A method and device for removing ultrasonic radar co-frequency interference based on grouped frequency conversion

Abstract

The present invention relates to a method and device for removing ultrasonic radar co-frequency interference based on grouped frequency conversion. The method includes: determining a plurality of frequency intervals according to multiple operating frequencies of a target ultrasonic radar; dividing the plurality of frequency intervals into a plurality of frequency groups based on the error of the target ultrasonic radar, and determining the allocation weight of each frequency interval according to the cumulative occurrence probability of one or more frequency intervals within each frequency group; dynamically adjusting the allocation weight of each grouped interval of its own ultrasonic radar within a preset period based on the real-time operating frequency of the target ultrasonic radar, and controlling the occurrence time of ultrasonic waves with random frequencies within each grouped interval. The present invention dynamically and randomly adjusts the operating frequency of the radar through the frequency interval and the operating frequency, thereby improving the co-frequency anti-interference ability on the premise of ensuring the radar detection accuracy.

Description

Technical Field

[0001] The present invention belongs to the technical field of radar communication, and particularly relates to a method and device for removing the co-frequency interference of an ultrasonic radar based on grouped frequency conversion. Background Art

[0002] Currently, the penetration rate of automotive electronic systems and related devices is increasing day by day, and the integration degree of automotive electronic components is becoming more and more complex. From the perspective of driving safety, the fusion scheme of multiple sensors can prompt the driver to make a safe avoidance in the blind spot of vision or complex road conditions; from the perspective of driving convenience, as a basic sensor unit installed on the vehicle, the ultrasonic radar calculates the distance to the obstacle by receiving the ultrasonic echo it sends. It plays a very important role in multiple intelligent driving functions such as automatic parking and remote control parking, greatly improving the safety and convenience during driving.

[0003] At the same time, the problem of co-frequency interference caused by the ultrasonic radar also arises. If ultrasonic radars of the same model are used for vehicles reversing towards each other at the same time, or if an external sound similar to the radar frequency is generated, it may cause the ultrasonic radar to be mis-triggered and alarmed, which will cause trouble to the user's daily use of the vehicle. More specifically, currently, the working frequencies of the ultrasonic radars installed on the vehicle body are generally three fixed frequencies: 40kHz, 48kHz, and 58kHz. Since when the external useless signal is similar to the working frequency of the ultrasonic radar, the radar mistakes this signal for the echo signal sent by itself, thus triggering a false alarm of the radar.

[0004] In the prior art, a laser sensor and an odometer are used to collect and sense data to generate a grid map, and the noise points of the obstacle data sensed by the ultrasonic radar and the lidar are compared and filtered. The laser sensor needs to be installed on the top of the vehicle, and the sampling refresh rate of the sensed data is relatively high, which puts forward higher requirements for the bus load performance of the vehicle controller and the vehicle cost control. Summary of the Invention

[0005] To solve the problem of co-frequency interference of in-vehicle ultrasonic radars, in the first aspect of the present invention, a method for removing the co-frequency interference of an ultrasonic radar based on grouped frequency conversion is provided. According to multiple working frequencies of a target ultrasonic radar, multiple frequency intervals are determined; based on the error of the target ultrasonic radar, the multiple frequency intervals are divided into multiple frequency groups, and according to the cumulative occurrence probability of one or more frequency intervals in each frequency group, the allocation weight of each frequency interval is determined; based on the real-time working frequency of the target ultrasonic radar, the allocation weight of each grouping interval of its own ultrasonic radar is dynamically adjusted within a preset period, and the occurrence time of the ultrasonic waves with random frequencies in each grouping interval is controlled.

[0006] In some embodiments of the present invention, the determining of multiple frequency intervals according to multiple operating frequencies of a target ultrasonic radar includes: determining start frequencies and end frequencies of multiple frequency intervals according to the operating frequency range of the target ultrasonic radar; and dividing the multiple frequency intervals into multiple frequency intervals with the same bandwidth based on the start frequencies, the end frequencies, and a preset step size.

[0007] Further, the dividing of the multiple frequency intervals into multiple frequency groups based on the error of the target ultrasonic radar, and determining the allocation weight of each frequency interval according to the cumulative occurrence probability of one or more frequency intervals in each frequency group includes: sequentially dividing the multiple frequency intervals into a first group, a second group, and a third group in ascending order of frequency; and determining the allocation weights of the first group, the second group, and the third group according to the preset magnitude and order of the allocation weights.

[0008] In some embodiments of the present invention, the dynamically adjusting the allocation weight of each grouping interval of its own ultrasonic radar within a preset period based on the real-time operating frequency of the target ultrasonic radar, and controlling the occurrence time of ultrasonic waves with random frequencies in each grouping interval includes: determining the minimum control period of its own ultrasonic radar based on the real-time operating frequency of the target ultrasonic radar; determining the allocation weight of each grouping interval of its own ultrasonic radar within each minimum control period; and determining the occurrence time of random frequencies in each grouping interval according to the allocation weight of each grouping interval.

[0009] Further, the determining the occurrence time of random frequencies in each grouping interval according to the allocation weight of each grouping interval includes: controlling its own ultrasonic radar to randomly generate a group of ultrasonic waves with operating frequencies; and determining the occurrence time of ultrasonic waves with random frequencies of the remaining operating frequency groups according to the preset occurrence time corresponding to the allocation weight of the grouping interval where the ultrasonic waves are located.

[0010] In the above embodiments, it further includes calibrating the temperature compensation and echo intensity corresponding to the frequencies in each grouping interval.

[0011] In a second aspect of the present invention, there is provided an apparatus for removing co-frequency interference of an ultrasonic radar based on grouped frequency conversion, including a radar body, including: a first determination module, configured to determine multiple frequency intervals according to multiple operating frequencies of a target ultrasonic radar; a second determination module, configured to divide the multiple frequency intervals into multiple frequency groups based on the error of the target ultrasonic radar, and determine the allocation weight of each frequency interval according to the cumulative occurrence probability of one or more frequency intervals in each frequency group; and an adjustment module, configured to dynamically adjust the allocation weight of each grouping interval of its own ultrasonic radar within a preset period based on the real-time operating frequency of the target ultrasonic radar, and control the occurrence time of ultrasonic waves with random frequencies in each grouping interval.

[0012] Further, the first determination module includes: a determination unit, configured to determine the start frequency and the end frequency of a plurality of frequency intervals according to the operating frequency range of the target ultrasonic radar; and a division unit, configured to divide the plurality of frequency intervals into a plurality of frequency intervals with the same bandwidth based on the start frequency, the end frequency, and a preset step size.

[0013] In a third aspect of the present invention, there is provided an electronic device, including: one or more processors; and a storage device, configured to store one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the method for removing ultrasonic radar co-frequency interference based on grouped frequency conversion provided by the present invention in the first aspect.

[0014] In a fourth aspect of the present invention, there is provided a computer-readable medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method for removing ultrasonic radar co-frequency interference based on grouped frequency conversion provided by the present invention in the first aspect.

[0015] The beneficial effects of the present invention are as follows:

[0016] The present invention relates to a method and device for removing ultrasonic radar co-frequency interference based on grouped frequency conversion. The method includes: determining a plurality of frequency intervals according to the multiple operating frequencies of a target ultrasonic radar; dividing the plurality of frequency intervals into a plurality of frequency groups based on the error of the target ultrasonic radar, and determining the allocation weight of each frequency interval according to the cumulative occurrence probability of one or more frequency intervals within each frequency group; dynamically adjusting the allocation weight of each grouped interval of its own ultrasonic radar within a preset period based on the real-time operating frequency of the target ultrasonic radar, and controlling the occurrence time of ultrasonic waves with random frequencies within each grouped interval. Therefore, aiming at the ultrasonic co-frequency interference characteristics, by dynamically grouping the ultrasonic radar frequencies, the ultrasonic waves can be changed within a certain frequency range, which can effectively reduce the false detection probability of the ultrasonic radar, improve the accuracy of radar obstacle detection, and further improve the vehicle control safety.

[0017] It can be seen that the present invention expands the fixed operating frequency of the existing ultrasonic radar to a frequency interval fQ, so that the ultrasonic operating frequency range is between 40 kHz and 58 kHz (40 ± 1 kHz ≤ f Q≤48 ± 1 kHz); According to the existing radar operating frequency accuracy, the frequency range is divided with a preset step size, and the radar operating frequency is randomly changed according to a preset period using a dynamic grouping algorithm, which greatly improves the probability of co-frequency interference while ensuring the radar detection accuracy. Compared with the existing co-frequency interference technology of ultrasonic radars, laser sensors and odometers are used to collect and sense data to generate a grid map, and the noise points of the obstacle data sensed by the ultrasonic radar and the lidar are compared and filtered. The laser sensor needs to be mounted on the top of the vehicle, and the sampling refresh rate of the sensed data is relatively high, which poses high requirements on the vehicle controller bus load performance and vehicle cost control. Description of the Drawings

[0018] Figure 1 Schematic diagram of the basic process of the method for removing co-frequency interference of ultrasonic radars based on grouped frequency conversion in some embodiments of the present invention;

[0019] Figure 2 Schematic diagram of the co-frequency interference principle of on-vehicle ultrasonic radars in some embodiments of the present invention;

[0020] Figure 3 Schematic diagram of the specific structure of the device for removing co-frequency interference of ultrasonic radars based on grouped frequency conversion in some embodiments of the present invention;

[0021] Figure 4 Schematic diagram of the principle of ultrasonic radar calibration in some embodiments of the present invention;

[0022] Figure 5 Schematic diagram of the structure of the device for removing co-frequency interference of ultrasonic radars based on grouped frequency conversion in some embodiments of the present invention;

[0023] Figure 6 Schematic diagram of the structure of an electronic device in some embodiments of the present invention. Detailed Embodiments

[0024] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0025] Reference Figure 1, in the first aspect of the present invention, a method for removing the same-frequency interference of ultrasonic radars based on grouped frequency conversion is provided, including: S100. determining a plurality of frequency intervals according to the multiple operating frequencies of the target ultrasonic radar; S200. dividing the plurality of frequency intervals into a plurality of frequency groups based on the error of the target ultrasonic radar, and determining the allocation weight of each frequency interval according to the cumulative occurrence probability of one or more frequency intervals within each frequency group; S300. dynamically adjusting the allocation weight of each grouped interval of its own ultrasonic radar within a preset period based on the real-time operating frequency of the target ultrasonic radar, and controlling the occurrence time of the ultrasonic waves with random frequencies within each grouped interval.

[0026] It can be understood that the target ultrasonic radar corresponds to the ultrasonic radar that is closest to its own vehicle or emits the ultrasonic wave with the highest intensity. The own ultrasonic radar corresponds to the ultrasonic radar installed on its own vehicle or the ultrasonic radar that needs to remove the same-frequency interference.

[0027] As an example, it is assumed that in the ultrasonic system, the controller continuously acquires the ultrasonic signals received by each ultrasonic radar. Taking radar 1, radar 2, radar 3, and radar 4 as examples, in the current ultrasonic cycle, if radar 1 is the target radar, then radar 2, radar 3, and radar 4 are the radars to be detected and are in the wave-receiving (receiving) state. After radar 1 emits waves, it enters the wave-receiving state. It is assumed that it is detected that radar 2 receives an ultrasonic signal, and the ultrasonic signal received by radar 2 is inserted into the continuously acquired ultrasonic signal sequence in sequence, and a 4 ms timer is activated at the same time; then it is detected that radar 3 receives an ultrasonic signal, and the ultrasonic signal received by radar 3 is inserted into the continuously acquired ultrasonic signal sequence in sequence, and a 4 ms timer is activated at the same time, and so on.

[0028] Further, each ultrasonic signal in the ultrasonic signal sequence is processed in sequence. After the previously activated timer expires, the corresponding ultrasonic signal is processed. For example, after the timer triggered by the ultrasonic signal received by radar 2 expires, it is monitored whether the monitoring radar configured for radar 1 has received an ultrasonic signal that meets the preset energy threshold within the monitoring time range formed by the first 4 ms and the last 4 ms of this signal, so as to determine whether the ultrasonic signal received by radar 2 is a same-frequency interference signal.

[0029] In the present invention, since the operating frequency of the ultrasonic radar is variable, in the existing solution, the ultrasonic radar probe only provides a distance signal line, a power supply, and a ground wire. The control chip of the ultrasonic radar probe needs to add a variable resistor to connect to the radar controller command signal to adjust the corresponding ultrasonic operating frequency.

[0030] In step S100 of some embodiments of the present invention, the determining a plurality of frequency intervals according to the multiple operating frequencies of the target ultrasonic radar includes:

[0031] S101. Determine the start frequency and end frequency of multiple frequency intervals according to the operating frequency range of the target ultrasonic radar;

[0032] It can be understood that in order to determine multiple operating frequencies of the target ultrasonic radar, it is necessary to sample the operating frequency of the ultrasonic radar through the ultrasonic radar probe. Currently, the operating frequencies of the ultrasonic radars mounted on the vehicle body are generally three fixed frequencies: 40 kHz, 48 kHz, and 58 kHz.

[0033] Reference Figure 3 , the ultrasonic radar probe shown therein uses an isotropic sensor, which is characterized by a relatively stable ultrasonic emission waveform and a short detection distance, and is more suitable for parking scenarios. In the present invention, the horizontal and vertical detection angles of the sensor are 120 ± 5°.

[0034] S102. Divide the multiple frequency intervals into multiple frequency intervals with the same bandwidth based on the start frequency, end frequency, and a preset step size.

[0035] Specifically, frequency division settings are made according to the radar operating frequency. Since the general error of ultrasonic radars is about 1 kHz, the overall ultrasonic operating frequency band is initially grouped and defined in 2 kHz intervals.

[0036] It should be noted that the above frequency intervals and frequency groups are based on the division of the weights and occurrence probabilities for distinguishing the operating frequencies of ultrasonic radars. Therefore, the names of the frequency intervals and frequency groups can be replaced with each other in the corresponding steps without affecting the implementation of the above steps.

[0037] In step S200 of some embodiments of the present invention, the dividing the multiple frequency intervals into multiple frequency groups based on the error of the target ultrasonic radar and determining the allocation weight of each frequency interval according to the cumulative occurrence probability of one or more frequency intervals in each frequency group includes: S201. Sequentially divide the multiple frequency intervals into a first group, a second group, and a third group in ascending order of frequency; S202. Determine the allocation weights of the first group, the second group, and the third group according to the preset size and order of the allocation weights.

[0038] Specifically, the grouping is as follows:

[0039]

[0040]

[0041] Considering that the radar operating frequency performance range is between 40 kHz and 45 kHz, the radar operating frequency within this range needs to be considered as an influencing factor on the results at the beginning of the design. The above frequency ranges of each group are redistributed according to weights. Among them, the weight values of Group 1 and Group 2 are set as high weight H, and the allocation occurrence probability is taken as 0.3, that is, the occurrence probability of 39 ≤ f Q <43 is 0.6; the weight value of Group 3 is set as medium weight M, and the allocation occurrence probability is taken as 0.2, that is, the occurrence probability of 43 ≤ f Q <45 is 0.2; the weight values of Group 4 and Group 5 are set as medium weight L, and the allocation occurrence probability is taken as 0.1, that is, the occurrence probability of 45 ≤ f Q <49 is 0.2.

[0042] The above groupings H, M, and L are only for illustration, and the corresponding weight values (30, 30, 20, 10, 10) can be adjusted according to the model, direction, or electromagnetic environment of the ultrasonic radar, etc.

[0043] In step S300 of some embodiments of the present invention, based on the real-time operating frequency of the target ultrasonic radar, dynamically adjusting the allocation weight of each grouping interval of its own ultrasonic radar within a preset period, and controlling the occurrence time of ultrasonic waves with random frequencies within each grouping interval includes:

[0044] S301. Based on the real-time operating frequency of the target ultrasonic radar, determine the minimum control period of its own ultrasonic radar; S302. Within each minimum control period, determine the allocation weight of each grouping interval of its own ultrasonic radar; S303. According to the allocation weight of each grouping interval, determine the occurrence time of random frequencies within each grouping interval.

[0045] Specifically, corresponding to the occurrence probability of step S200, a complete ultrasonic radar operating frequency control period (minimum control period) is 2 s. The ultrasonic radar controller allocates the weight pool to the corresponding operating frequency groups in each control period. Group 1 and Group 2 are each allocated a capacity of 30, Group 3 is allocated a capacity of 20, and Group 4 and Group 5 are each allocated a capacity of 10. Each capacity unit period is 10 s / 100 = 20 ms.

[0046] Further, in step S303, the determining the occurrence time of random frequencies within each grouping interval according to the allocation weight of each grouping interval includes: S3031. Controlling its own ultrasonic radar to randomly generate a group of ultrasonic waves with operating frequencies; S3032. According to the preset occurrence time corresponding to the allocation weight of the grouping interval where the ultrasonic wave is located, determine the occurrence time of ultrasonic waves with random frequencies of the remaining operating frequency groups.

[0047] Specifically, when the ultrasonic radar performs function initialization, the radar controller randomly generates a group of operating frequency values f initIf the value generated randomly is the signal of the 5th group, the remaining capacity of the weight pool is 100 - 1 (100 - 1). When the signal of this group is sent again later, the step size of the weight pool continues to decrease by 1 until the weight pool reaches 0. At this time, the random frequency generator prohibits sending the frequency signal of this group and instead selects to randomly obtain values from the remaining working frequency groups.

[0048] Reference Figure 4 , in the above embodiment, it further includes calibrating the temperature compensation and echo intensity corresponding to the frequency in each grouping interval. Specifically, along with the change of the working frequency, the calibration value of the radar also needs to be changed correspondingly. In the present invention, the calibration data corresponding to the working frequencies of groups 1 to 3 is group A, and the calibration data corresponding to the working frequencies of groups 4 to 5 is group B. Considering the data reading and writing and lifespan of the storage unit of the radar controller, after the vehicle is powered on, the calibration data is mapped from the ROM to the RAM and divided into partitions A and B according to the physical address. When the radar controller sends the working frequency of the corresponding group, the controller directly reads the corresponding calibration data from the RAM. Optionally, the calibrated data further includes:

[0049] Parameter α: The detection angle of the ultrasonic radar;

[0050] Parameter β: One of the factors affecting the detection width range. The β angle of the UPA is about 20°, and the β angle of the APA is special, which is 0°;

[0051] Parameter R: One of the factors affecting the detection width range. The R values of the UPA and the APA are not very different, both about 0.6 m;

[0052] Parameter D: The maximum range of the ultrasonic radar. The maximum range of the UPA is 2 m to 2. m, and the maximum range of the APA is at least 5 m. Currently, there are already APA radars with a range exceeding 7 m in the industry

[0053] It can be seen that the present disclosure proposes a method for removing the co-frequency interference of ultrasonic radars based on grouped frequency conversion. By grouping the radar working frequency bands and using the random grouping method for the ultrasonic radar, the occurrence probabilities of the working frequencies of each group are adjusted and calculated to ensure the optimal radar performance. At the same time, partitions A and B are used to ensure the matching of calibration data during the frequency conversion of the ultrasonic controller.

[0054] Compared with the current solution, by modulating the radar, such as using different frequency modulation slopes or different encodings, only the echo signal of this radar can be processed correlatively to obtain high gain, and the signals from other radars are suppressed because they are not correlated. This method requires significant modifications, has high costs, and is complex to implement technically.

[0055] However, the present disclosure does not require additional laser sensors for obstacle memory. Instead, only a frequency control signal line needs to be added to the radar probe. By reasonably grouping and distributing the ultrasonic working frequencies, the requirements in the current parking scenario can be met. In summary, the present invention improves the problem of ultrasonic radar co-frequency interference at a low cost, providing more guarantees and technical bases for parking safety and parking assistance functions.

[0056] Embodiment 2

[0057] Reference Figure 5 , in the second aspect of the present invention, there is provided an apparatus 1 for removing ultrasonic radar co-frequency interference based on grouped frequency conversion, including a radar body, comprising: a first determination module 11 for determining a plurality of frequency intervals according to the multiple working frequencies of a target ultrasonic radar; a second determination module 12 for dividing the plurality of frequency intervals into a plurality of frequency groups based on the error of the target ultrasonic radar, and determining the allocation weight of each frequency interval according to the cumulative occurrence probability of one or more frequency intervals within each frequency group; an adjustment module 13 for dynamically adjusting the allocation weight of each grouping interval of its own ultrasonic radar within a preset period based on the real-time working frequency of the target ultrasonic radar, and controlling the occurrence time of the ultrasonic waves with random frequencies within each grouping interval.

[0058] Further, the first determination module 11 includes: a determination unit for determining the start frequency and end frequency of a plurality of frequency intervals according to the working frequency range of the target ultrasonic radar; a division unit for dividing the plurality of frequency intervals into a plurality of frequency intervals with the same bandwidth based on the start frequency, end frequency and a preset step size.

[0059] Reference Figure 3 , in the existing solution, the ultrasonic radar probe only provides a distance signal line, a power supply, and a ground wire. The ultrasonic radar probe control chip needs to add a variable resistor to connect to the radar controller command signal to adjust the corresponding ultrasonic working frequency. That is, the first determination module 11 is implemented through the ultrasonic radar probe, and the second determination module 12 and the adjustment module 13 are jointly implemented through the control chip and the variable resistor.

[0060] The radar controller mainly executes the dynamic grouping logic arbitration of the radar working frequency, obstacle judgment, and distance calculation, and adjusts the radar calibration parameter thresholds according to different working frequencies of the radar. The calibration thresholds include but are not limited to temperature compensation and echo intensity compensation. For the dynamic grouping logic arbitration, first, frequency division settings are performed according to the radar working frequency. Since the general error of ultrasonic radars is about 1 kHz, the overall ultrasonic working frequency band is initially grouped and defined in 2 kHz intervals.

[0061] Embodiment 3

[0062] Reference Figure 6, a third aspect of the present invention provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, which when executed by the one or more processors cause the one or more processors to implement the method for removing the co-frequency interference of ultrasonic radar based on packet frequency conversion in the first aspect of the present invention.

[0063] The electronic device 500 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage device 508 into the random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. The input / output (I / O) interface 505 is also connected to the bus 504.

[0064] Generally, the following devices may be connected to the I / O interface 505: an input device 506 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 508 including, for example, a hard disk, etc.; and a communication device 509. The communication device 509 can allow the electronic device 500 to communicate with other devices wirelessly or wiredly to exchange data. Although Figure 6 an electronic device 500 with various devices is shown, it should be understood that it is not required to implement or have all the shown devices. Instead, more or fewer devices may be implemented or had. Figure 6 Each block shown in

[0065] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes program code for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by a processing device 501, the above-described functions defined in the methods of embodiments of the present disclosure are performed. It should be noted that the computer-readable medium described in embodiments of the present disclosure can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In embodiments of the present disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In embodiments of the present disclosure, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable signal medium can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0066] The above computer-readable medium can be included in the above electronic device; or can exist separately without being assembled into the electronic device. The above computer-readable medium carries one or more computer programs, and when the above one or more programs are executed by the electronic device, the electronic device is caused to:

[0067] Computer program code for performing the operations of the embodiments of the present disclosure may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, Python, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0068] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functions, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a portion of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system that performs the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0069] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for removing the same-frequency interference of ultrasonic radars based on grouped frequency conversion, characterized in that, it includes: Determine multiple frequency intervals according to multiple operating frequencies of the target ultrasonic radar; Based on the error of the target ultrasonic radar, divide the multiple frequency intervals into multiple frequency groups, and determine the allocation weight of each frequency interval according to the cumulative occurrence probability of one or more frequency intervals within each frequency group; Based on the real-time operating frequency of the target ultrasonic radar, dynamically adjust the allocation weight of each grouped interval of its own ultrasonic radar within a preset period, and control the occurrence time of ultrasonic waves with random frequencies within each grouped interval.

2. The method for removing the same-frequency interference of ultrasonic radars based on grouped frequency conversion according to claim 1, characterized in that, The determining multiple frequency intervals according to multiple operating frequencies of the target ultrasonic radar includes: Determine the starting frequency and ending frequency of multiple frequency intervals according to the operating frequency range of the target ultrasonic radar; Based on the starting frequency, ending frequency and preset step size, divide the multiple frequency intervals into multiple frequency intervals with the same bandwidth.

3. The method for removing the same-frequency interference of ultrasonic radars based on grouped frequency conversion according to claim 1, characterized in that, The dividing the multiple frequency intervals into multiple frequency groups based on the error of the target ultrasonic radar and determining the allocation weight of each frequency interval according to the cumulative occurrence probability of one or more frequency intervals within each frequency group includes: Sequentially divide the multiple frequency intervals into a first group, a second group and a third group according to the order from small to large frequency; Determine the allocation weights of the first group, the second group and the third group according to the preset allocation weight magnitude and order.

4. The method for removing the same-frequency interference of ultrasonic radars based on grouped frequency conversion according to claim 1, characterized in that, The dynamically adjusting the allocation weight of each grouped interval of its own ultrasonic radar within a preset period based on the real-time operating frequency of the target ultrasonic radar and controlling the occurrence time of ultrasonic waves with random frequencies within each grouped interval includes: Determine the minimum control period of its own ultrasonic radar based on the real-time operating frequency of the target ultrasonic radar; Within each minimum control period, determine the allocation weight of each grouped interval of its own ultrasonic radar; According to the allocation weight of each grouped interval, determine the occurrence time of random frequencies within each grouped interval.

5. The method for removing the same-frequency interference of ultrasonic radars based on grouped frequency conversion according to claim 4, characterized in that, The determining the occurrence time of random frequencies within each grouped interval according to the allocation weight of each grouped interval includes: Control its own ultrasonic radar to randomly generate a group of ultrasonic waves with operating frequencies; According to the preset occurrence time corresponding to the allocation weight of the grouped interval where the ultrasonic wave is located, determine the occurrence time of ultrasonic waves with random frequencies of the remaining working frequency groups.

6. The method for removing the same-frequency interference of ultrasonic radars based on grouped frequency conversion according to any one of claims 1 to 5, characterized in that, It further includes calibrating the temperature compensation and echo intensity corresponding to the frequencies within each grouped interval.

7. An apparatus for removing ultrasonic radar co-frequency interference based on grouped frequency conversion, comprising a radar body, characterized in that, it includes: A first determination module, configured to determine a plurality of frequency intervals according to multiple operating frequencies of a target ultrasonic radar; A second determination module, configured to divide the plurality of frequency intervals into a plurality of frequency groups based on the error of the target ultrasonic radar, and determine the allocation weight of each frequency interval according to the cumulative occurrence probability of one or more frequency intervals within each frequency group; An adjustment module, configured to dynamically adjust the allocation weight of each grouped interval of its own ultrasonic radar within a preset period based on the real-time operating frequency of the target ultrasonic radar, and control the occurrence time of ultrasonic waves with random frequencies within each grouped interval.

8. The apparatus for removing ultrasonic radar co-frequency interference based on grouped frequency conversion according to claim 7, characterized in that, the first determination module includes: A determination unit, configured to determine the start frequency and end frequency of a plurality of frequency intervals according to the operating frequency range of the target ultrasonic radar; A division unit, configured to divide the plurality of frequency intervals into a plurality of frequency intervals with the same bandwidth based on the start frequency, end frequency and a preset step size.

9. An electronic device, including: One or more processors; A storage device, configured to store one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the method for removing ultrasonic radar co-frequency interference based on grouped frequency conversion according to any one of claims 1 to 6.

10. A computer-readable medium, having a computer program stored thereon, wherein, when the computer program is executed by a processor, it implements the method for removing ultrasonic radar co-frequency interference based on grouped frequency conversion according to any one of claims 1 to 6.

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