Motor vehicle obstacle distance detection method, device and computer readable storage medium

Abstract

The embodiment of the present application provides a kind of motor vehicle obstacle distance detection method, device and computer readable storage medium, the method comprises: control at least two ultrasonic radar installed on motor vehicle periodically wave detection obstacle in front of driving direction, according to predetermined order, determine one ultrasonic radar as wave radar launch ultrasonic detection wave and with the ultrasonic radar of overlapping detection area as the listening radar of wave radar, calculate and save main launch detection distance and listening detection distance;Judge the change trend of main launch detection distance and listening detection distance is consistent with the change trend of motor vehicle movement distance in the same detection period;Judge whether the obstacle detected by each ultrasonic radar as wave radar in preliminary effective period is the same obstacle;And calculate the effective distance between motor vehicle and obstacle.This embodiment can effectively realize the continuous and stable distance tracking of obstacle, improve detection accuracy.

Description

Technical Field

[0001] The present invention relates to the field of motor vehicle driving assistance technology, and in particular to a method, device and computer-readable storage medium for detecting the distance of a motor vehicle obstacle. Background Technology

[0002] Currently, to prevent motor vehicles from colliding with obstacles during low-speed reversing or parking, multiple ultrasonic radars are usually installed around the vehicle body to detect the distance of obstacles around the vehicle.

[0003] One existing method for detecting vehicle obstacle distance using ultrasonic radar involves each ultrasonic radar independently detecting obstacles around the vehicle. When a certain ultrasonic radar detects that the minimum distance between an obstacle and the vehicle is lower than a preset safety threshold, the vehicle's alarm system will sound an alarm.

[0004] However, during implementation, the inventors discovered that when obstacles are roadblocks, smooth surfaces, or flat walls, ultrasonic waves cannot always detect them due to their characteristics. Furthermore, ultrasonic radar struggles to determine the relative position of obstacles to the vehicle when independently detecting them around it. Consequently, traditional obstacle distance detection methods suffer from relatively poor stability, making it impossible to continuously track obstacles while the vehicle is in motion, thus affecting the driver's judgment and user experience. Summary of the Invention

[0005] The technical problem to be solved by the embodiments of the present invention is to provide a method for detecting the distance of motor vehicle obstacles, which can effectively achieve continuous and stable distance tracking of obstacles and improve detection accuracy.

[0006] A further technical problem to be solved by the embodiments of the present invention is to provide a motor vehicle obstacle distance detection device that can effectively achieve continuous and stable distance tracking of obstacles and improve detection accuracy.

[0007] A further technical problem to be solved by the embodiments of the present invention is to provide a computer-readable storage medium for storing a computer program that can effectively achieve continuous and stable distance tracking of obstacles and improve detection accuracy.

[0008] To address the aforementioned technical problems, this invention first provides the following technical solution: a method for detecting the distance to obstacles in a motor vehicle, comprising the following steps: At least two ultrasonic radars installed on a motor vehicle, arranged along the width of the vehicle, periodically emit waves to detect obstacles in front of the vehicle's direction of travel. The detection areas of any two adjacent ultrasonic radars partially overlap. At least three wave detections are performed in each detection cycle. During each wave detection, one ultrasonic radar is selected as the emitting radar to emit ultrasonic detection waves according to a predetermined order, and the ultrasonic radar with an overlapping detection area with the emitting radar is used as the listening radar. The main emission detection distance and the listening detection distance are calculated and stored based on the detection return waves reflected back from the obstacles received by the emitting radar and the listening radar, respectively. Extract the main emission detection range and listening detection range of each ultrasonic radar in three consecutive detection cycles, and determine if the changing trend of the main emission detection range and listening detection range matches the changing trend of the vehicle movement distance in the same detection cycle. If so, then the last detection cycle in the three consecutive detection cycles is defined as the preliminary effective cycle. Determine whether the obstacles detected by each ultrasonic radar as a transmitting radar during the initial effective period are the same obstacle. If so, define the initial effective period as a usable period; and The effective distance between the vehicle and the obstacle is calculated based on the main detection distance and the listening detection distance corresponding to each of the ultrasonic radars within the available period.

[0009] Furthermore, the determination that the changing trends of the main detection distance and the listening detection distance are consistent with the changing trend of the vehicle movement distance within the same detection cycle, if so, then the last detection cycle of the three consecutive detection cycles is defined as the preliminary effective cycle specifically includes: Calculate the difference between the main transmission range and the difference between the listening range of the same ultrasonic radar in two adjacent detection cycles in chronological order. The actual motion state of the motor vehicle is determined in each of the detection cycles. When the motor vehicle is determined to be in motion or stationary state, motion signals and stationary signals are output respectively. In response to the motion signal, the vehicle's movement distance between adjacent detection cycles is acquired. It is then determined whether the temporal trends of the differences in the main emission distances and the differences in the listening distances match the temporal trends of the vehicle's movement distances. If so, the last detection cycle is taken as the initial valid cycle. In response to the stationary signal, it is determined whether each of the main transmission distance differences and each of the listening distance differences are less than a preset stationary difference threshold and a preset dynamic difference threshold, respectively. If each of the main transmission distance differences and each of the listening distance differences are less than the preset stationary difference threshold, or if each of the main transmission distance differences and each of the listening distance differences are less than the preset dynamic difference threshold and the changing trend of each of the main transmission distance differences in time order matches the changing trend of each of the listening distance differences in time order, then the last detection period is taken as the initial effective period.

[0010] Furthermore, the step of determining whether the obstacles detected by each ultrasonic radar as a transmitting radar in the preliminary effective period are the same obstacle, and if so, defining the preliminary effective period as a usable period, specifically includes: Calculate the first and second distance differences between the primary and secondary detection ranges of each ultrasonic radar and the secondary detection and secondary detection ranges of adjacent ultrasonic radars within the initial effective period; and If the difference between the first distance and the second distance within the initial effective period is less than a preset error threshold and if there is the same trend of change in chronological order, then the initial effective period is determined as an available period.

[0011] Furthermore, the step of calculating and storing the main transmission detection range and the listening detection range based on the detection return waves reflected back from the obstacle received by the transmitting radar and the listening radar respectively includes: The main detection range of the corresponding ultrasonic radar is calculated and saved based on the emitted data of the transmitting radar and the detection return wave received by the transmitting radar; and... The detection range of the corresponding ultrasonic radar is calculated and saved based on the emitted data of the transmitting radar and the detected return wave received by the listening radar.

[0012] Furthermore, the step of calculating the effective distance between the vehicle and the obstacle based on the primary detection distance and the listening detection distance corresponding to each of the ultrasonic radars within the available period specifically includes: Obtain the installation spacing of each of the ultrasonic radars on the motor vehicle; Based on the geometric principle of the triangle formed by the lines connecting the transmitting radar, each of the listening radars, and the obstacle within the available period, combined with the main transmission detection range and listening detection range of the corresponding ultrasonic radar and the installation spacing, the target distance between the obstacle and the front end of the vehicle's driving direction when each ultrasonic radar acts as a transmitting radar is calculated; and the minimum value is selected from each of the target distances within the same available period as the effective distance between the vehicle and the obstacle.

[0013] Furthermore, when the transmitting radar has two detection ranges, the target distance is calculated based on the smaller detection range.

[0014] Furthermore, after obtaining the installation spacing of each ultrasonic radar on the motor vehicle, the validity of the triangle formed by connecting the emitting radar, each listening radar, and the obstacle is first determined. If the triangle is valid, the target distance is calculated; otherwise, it is determined whether the main emission detection distance of the emitting radar is less than a preset minimum distance threshold. If so, the main emission detection distance of the emitting radar is taken as the target distance.

[0015] Furthermore, the method also includes: The obstacle coordinates within the pre-constructed road surface coordinate system where the motor vehicle is located are calculated based on the effective distance corresponding to each available effective period.

[0016] On the other hand, in order to solve the above-mentioned further technical problems, the present invention provides the following technical solution: a motor vehicle obstacle distance detection device, connected to an ultrasonic radar around the motor vehicle body, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the motor vehicle obstacle distance detection method as described in any one of the above.

[0017] Furthermore, in order to solve the aforementioned technical problems, the present invention provides the following technical solution: a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the vehicle obstacle distance detection method as described in any one of the above.

[0018] After adopting the above technical solution, the embodiments of the present invention have at least the following beneficial effects: The embodiments of the present invention control at least two ultrasonic radars to detect obstacles in each detection cycle. Since each ultrasonic radar, in each detection cycle, emits ultrasonic detection waves as a transmitting radar, and uses its own and adjacent listening radars to receive the detection return waves generated by the ultrasonic detection waves emitted by the transmitting radar reflected by the obstacle, a primary detection range and at least one listening detection range can be calculated for each ultrasonic radar when detecting an obstacle. Thus, the position of the obstacle relative to the vehicle can be determined using the two detection ranges. When an obstacle is detected within at least three detection cycles, the distance between the obstacle and the ultrasonic radar is used to determine the position of the obstacle relative to the vehicle. The gradual changes in the distance should match the movement state of the vehicle. By judging whether the changing trends of the main emission detection distance and the listening detection distance are consistent with the changing trends of the vehicle's movement distance within the same detection cycle, a preliminary screening is performed for each detection cycle to avoid repeated jumps in the output obstacle distance. Then, by judging whether the obstacle detected by each ultrasonic radar as a emitting radar in the preliminary effective cycle is the same obstacle, the usable cycle is determined to ensure the effectiveness of the detection cycle. Finally, based on the main emission detection distance and the listening detection distance corresponding to each ultrasonic radar within the usable cycle, the effective distance between the vehicle and the obstacle can be calculated to achieve stable and accurate distance detection. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating the steps of an optional embodiment of the vehicle obstacle distance detection method of the present invention.

[0020] Figure 2 The following is a detailed flowchart of step S2 of an optional embodiment of the vehicle obstacle distance detection method of the present invention.

[0021] Figure 3 The following is a detailed flowchart of step S3 of an optional embodiment of the vehicle obstacle distance detection method of the present invention.

[0022] Figure 4 The following is a detailed flowchart of step S4 of an optional embodiment of the vehicle obstacle distance detection method of the present invention.

[0023] Figure 5 This is a schematic diagram illustrating the principle of calculating target distance in an optional embodiment of the vehicle obstacle distance detection method of the present invention.

[0024] Figure 6 This is a schematic diagram of an optional embodiment of the vehicle obstacle distance detection device of the present invention.

[0025] Figure 7This is a functional block diagram of an optional embodiment of the vehicle obstacle distance detection device of the present invention. Detailed Implementation

[0026] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the following illustrative embodiments and descriptions are only used to explain the present invention and are not intended to limit the present invention. Moreover, the embodiments and features in the embodiments of the present application can be combined with each other unless otherwise specified.

[0027] like Figure 1 As shown, an optional embodiment of the present invention provides a method for detecting the distance to obstacles in a motor vehicle, comprising the following steps: S1: Control at least two ultrasonic radars 1 installed on the motor vehicle and arranged along the width of the motor vehicle to periodically emit waves to detect obstacles in front of the driving direction. The detection areas of any two adjacent ultrasonic radars 1 partially overlap. At least three wave detections are performed in each detection cycle. During each wave detection, one ultrasonic radar 1 is determined as the wave-emitting radar to emit ultrasonic detection waves according to a predetermined order, and the ultrasonic radar 1 with the detection area overlapping with the wave-emitting radar is used as the listening radar. The main emission detection distance and the listening detection distance are calculated and saved based on the detection return waves reflected back from the obstacles received by the wave-emitting radar and the listening radar, respectively. S2: Extract the main detection range and listening detection range of each ultrasonic radar 1 in three consecutive detection cycles and determine if the changing trend of the main detection range and listening detection range is consistent with the changing trend of the vehicle movement distance in the same detection cycle. If so, the last detection cycle in the three consecutive detection cycles is defined as the preliminary effective cycle. S3: Determine whether the obstacles detected by each ultrasonic radar 1 as a transmitting radar in the preliminary effective period are the same obstacle. If so, define the preliminary effective period as the usable period; and S4: Calculate the effective distance between the vehicle and the obstacle based on the main detection distance and the listening detection distance corresponding to each of the ultrasonic radars 1 within the available period.

[0028] This invention, in its embodiments, controls at least two ultrasonic radars 1 to detect obstacles in each detection cycle. Within each detection cycle, each ultrasonic radar 1 acts as a transmitting radar, emitting ultrasonic detection waves. It then uses its own and adjacent listening radars to receive the reflected ultrasonic detection waves emitted by the transmitting radar, generating a detection return wave. This allows each ultrasonic radar 1 to calculate a primary detection range and at least one listening detection range when detecting obstacles. These two detection ranges can then be used to determine the obstacle's position relative to the vehicle. Once an obstacle is detected within at least three detection cycles, the gradual change in the distance between the obstacle and the ultrasonic radar 1 corresponds to the movement of the vehicle. State matching is used to determine whether the changing trends of the main detection distance and the listening detection distance match the changing trend of the vehicle's movement distance within the same detection period. This allows for preliminary screening of each detection period, preventing repeated jumps in the output obstacle distance. Then, by determining whether the obstacles detected by each ultrasonic radar 1 as a emitting radar in the preliminary effective period are the same obstacle, the usable period is determined, ensuring the effectiveness of the detection period. Finally, based on the main detection distance and the listening detection distance corresponding to each ultrasonic radar 1 within the usable period, the effective distance between the vehicle and the obstacle can be calculated, achieving stable and accurate distance detection.

[0029] In practice, it is determined whether the changing trends match, that is, whether they increase or decrease synchronously. In addition, when controlling two ultrasonic radar waves 1, the two ultrasonic radar waves 1 alternately cycle as the transmitting radar. When controlling three or more ultrasonic radar waves 1, each ultrasonic radar 1 sequentially cycle as the transmitting radar.

[0030] In an optional embodiment of the present invention, such as Figure 2 As shown, step S2 specifically includes: S21: Calculate the difference between the main transmission range of the main transmission detection range and the difference between the listening range of the listening detection range for the same ultrasonic radar 1 in two adjacent detection cycles in chronological order; S22: Determine the actual motion state of the motor vehicle in each of the detection cycles, and output a motion signal and a stationary signal respectively when it is determined that the motor vehicle is in a moving state and a stationary state. S23: In response to the motion signal, acquire the vehicle's movement distance between adjacent detection cycles, determine whether the temporal trends of the main emission distance differences and the listening distance differences match the temporal trends of the vehicle's movement distances; if so, take the last detection cycle as the initial valid cycle; and S24: In response to the stationary signal, determine whether each of the main transmission distance differences and each of the listening distance differences are less than a preset stationary difference threshold and a preset dynamic difference threshold, respectively. If each of the main transmission distance differences and each of the listening distance differences are less than the preset stationary difference threshold, or if each of the main transmission distance differences and each of the listening distance differences are less than the preset dynamic difference threshold and the changing trend of each of the main transmission distance differences in time order matches the changing trend of each of the listening distance differences in time order, then the last detection cycle is taken as the initial effective cycle.

[0031] In this embodiment, when the vehicle is in motion, the time-series changes of the primary emission distance difference and the listening distance difference between adjacent detection cycles should match the time-series changes of the vehicle's movement distance between adjacent detection cycles. When the vehicle is stationary, the obstacle may be in motion or stationary. By reasonably setting corresponding preset stationary difference thresholds and preset dynamic difference thresholds, when the obstacle is also stationary, the primary emission distance difference and the listening distance difference should be zero. However, considering calculation errors and some stationary obstacles, a preset stationary difference threshold is set. When the obstacle is in motion, by reasonably setting a preset dynamic difference threshold, the primary emission distance difference and the listening distance difference are compared with the preset dynamic difference threshold to determine whether the obstacle is a low-speed target. Furthermore, by determining whether the time-series changes of the primary emission distance difference match the time-series changes of the listening distance difference, it is confirmed whether the obstacle is gradually approaching, thereby avoiding repeated jumps in obstacle distance.

[0032] In an optional embodiment of the present invention, such as Figure 3 As shown, step S3 specifically includes: S31: Calculate the first distance difference and the second distance difference between the main emission detection range and the listening detection range of each ultrasonic radar 1 within the initial effective period and the listening detection range and the main emission detection range of the adjacent ultrasonic radar 1; and S32: Determine whether each of the first distance difference and the second distance difference within the preliminary effective period is less than a preset error threshold and whether there is the same trend of change in chronological order. If so, the preliminary effective period is determined as an available period.

[0033] In this embodiment, based on the same obstacle and the installation position relationship of two adjacent ultrasonic radars 1, the main transmission detection range and listening detection range of one ultrasonic radar should match the listening detection range and main transmission detection range of the adjacent ultrasonic radar 1. In practice, considering the transmission interval of the adjacent ultrasonic radars 1, the corresponding first distance difference and second distance difference are calculated. When the first distance difference and the second distance difference are less than the preset error threshold and have the same trend of change in time sequence, it indicates that the adjacent ultrasonic radars 1 have detected the same obstacle, thereby ensuring the effectiveness of the detection cycle.

[0034] In an optional embodiment of the present invention, the step of calculating and storing the main transmission detection range and the listening detection range based on the detection return waves reflected back from the obstacle received by the transmitting radar and the listening radar respectively specifically includes: calculating and storing the main transmission detection range of the corresponding ultrasonic radar 1 based on the transmission data of the transmitting radar and the detection return waves received by the transmitting radar; and The detection range of the corresponding ultrasonic radar 1 is calculated and saved based on the emitted data of the transmitting radar and the detection return wave received by the listening radar.

[0035] In this embodiment, the main transmission detection range can be quickly calculated based on the transmission data of the transmitting radar (i.e., the transmission time and transmission frequency, etc.) and the detection return wave received by the transmitting radar (the time when the detection return wave is received). Similarly, the detection range of the corresponding ultrasonic radar 1 can also be quickly calculated based on the transmission data of the transmitting radar and the detection return wave received by the listening radar.

[0036] In an optional embodiment of the present invention, such as Figure 4 and Figure 5 As shown, step S4 specifically includes: S41: Obtain the installation spacing of each of the ultrasonic radars 1 on the vehicle; and S42: Based on the geometric principle of the triangle formed by the line connecting the transmitting radar, each of the listening radars and the obstacle within the available period, combined with the main transmission detection distance and listening detection distance of the corresponding ultrasonic radar 1 and the installation spacing, the distance between the obstacle and the target at the front end of the vehicle's driving direction when each ultrasonic radar 1 is used as a transmitting radar is calculated. S43: Select the minimum value from all the target distances within the same available period as the effective distance between the vehicle and the obstacle.

[0037] In this embodiment, a triangle formed by connecting the wave-transmitting radar, each of the listening radars, and the obstacle is utilized. When the three sides of the triangle (the installation spacing between the two radars, the main transmission detection distance of the wave-transmitting radar, and one listening detection distance) are known, the target distance between the obstacle and the front end in the driving direction of the motor vehicle can be quickly calculated when each of the ultrasonic radars 1 serves as the wave-transmitting radar; finally, the minimum value among the target distances is reported as the effective distance, which provides high safety.

[0038] In an optional embodiment of the present invention, as Figure 5 shown, when there are two listening detection distances for the wave-transmitting radar, the target distance is calculated according to the smaller listening detection distance. In this embodiment, when there are ultrasonic radars 1 on both sides of the ultrasonic radar 1 serving as the wave-transmitting radar (that is, at least three ultrasonic radars transmit waves in sequence), two listening detection distances will be calculated correspondingly. Therefore, the smaller listening detection distance is used to calculate the target distance, thereby improving the accuracy of obstacle distance calculation, avoiding false alarms caused by an excessive difference between the finally calculated target distance and the actual situation, and enhancing safety.

[0039] In an optional embodiment of the present invention, as Figure 5 shown, after obtaining the installation spacing of each of the ultrasonic radars 1 on the motor vehicle, the validity of the triangle formed by connecting the wave-transmitting radar, each of the listening radars, and the obstacle is first judged. When the triangle is valid, the target distance is calculated; otherwise, it is further judged whether the main transmission detection distance of the wave-transmitting radar is less than a preset minimum distance threshold, and if so, the main transmission detection distance of the wave-transmitting radar is taken as the target distance. In this embodiment, by judging the validity of the triangle, situations such as calculation failure or large errors are avoided; and when it is determined that the triangle is not a valid triangle, it usually means that the distance between the obstacle and the motor vehicle is too close, and at this time, the main transmission detection distance of the wave-transmitting radar is directly used as the target distance.

[0040] Referring to Figure 5 shown, S1, S2 and S3 are respectively three ultrasonic radars on the motor vehicle, the installation spacing between S2 and S3 is D. Assume that S2 serves as the wave-transmitting radar at this time, and correspondingly S1 and S3 are the listening radars, the main transmission detection distance of S2 is B, and the two listening detection distances are L and M respectively. At this time, the smaller listening detection distance L is selected to calculate the target distance, and the principle that the sum of two sides of a triangle is greater than the third side (B+L>D) and the difference between two sides is less than the third side (B-L<D) is used to judge the validity of the triangle formed by connecting S2, S3 and the obstacle. After the validity judgment is completed, the target distance H is calculated according to the following formula by using the three side lengths of the triangle: wherein,

[0041] In an optional embodiment of the present invention, the method further includes: The obstacle's coordinates within the pre-constructed road surface coordinate system where the vehicle is located are calculated based on the effective distance corresponding to each available effective period. In this embodiment, the effective distance is used to calculate the corresponding obstacle coordinates within the road surface coordinate system, facilitating real-time tracking of the obstacle.

[0042] On the other hand, such as Figure 6 As shown, this embodiment of the invention provides a motor vehicle obstacle distance detection device 3, which is connected to an ultrasonic radar 1 around the motor vehicle body. It includes a processor 30, a memory 32, and a computer program stored in the memory 32 and configured to be executed by the processor 30. When the processor executes the computer program, it implements the motor vehicle obstacle distance detection method as described in the above embodiment.

[0043] For example, the computer program can be divided into one or more modules / units, which are stored in the memory 32 and executed by the processor to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the vehicle obstacle distance detection device 3. For example, the computer program can be divided into... Figure 7 The functional modules in the motor vehicle obstacle distance detection device 3 include the radar control and data calculation module 41, the preliminary screening module 42, the re-screening module 43, and the distance calculation module 44, which respectively perform the above steps S1-S4.

[0044] The vehicle obstacle distance detection device 3 can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The vehicle obstacle distance detection device 3 may include, but is not limited to, a processor 30 and a memory 32. Those skilled in the art will understand that the schematic diagram is merely an example of the vehicle obstacle distance detection device 3 and does not constitute a limitation on the device. It may include more or fewer components than shown, or combine certain components, or use different components. For example, the vehicle obstacle distance detection device 3 may also include input / output devices, network access devices, buses, etc.

[0045] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. The processor 30 is the control center of the vehicle obstacle distance detection device 3, connecting all parts of the device via various interfaces and lines.

[0046] The memory 32 can be used to store the computer program and / or modules. The processor 30 implements various functions of the vehicle obstacle distance detection device 3 by running or executing the computer program and / or modules stored in the memory 32 and calling the data stored in the memory 32. The memory 32 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as image recognition function, image overlay function, etc.), etc.; the data storage area may store data created based on the use of the vehicle obstacle distance detection device 3 (such as image data, etc.). In addition, the memory 32 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0047] If the functions described in the embodiments of the present invention are implemented in the form of software functional modules or units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the embodiments of the present invention can implement all or part of the processes in the methods described above, or they can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by the processor 30, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0048] In another aspect, embodiments of the present invention provide a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the vehicle obstacle distance detection method as described in any of the above.

[0049] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0050] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the scope of protection of the present invention.

Claims

1. A method for detecting the distance to obstacles in a motor vehicle, characterized in that, The method includes the following steps: At least two ultrasonic radars installed on a motor vehicle, arranged along the width of the vehicle, periodically emit waves to detect obstacles in front of the vehicle's direction of travel. The detection areas of any two adjacent ultrasonic radars partially overlap. At least three wave detections are performed in each detection cycle. During each wave detection, one ultrasonic radar is selected as the emitting radar to emit ultrasonic detection waves according to a predetermined order, and the ultrasonic radar with an overlapping detection area with the emitting radar is used as the listening radar. The main emission detection distance and the listening detection distance are calculated and stored based on the detection return waves reflected back from the obstacles received by the emitting radar and the listening radar, respectively. Extract the primary detection range and listening detection range of each ultrasonic radar in three consecutive detection cycles, and determine whether the changing trends of the primary detection range and listening detection range are consistent with the changing trend of the vehicle movement distance in the same detection cycle. If so, the last detection cycle in the three consecutive detection cycles is defined as the preliminary effective cycle, specifically including: Calculate the difference between the main transmission range and the difference between the listening range of the same ultrasonic radar in two adjacent detection cycles in chronological order. The actual motion state of the motor vehicle is determined in each of the detection cycles. When the motor vehicle is determined to be in motion or stationary state, motion signals and stationary signals are output respectively. In response to the motion signal, the vehicle's movement distance between adjacent detection cycles is acquired. It is then determined whether the temporal trends of the differences in the main emission distances and the differences in the listening distances match the temporal trends of the vehicle's movement distances. If so, the last detection cycle is taken as the initial valid cycle. In response to the stationary signal, it is determined whether each of the main transmission distance differences and each of the listening distance differences are less than a preset stationary difference threshold and a preset dynamic difference threshold, respectively. If each of the main transmission distance differences and each of the listening distance differences are less than the preset stationary difference threshold, or if each of the main transmission distance differences and each of the listening distance differences are less than the preset dynamic difference threshold and the changing trend of each of the main transmission distance differences in time order matches the changing trend of each of the listening distance differences in time order, then the last detection cycle is taken as the initial effective cycle. Determine whether the obstacles detected by each ultrasonic radar as a transmitting radar during the initial effective period are the same obstacle. If so, define the initial effective period as a usable period; and The effective distance between the vehicle and the obstacle is calculated based on the main detection distance and the listening detection distance corresponding to each of the ultrasonic radars within the available period.

2. The method for detecting the distance to a motor vehicle obstacle as described in claim 1, characterized in that, The step of determining whether the obstacles detected by each ultrasonic radar as a transmitting radar in the preliminary effective period are the same obstacle, and if so, defining the preliminary effective period as an available period, specifically includes: Calculate the first and second distance differences between the primary and secondary detection ranges of each ultrasonic radar and the secondary detection and secondary detection ranges of adjacent ultrasonic radars within the initial effective period; and If the difference between the first distance and the second distance within the initial effective period is less than a preset error threshold and if there is the same trend of change in chronological order, then the initial effective period is determined as an available period.

3. The method for detecting the distance to a motor vehicle obstacle as described in claim 1, characterized in that, The step of calculating and storing the main transmission detection range and the listening detection range based on the detection return waves reflected back from the obstacle received by the transmitting radar and the listening radar respectively includes: The main detection range of the corresponding ultrasonic radar is calculated and saved based on the emitted data of the transmitting radar and the detection return wave received by the transmitting radar; and... The detection range of the corresponding ultrasonic radar is calculated and saved based on the emitted data of the transmitting radar and the detected return wave received by the listening radar.

4. The method for detecting the distance to a motor vehicle obstacle as described in claim 1, characterized in that, The calculation of the effective distance between the vehicle and the obstacle based on the primary detection range and the listening detection range corresponding to each of the ultrasonic radars within the available period specifically includes: Obtain the installation spacing of each of the ultrasonic radars on the motor vehicle; Based on the geometric principle of the triangle formed by the lines connecting the transmitting radar, each of the listening radars, and the obstacle within the available period, combined with the main transmission detection range and listening detection range of the corresponding ultrasonic radars and the installation spacing, the distance between the obstacle and the target at the front end of the vehicle's driving direction when each ultrasonic radar acts as a transmitting radar is calculated; and The minimum value among the target distances within the same available period is selected as the effective distance between the vehicle and the obstacle.

5. The method for detecting the distance to a motor vehicle obstacle as described in claim 4, characterized in that, When the transmitting radar has two detection ranges, the target distance is calculated based on the smaller detection range.

6. The method for detecting the distance to a motor vehicle obstacle as described in claim 4, characterized in that, After obtaining the installation spacing of each ultrasonic radar on the motor vehicle, the validity of the triangle formed by connecting the transmitting radar, each listening radar, and the obstacle is first determined. If the triangle is valid, the target distance is calculated; otherwise, it is determined whether the main transmission detection distance of the transmitting radar is less than a preset minimum distance threshold. If so, the main transmission detection distance of the transmitting radar is taken as the target distance.

7. The method for detecting the distance to a motor vehicle obstacle as described in claim 1 or 4, characterized in that, The method further includes: The obstacle coordinates within the pre-constructed road surface coordinate system where the motor vehicle is located are calculated based on the effective distance corresponding to each available cycle.

8. A vehicle obstacle distance detection device, connected to an ultrasonic radar around the vehicle body, characterized in that, The device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the motor vehicle obstacle distance detection method as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the motor vehicle obstacle distance detection method as described in any one of claims 1 to 7.

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