the basic model equation, the position of another edge point of the vehicle to be detected is obtained based on the data group d2 and the data group s2 and the basic model equation, and the width of the vehicle to be detected is calculated based on the positions of the two edge points.

[0046] The present application provides a vehicle width detection method based on ultrasonic waves, which can improve the accuracy of vehicle width detection and make it easier to realize automatic parking in narrow parking space scenarios under non-marked lines or dark vision conditions.

[0047] Embodiment 1

[0048] Embodiment 1 provided by the present application is an embodiment of a vehicle width detection method based on ultrasonic waves provided by the present application, which is combined with Figure 1 It can be seen that the embodiment of the detection method comprises the following steps:

[0049] Step 1, set a plurality of parallel circular tubes to generate a basic model of the vehicle to be tested, the test vehicle moves in a direction perpendicular to the basic model, and the basic model equation y=f(d,s) is constructed, y represents the frontmost position of the basic model, d represents the distance between the basic model and the test vehicle obtained by the ultrasonic sensor of the test vehicle, and s represents the positioning of the test vehicle.

[0050] As shown in Figure 2 It is a schematic diagram of testing the basic model provided by the embodiment of the application; the ultrasonic sensor in the embodiment is taken as an example of the right front sensor of the test vehicle, the obstacle circular tube can be a PVC tube, and the ultrasonic sensor scans the PVC tube on the right side of the test vehicle when the test vehicle drives forward. Figure 3 A schematic diagram of the basic model data obtained by testing the basic model provided by the embodiment of the application is shown in Figure 3 The relationship between the distance data of the ultrasonic sensor to the PVC tube and the time is described in the figure, the blue line on the upper side of the figure represents the running speed of the test vehicle, the green line on the lower side represents the distance from the right front ultrasonic sensor to the PVC tube, and the black line scale on the horizontal coordinate axis represents the corresponding time stamp when the data is recorded.

[0051] The basic model is extracted based on Figure 2 and Figure 3 Most car models are U-shaped vehicles, the front half of the U-shaped vehicle can be regarded as being stacked by PVC tubes, and each stacked part follows the rule of the PVC tube. Specifically, the distance from the ultrasonic sensor to the rod, the nearest distance from the ultrasonic sensor to the rod, and the positioning difference between the two places form a right triangle. For a horizontal vehicle, the above effect can also be achieved by smoothing and bending processing.

[0052] In a possible embodiment, the test data of each circular tube is obtained, including: the distance d' of the circular tube and the positioning s' of the test vehicle to obtain the frontmost position y' of the circular tube.

[0053] The test data of each circular tube is stacked and combined to construct the basic model equation.

[0054] In a possible embodiment, the process of obtaining the frontmost position y' includes:

[0055] The distance d1' of the ultrasonic sensor to the circular tube at any time and the corresponding positioning s1' of the test vehicle are obtained.

[0056] The nearest distance d2' of the ultrasonic sensor to the circular tube and the corresponding positioning s2' of the test vehicle are obtained.

[0057] A right triangle is formed based on the positioning s1' and the positioning s2' and the position of the test vehicle, d1' and d2' are the hypotenuse and one of the right angle sides of the right triangle respectively, and the position of the test vehicle is determined.

[0058] In step 2, the test vehicle moves in a direction perpendicular to the measured vehicle, and the ultrasonic sensor of the test vehicle obtains a plurality of distance data groups d1 of the measured vehicle and the test vehicle in the process of the test vehicle approaching the measured vehicle and corresponding positioning data groups s1 of the test vehicle, and a plurality of distance data groups d2 of the measured vehicle and the test vehicle in the process of the test vehicle moving away from the measured vehicle and corresponding positioning data groups s2 of the test vehicle.

[0059] Figure 4 A schematic diagram of testing a substantially vertical parking space is provided for an embodiment of the present application. Figure 4 It is a basic scenario of scanning a parking space based on ultrasonic waves. The test vehicle drives forward, and the front right sensor starts to scan the surrounding obstacles, i.e., the test vehicle. Figure 5 A schematic diagram of the basic model data obtained by testing a substantially vertical parking space is provided for an embodiment of the present application. Figure 5 The distance data of the ultrasonic sensor to the measured vehicle and the parking space and the time relationship are described in the figure. The blue line above represents the running speed of the test vehicle, the green line below represents the distance of the front right ultrasonic sensor to the obstacle, and the black line scale of the horizontal coordinate axis represents the corresponding time stamp when the data is recorded. Figure 5 The distance data of the front right ultrasonic sensor is processed data, not the initial calculation data.

[0060] When the front right ultrasonic sensor of the test vehicle starts to continuously detect the first measured vehicle, a plurality of distance data groups are recorded.

[0061] In a possible embodiment, the process of the test vehicle approaching or moving away from the measured vehicle in step 2 includes:

[0062] The ultrasonic sensor detects the closest distance between the test vehicle and the measured vehicle, and each group of distance data before the time corresponding to the closest distance is the data group d1, and each group of distance data after the time corresponding to the closest distance is the data group d2.

[0063] In a possible embodiment, step 2 further includes setting a distance threshold range and a distance and time change trend range.

[0064] The distance data in the data group d1 and the data group d2 can be adjusted, added or deleted according to whether the distance data belongs to the distance threshold range and / or the distance and time change trend range.

[0065] The distance threshold range can be set according to the size of the parking lot in a conventional parking process. The change trend range can be set according to the regularity of the distance data obtained by testing and the shape regularity of the measured vehicle.

[0066] In step 3, the position of one edge point of the measured vehicle is obtained based on the data set d1 and the data set s1 and the basic model equation, the position of another edge point of the measured vehicle is obtained based on the data set d2 and the data set s2 and the basic model equation, and the width of the measured vehicle is calculated based on the positions of the two edge points.

[0067] It can be understood that the two edge points are the start point and the end point of the measured vehicle, and the difference between the start point and the end point of the vehicle is the width of the vehicle.

[0068] In a possible embodiment, the data can be corrected according to the basic model equation, and the corrected data includes one or more of the data set d1 and the corresponding data set s1, the distance d2 and the corresponding data set s2, and the closest distance between the test vehicle and the measured vehicle.

[0069] In a possible embodiment, the closest distance between the test vehicle and the measured vehicle detected by the ultrasonic sensor can be used to correct and recalculate the positioning data of the two edge points of the measured vehicle.

[0070] In a possible embodiment, step 3 further includes:

[0071] It is judged whether the width of the vehicle is within a set threshold range, and if so, the corresponding parking space is calculated according to the vehicle width related information, and the output is continued and the next vehicle is scanned.

[0072] Embodiment 2

[0073] Embodiment 2 of the present application provides an embodiment of an ultrasonic-based vehicle width detection system provided by the present application, Figure 6 The structure diagram of the ultrasonic-based vehicle width detection system provided for the embodiment of the present application, combined with Figure 6 It can be seen that the embodiment of the detection system includes a basic model equation construction module, a test module and a vehicle width calculation module.

[0074] The basic model equation construction module is used to set a plurality of parallel circular tubes to generate a basic model of the measured vehicle, the test vehicle moves along a direction perpendicular to the basic model, and the basic model equation y=f(d,s) is constructed, y represents the most front end position of the basic model, d represents the distance between the basic model and the test vehicle obtained by the ultrasonic sensor of the test vehicle, and s represents the positioning of the test vehicle.

[0075] The test module is used for moving the test vehicle along a direction perpendicular to the measured vehicle, acquiring a plurality of distance data groups d1 of the measured vehicle and the test vehicle and corresponding positioning data groups s1 of the test vehicle in a process that the test vehicle approaches the measured vehicle by the ultrasonic sensor of the test vehicle, and acquiring a plurality of distance data groups d2 of the measured vehicle and the test vehicle and corresponding positioning data groups s2 of the test vehicle in a process that the test vehicle moves away from the measured vehicle.

[0076] The vehicle width calculation module is used for obtaining the position of one edge point of the measured vehicle based on the data group d1, the data group s1 and the basic model equation, obtaining the position of another edge point of the measured vehicle based on the data group d2, the data group s2 and the basic model equation, and calculating the width of the measured vehicle based on the positions of the two edge points.

[0077] It can be understood that the vehicle width detection system based on ultrasonic waves provided by the present application corresponds to the vehicle width detection method based on ultrasonic waves provided by the above-mentioned embodiments, and the related technical features of the vehicle width detection system based on ultrasonic waves can refer to the related technical features of the vehicle width detection method based on ultrasonic waves, which will not be repeated here.

[0078] Please refer to Figure 7 , Figure 7 The embodiment of the electronic device provided by the present application is shown in the figure. As shown in Figure 7 , the present application provides an electronic device, which comprises a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and executable on the processor 1320. When the processor 1320 executes the computer program 1311, the following steps are implemented: setting a plurality of parallel circular tubes to generate a basic model of the measured vehicle, moving the test vehicle along a direction perpendicular to the basic model, constructing a basic model equation y = f(d, s), y representing the position of the frontmost end of the basic model, d representing the distance between the basic model and the test vehicle acquired by the ultrasonic sensor of the test vehicle, and s representing the positioning of the test vehicle; moving the test vehicle along a direction perpendicular to the measured vehicle, acquiring a plurality of distance data groups d1 of the measured vehicle and the test vehicle and corresponding positioning data groups s1 of the test vehicle in a process that the test vehicle approaches the measured vehicle by the ultrasonic sensor of the test vehicle, and acquiring a plurality of distance data groups d2 of the measured vehicle and the test vehicle and corresponding positioning data groups s2 of the test vehicle in a process that the test vehicle moves away from the measured vehicle; obtaining the position of one edge point of the measured vehicle based on the data group d1, the data group s1 and the basic model equation, obtaining the position of another edge point of the measured vehicle based on the data group d2, the data group s2 and the basic model equation, and calculating the width of the measured vehicle based on the positions of the two edge points.

[0079] Please refer to Figure 8 ,Figure 8 This is a schematic diagram illustrating an embodiment of a computer-readable storage medium provided by the present invention. (See diagram below.) Figure 8 As shown, this embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored. When the computer program 1411 is executed by a processor, it performs the following steps: Multiple parallel circular tubes are stacked to generate a basic model of the vehicle under test; the test vehicle moves along a direction perpendicular to the basic model; the basic model equation y = f(d, s) is constructed, where y represents the foremost position of the basic model, d represents the distance between the basic model and the test vehicle obtained by the ultrasonic sensor of the test vehicle, and s represents the positioning of the test vehicle; the test vehicle moves along a direction perpendicular to the vehicle under test, and the ultrasonic sensor of the test vehicle... The wave sensor acquires multiple sets of distance data d1 between the test vehicle and the vehicle under test as the test vehicle approaches the vehicle under test, along with the corresponding positioning data s1 of the test vehicle. It also acquires multiple sets of distance data d2 between the test vehicle and the vehicle under test as the test vehicle moves away from the vehicle under test, along with the corresponding positioning data s2 of the test vehicle. Based on data sets d1 and s1 and the basic model equations, the position of one edge point of the vehicle under test is obtained. Based on data sets d2 and s2 and the basic model equations, the position of another edge point of the vehicle under test is obtained. The width of the vehicle under test is calculated based on the positions of the two edge points.

[0080] This invention provides a vehicle width detection method, system, electronic device, and storage medium based on ultrasound. A model of the vehicle under test is constructed based on superimposed circular tubes. Equations for a basic model are then built based on this model. Subsequent testing of the vehicle only requires collecting distance data, which, combined with the vehicle's positioning data, yields the vehicle's width. This eliminates the need for multiple deep learning processes. Furthermore, the obtained process data can be adjusted based on the basic model, improving vehicle width detection accuracy and making automatic parking easier to implement in narrow parking spaces with non-marked lines or low visibility.

[0081] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0082] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] The present application is described in reference to the flowchart illustrations and / or block diagrams according to the methods, apparatus (systems) and computer program products of embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart Figure 1 one or more of the flowchart and / or block diagrams. Figure 1 one or more of the flowchart and / or block diagrams.

[0084] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart Figure 1 one or more of the flowchart and / or block diagrams. Figure 1 one or more of the flowchart and / or block diagrams.

[0085] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart Figure 1 one or more of the flowchart and / or block diagrams. Figure 1 one or more of the flowchart and / or block diagrams.

[0086] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the embodiments by those of skill in the art once they have the benefit of the present disclosure without departing from the spirit and scope of the application. Accordingly, the attached claims are intended to embrace all such variations and modifications as fall within the scope of the application.

[0087] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. An ultrasonic wave-based vehicle width detection method characterized by comprising: The detection method comprises: Step 1, a plurality of parallel circular tubes are stacked to generate a basic model of the vehicle to be detected, the test vehicle moves in a direction perpendicular to the basic model, and a basic model equation y=f(d,s) is constructed, wherein y represents the position of the front end of the basic model, d represents the distance between the basic model and the test vehicle obtained by an ultrasonic sensor of the test vehicle, and s represents the positioning of the test vehicle; Step 2, the test vehicle moves in a direction perpendicular to the vehicle to be detected, a plurality of distance data groups d1 between the vehicle to be detected and the test vehicle and a plurality of corresponding positioning data groups s1 of the test vehicle in the process that the test vehicle approaches the vehicle to be detected are obtained by the ultrasonic sensor of the test vehicle, and a plurality of distance data groups d2 between the vehicle to be detected and the test vehicle and a plurality of corresponding positioning data groups s2 of the test vehicle in the process that the test vehicle moves away from the vehicle to be detected are obtained by the ultrasonic sensor of the test vehicle; Step 3, the position of one edge point of the vehicle to be detected is obtained based on the distance data group d1, the positioning data group s1 and the basic model equation, the position of another edge point of the vehicle to be detected is obtained based on the distance data group d2, the positioning data group s2 and the basic model equation, and the width of the vehicle to be detected is calculated based on the positions of the two edge points.

2. The detection method according to claim 1, characterized in that, The step 1 comprises: Test data of each circular tube is obtained respectively, including the distance d' of the test vehicle and the positioning s' of the test vehicle to obtain the position y' of the front end of the circular tube; The test data of each circular tube is combined to construct the basic model equation.

3. The detection method according to claim 2, characterized in that, The process of obtaining the position y' of the front end comprises: The distance d1' of the ultrasonic sensor to the circular tube and the corresponding positioning s1' of the test vehicle at any time are obtained; The closest distance d2' of the ultrasonic sensor to the circular tube and the corresponding positioning s2' of the test vehicle are obtained; The positioning s1' and the positioning s2' and the position of the test vehicle form a right triangle, d1' and d2' are respectively the hypotenuse and one right angle side of the right triangle, and the position of the test vehicle is determined.

4. The method of claim 1, wherein The process of determining whether the test vehicle approaches or moves away from the vehicle to be detected in the step 2 comprises: The closest distance between the test vehicle and the vehicle to be detected is detected by the ultrasonic sensor, each group of distance data before the time corresponding to the closest distance is the distance data group d1, and each group of distance data after the time corresponding to the closest distance is the distance data group d2.

5. The method of claim 1, wherein The step 2 further comprises: setting a distance threshold range and a distance-time change trend range; Each group of distance data is adjusted, added or deleted according to whether the distance data in the distance data group d1 and the distance data group d2 belongs to the distance threshold range and / or the distance-time change trend range.

6. The method of claim 1, wherein, The data is corrected according to the basic model equation, and the corrected data comprises one or more of the distance data group d1 and the corresponding data group s1, the distance d2 and the corresponding data group s2 and the closest distance between the test vehicle and the vehicle to be detected.

7. The method of claim 1, wherein, The positioning data of the two edge points of the vehicle to be detected is corrected according to the closest distance between the test vehicle and the vehicle to be detected detected by the ultrasonic sensor.

8. An ultrasonic-based vehicle width detection system characterized by comprising: It comprises: A basic model equation construction module, a test module and a vehicle width calculation module. The basic model equation construction module is configured to set a plurality of parallel circular tubes to generate a basic model of the vehicle to be measured, and the test vehicle moves in a direction perpendicular to the basic model, and a basic model equation y=f(d,s) is constructed, where y represents the position of the front end of the basic model, d represents the distance between the basic model and the test vehicle obtained by the ultrasonic sensor of the test vehicle, and s represents the positioning of the test vehicle. The test module is configured to move the test vehicle in a direction perpendicular to the vehicle to be measured, and obtain a plurality of sets of distance data d1 between the vehicle to be measured and the test vehicle and corresponding positioning data s1 of the test vehicle during the approach of the test vehicle to the vehicle to be measured, and a plurality of sets of distance data d2 between the vehicle to be measured and the test vehicle and corresponding positioning data s2 of the test vehicle during the departure of the test vehicle from the vehicle to be measured. The vehicle width calculation module is configured to obtain the position of one edge point of the vehicle to be measured based on the distance data d1 and the positioning data s1 and the basic model equation, obtain the position of another edge point of the vehicle to be measured based on the distance data d2 and the positioning data s2 and the basic model equation, and calculate the width of the vehicle to be measured based on the positions of the two edge points.

9. An electronic device, comprising: A computer program product is provided, which comprises a memory and a processor, and the processor is configured to execute a computer management program stored in the memory to implement the steps of the ultrasonic-based vehicle width detection method according to any one of claims 1-7.

10. A computer readable storage medium characterized by, A computer program product is provided, which comprises a memory and a processor, and the processor is configured to execute a computer management program stored in the memory to implement the steps of the ultrasonic-based vehicle width detection method according to any one of claims 1-7.

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