Motor vehicle obstacle height detection method and device and computer readable storage medium

Abstract

The embodiment of the invention provides a motor vehicle obstacle height detection method and device and a computer readable storage medium. The method comprises the steps that detection instructions are sent to three ultrasonic radars on a motor vehicle to control the three ultrasonic radars installed on the motor vehicle to respectively send waves once according to a preset sequence to detect obstacles in front of the driving direction; calculating the actual detection distance of the obstacle relative to the corresponding ultrasonic radar; a first actual vertical distance D1 of the obstacle relative to the plane where the three ultrasonic radars are located and a second actual vertical distance D2 of the obstacle relative to the connecting line of the two ultrasonic radars with the same installation height are obtained through calculation; the actual relative height H1 of the two ultrasonic radars with the same obstacle relative installation height is obtained through calculation; and acquiring the actual installation height H2 of the two ultrasonic radars with the same installation height relative to the road surface on which the motor vehicle runs, and calculating the target height H3 of the obstacle relative to the road surface on which the motor vehicle runs by combining the actual installation height H2 and the actual relative height H1.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of motor vehicle obstacle detection, and in particular, to a motor vehicle obstacle height detection method, device, and computer-readable storage medium. Background Art

[0002] In order to accurately determine whether an obstacle affects driving and facilitate intelligent assisted driving of motor vehicles, existing motor vehicles are usually equipped with an obstacle height detection system that detects obstacles to obtain the height of the obstacle.

[0003] An existing method for detecting the height of an obstacle in a motor vehicle is mainly implemented based on the monocular ranging principle or the binocular ranging principle through the obstacle image collected by the on-board camera. However, the obstacle height measurement based on the obstacle image requires good lighting imaging conditions in the environment, and when calculating the height of the obstacle, there are also high requirements for the image resolution of the image sensor of the on-board camera, otherwise it is easy to produce large errors and insufficient calculation accuracy. Summary of the invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide a method for detecting the height of an obstacle of a motor vehicle, which can accurately and stably detect the height of the obstacle by using an ultrasonic radar.

[0005] A further technical problem to be solved by the embodiments of the present invention is to provide a motor vehicle obstacle height detection device that can accurately and stably detect the height of the obstacle using an ultrasonic radar.

[0006] A further technical problem to be solved by an embodiment of the present invention is to provide a computer-readable storage medium for storing a computer program that can accurately and stably detect the height of an obstacle using an ultrasonic radar.

[0007] In order to solve the above technical problems, the embodiment of the present invention provides the following technical solutions: a method for detecting the height of a motor vehicle obstacle, comprising: Sending a detection instruction to three ultrasonic radars on the motor vehicle to control the three ultrasonic radars to emit waves once in a predetermined order within a detection cycle to detect obstacles ahead in the driving direction, wherein the detection areas of the three ultrasonic radars partially overlap, and two of the ultrasonic radars are installed at the same height and different from the installation height of another ultrasonic radar, and the planes where the three ultrasonic radars are located are perpendicular to the reference horizontal plane of the motor vehicle, and each time the ultrasonic radars are emitted for detection, one of the ultrasonic radars acts as a emitting radar to emit ultrasonic detection waves while the other two ultrasonic radars act as listening radars; Acquire the detection return waves received by each ultrasonic radar as the transmitting radar and the listening radar respectively, calculate a main transmitting detection distance and two listening detection distances corresponding to each ultrasonic radar according to the detection return waves, and take the average of the main transmitting detection distance and the two listening detection distances corresponding to each ultrasonic radar as the actual detection distance of the obstacle relative to the corresponding ultrasonic radar; Based on the plane geometric relationship and in combination with the actual detection distance of the obstacle relative to each ultrasonic radar and the preset actual installation spacing of each ultrasonic radar, a first actual vertical distance D1 of the obstacle relative to the plane where the three ultrasonic radars are located and a second actual vertical distance D2 of the obstacle relative to the line connecting two ultrasonic radars with the same installation height are calculated; Calculate the actual relative height H1 of the two ultrasonic radars with the same relative installation height of the obstacle based on the plane geometric relationship and the first actual vertical distance D1 and the second actual vertical distance D2; and The actual installation height H2 of the two ultrasonic radars with the same installation height relative to the road surface on which the motor vehicle is traveling is obtained, and the target height H3 of the obstacle relative to the road surface on which the motor vehicle is traveling is calculated by combining the actual installation height H2 and the actual relative height H1.

[0008] Furthermore, the actual installation distance between the two ultrasonic radars with the same installation height is set to a, and the actual installation distances between an ultrasonic radar with different installation heights and the two ultrasonic radars with the same installation height are set to b and c respectively. The actual detection distances of the obstacle relative to the two ultrasonic radars with the same installation height are set to p and q respectively, and the actual detection distance relative to the ultrasonic radars with different installation heights is set to r. The first actual vertical distance D1 of the obstacle relative to the plane where the three ultrasonic radars are located is expressed as: , in, , , , , , ; The second actual vertical distance D2 of the obstacle relative to the connecting line of the two ultrasonic radars installed at the same height is expressed as: , in, .

[0009] Furthermore, the actual relative height H1 of the obstacle relative to the two ultrasonic radars installed at the same height is expressed as: .

[0010] Furthermore, calculating the target height H3 of the obstacle relative to the road surface on which the motor vehicle is traveling in combination with the actual relative height H1 and the actual installation height H2 specifically means: comparing the actual relative height H1 with the actual installation height H2; if the actual relative height H1 is less than or equal to the actual installation height H2, determining that the target height H3 of the obstacle is not higher than the actual installation height H2, and the target height H3=H2-H1; otherwise, determining that the target height H3 of the obstacle is higher than the actual installation height H2, and the target height H3=H2+H1.

[0011] Furthermore, the installation heights of the two ultrasonic radars are the same and higher than the installation height of another ultrasonic radar.

[0012] Furthermore, within a detection cycle, the time interval between two adjacent ultrasonic radars transmitting waves is 30-40 ms.

[0013] On the other hand, in order to solve the above-mentioned further technical problems, an embodiment of the present invention provides the following technical solutions: a motor vehicle obstacle height detection device connected to three ultrasonic radars installed on a motor vehicle, the device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, it implements the motor vehicle obstacle height detection method as described in any one of the above items.

[0014] On the other hand, in order to solve the above-mentioned further technical problems, an embodiment of the present invention provides the following technical solutions: a computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the motor vehicle obstacle height detection method as described in any one of the above-mentioned items.

[0015] After adopting the above technical scheme, the embodiment of the present invention has at least the following beneficial effects: the embodiment of the present invention controls each ultrasonic radar to transmit a wave once in a detection cycle to detect obstacles ahead in the driving direction by sending a detection instruction to the three ultrasonic radars on the motor vehicle, and the detection areas of the ultrasonic radars are partially overlapped. Each time a wave is transmitted for detection, one ultrasonic radar is used as a transmitting radar to emit an ultrasonic detection wave and the other two ultrasonic radars are used as listening radars, thereby ensuring that each ultrasonic radar detects the same obstacle. Further, in combination with the detection return waves of each ultrasonic radar, a main transmission detection distance and two listening detection distances corresponding to each ultrasonic radar can be calculated accordingly. By averaging the main transmission detection distance and the listening detection distance generated by three transmissions, the average is used as the actual detection distance of the corresponding ultrasonic radar to detect obstacles, thereby improving the accuracy of the calculation. ; Then, since the obstacle and the connecting line of each ultrasonic radar form a three-dimensional geometric shape, when the actual installation spacing of each ultrasonic radar and the actual detection distance are known, the first actual vertical distance D1 of the obstacle relative to the plane where the three ultrasonic radars are located and the second actual vertical distance D2 of the obstacle relative to the connecting line of two ultrasonic radars with the same installation height can be calculated, and then the actual relative height H1 of the obstacle relative to the two ultrasonic radars with the same installation height is calculated in combination with the first actual vertical distance D1 and the second actual vertical distance D2. Finally, the actual installation height H2 of the two ultrasonic radars with the same installation height relative to the road surface on which the motor vehicle is traveling is combined to finally calculate the target height H3 of the obstacle relative to the road surface on which the motor vehicle is traveling. The calculation principle is simple, and the ultrasonic radar can be used to accurately and stably detect the height of the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a flowchart of the steps of an optional embodiment of the method for detecting the height of an obstacle of a motor vehicle.

[0017] Figure 2 This is a three-dimensional principle schematic diagram of an optional embodiment of the motor vehicle obstacle height detection method of the present invention.

[0018] Figure 3 The figure is a side plan view of an optional embodiment of the method for detecting the height of an obstacle of a motor vehicle according to the present invention.

[0019] Figure 4 This is a three-dimensional principle schematic diagram of an optional embodiment of the motor vehicle obstacle height detection method of the present invention.

[0020] Figure 5 The figure is a side plan view of an optional embodiment of the method for detecting the height of an obstacle of a motor vehicle according to the present invention.

[0021] Figure 6 The figure is a principle block diagram of an optional embodiment of the motor vehicle obstacle height detection device of the present invention.

[0022] Figure 7 This is a functional module diagram of an optional embodiment of the motor vehicle obstacle height detection device of the present invention. DETAILED DESCRIPTION

[0023] The present application is further described in detail below in conjunction with 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. In addition, the embodiments and features in the embodiments of the present application may be combined with each other without conflict.

[0024] like Figure 1 As shown, an optional embodiment of the present invention provides a method for detecting the height of an obstacle of a motor vehicle, comprising: S1: Sending a detection instruction to three ultrasonic radars 1 on the motor vehicle to control the three ultrasonic radars 1 to emit waves once in a predetermined order within a detection cycle to detect obstacles ahead in the driving direction, wherein the detection areas of the three ultrasonic radars 1 partially overlap, and two of the ultrasonic radars 1 are installed at the same height and different from the installation height of another ultrasonic radar 1, and the plane where the three ultrasonic radars 1 are located is perpendicular to the reference horizontal plane of the motor vehicle, and each time a wave is emitted for detection, one of the ultrasonic radars 1 acts as a emitting radar to emit ultrasonic detection waves, while the other two ultrasonic radars 1 act as listening radars; S2: Obtain the detection return waves received by each ultrasonic radar 1 as the transmitting radar and the listening radar respectively, and calculate a main transmitting detection distance and two listening detection distances corresponding to each ultrasonic radar 1 according to the detection return waves, and take the average of the main transmitting detection distance and the two listening detection distances corresponding to each ultrasonic radar 1 as the actual detection distance of the obstacle relative to the corresponding ultrasonic radar 1; S3: Based on the plane geometric relationship and in combination with the actual detection distance of the obstacle relative to each ultrasonic radar 1 and the preset actual installation spacing of each ultrasonic radar 1, a first actual vertical distance D1 of the obstacle relative to the plane where the three ultrasonic radars 1 are located and a second actual vertical distance D2 of the obstacle relative to the line connecting two ultrasonic radars 1 installed at the same height are calculated; S4: Calculate the actual relative height H1 of the two ultrasonic radars 1 with the same installation height relative to the obstacle based on the plane geometric relationship and the first actual vertical distance D1 and the second actual vertical distance D2; and S5: Obtain the actual installation height H2 of the two ultrasonic radars 1 with the same installation height relative to the road surface on which the motor vehicle is traveling, and calculate the target height H3 of the obstacle relative to the road surface on which the motor vehicle is traveling by combining the actual installation height H2 and the actual relative height H1.

[0025] The embodiment of the present invention controls the three ultrasonic radars 1 on the motor vehicle by sending a detection instruction, thereby controlling each of the ultrasonic radars 1 to transmit a wave once in a detection cycle to detect obstacles ahead in the driving direction, and the detection areas of the ultrasonic radars 1 partially overlap. Each time a wave is transmitted for detection, one of the ultrasonic radars 1 acts as a transmitting radar to transmit an ultrasonic detection wave, and the other two ultrasonic radars 1 act as listening radars, thereby ensuring that each ultrasonic radar 1 detects the same obstacle. Further, in combination with the detection return waves of each ultrasonic radar 1, a main transmission detection distance and two listening detection distances corresponding to each ultrasonic radar 1 can be calculated accordingly. By averaging the main transmission detection distance and the listening detection distance generated by three wave transmissions, the average value is used as the actual detection distance of the corresponding ultrasonic radar 1 to detect the obstacle, thereby improving the accuracy of the calculation. Then, due to the proximity of the obstacle to each ultrasonic radar 1, the detection distance of each ultrasonic radar 1 is calculated. The connecting line of the ultrasonic radars 1 forms a three-dimensional geometric shape. When the actual installation spacing of each ultrasonic radar 1 and the actual detection distance are known, the first actual vertical distance D1 of the obstacle relative to the plane where the three ultrasonic radars 1 are located and the second actual vertical distance D2 of the obstacle relative to the connecting line of two ultrasonic radars 1 with the same installation height can be calculated. Then, the actual relative height H1 of the obstacle relative to the two ultrasonic radars 1 with the same installation height is calculated in combination with the first actual vertical distance D1 and the second actual vertical distance D2. Finally, the actual installation height H2 of the two ultrasonic radars 1 with the same installation height relative to the road surface on which the motor vehicle is traveling is combined to finally calculate the target height H3 of the obstacle relative to the road surface on which the motor vehicle is traveling. The calculation principle is simple, and the ultrasonic radar 1 can be used to accurately and stably detect the height of the obstacle.

[0026] The obstacle height detection in the embodiment of the present invention is usually implemented when the motor vehicle is parked or traveling at a low speed.

[0027] In an optional embodiment of the present invention, Figures 2 to 5 As shown, the actual installation distance between the two ultrasonic radars 1 with the same installation height is set to a, and the actual installation distances between an ultrasonic radar 1 with different installation heights and the two ultrasonic radars 1 with the same installation height are set to b and c respectively. The actual detection distances of the obstacle relative to the two ultrasonic radars 1 with the same installation height are set to p and q respectively, and the actual detection distance relative to the ultrasonic radar 1 with different installation heights is set to r. The first actual vertical distance D1 of the obstacle relative to the plane where the three ultrasonic radars 1 are located is expressed as: , in, , , , , , ; The second actual vertical distance D2 of the obstacle relative to the connecting line of the two ultrasonic radars 1 installed at the same height is expressed as: , in, .

[0028] In this embodiment, see Figures 2 to 5 As shown, the two ultrasonic radars 1 installed at the same height are point A and point B, the one installed at a different height is point C, and the obstacle is at point D, wherein, Figures 2 to 3 A schematic diagram is given in which the target height H3 of the obstacle is lower than the actual installation height H2. Figures 4 to 5 A schematic diagram is given in which the target height H3 of the obstacle is higher than the actual installation height H2. Figure 2 For example, the lines connecting points A, B, C and D form a tetrahedron with point D as the vertex and triangle ABC as the base. The first actual vertical distance D1 of the obstacle relative to the plane where the three ultrasonic radars 1 are located (the plane where triangle ABC is located) is the height of the tetrahedron in triangle ABC; in addition, AB=a, AC=b, BC=c, AD=p, BD=q, CD=r. The first actual vertical distance D1 can be obtained by combining the general volume solution formula of the tetrahedron and the volume solution formula of Qin Jiushao-Helen, where S represents the area of ​​triangle ABC, and V represents the volume of the tetrahedron with point D as the vertex and triangle ABC as the base; similarly, in triangle ABD, the second actual vertical distance D2 is the height of the base AB. Qin Jiushao-Helen based on the area of ​​the triangle can also calculate the second actual vertical distance D2. The calculation principle is simple and the calculation efficiency is high.

[0029] In an optional embodiment of the present invention, the actual relative height H1 of the obstacle relative to the two ultrasonic radars 1 installed at the same height is expressed as: .

[0030] In this embodiment, see Figure 3 or Figure 5As shown, see Figure 2 The projection diagram on the YOZ plane is Figure 3 In the right triangle MGD, MD=D2, GD=D1. According to the Pythagorean theorem, the above-mentioned actual relative height H1 can be obtained respectively. The calculation principle is simple and the calculation efficiency is high.

[0031] In an optional embodiment of the present invention, calculating the target height H3 of the obstacle relative to the road surface of the motor vehicle in combination with the actual relative height H1 and the actual installation height H2 specifically means: comparing the actual relative height H1 with the actual installation height H2, and if the actual relative height H1 is less than or equal to the actual installation height H2, determining that the target height H3 of the obstacle is not higher than the actual installation height H2 (such as Figures 2 to 3 As shown), the target height H3 = H2-H1, otherwise it is determined that the target height H3 of the obstacle is higher than the actual installation height H2 (such as Figures 4 to 5 As shown in FIG. 1 ), the target height H3 = H2 + H1. In this embodiment, the height attribute of the obstacle is quickly confirmed according to the size relationship between the actual relative height H1 and the actual installation height H2 of the ultrasonic radar 1, so as to accurately obtain the target height H3 of the obstacle relative to the driving road surface by combining different calculation methods.

[0032] In specific implementation, it can be understood that when the target height H3 of the obstacle is higher than the actual installation height H2, due to the working principle of the ultrasonic radar 1, it will only detect the part of the obstacle closest to itself, and cannot automatically detect the highest point of the obstacle protruding from the ground (for example, a wall). Therefore, the obstacle with a target height H3 higher than the actual installation height H2 referred to in this embodiment usually refers to a suspended obstacle. Therefore, in order to eliminate the misjudgment of the obstacle height calculation caused by obstacles protruding from the ground, a vehicle-mounted camera device can be used to capture whether there is indeed a suspended obstacle in front of the direction of travel of the motor vehicle, thereby reducing the occurrence of misjudgment.

[0033] In an optional embodiment of the present invention, the installation heights of the two ultrasonic radars 1 are the same and higher than the installation height of the other ultrasonic radar 1. In this embodiment, the ultrasonic radars 1 around the vehicle body are usually installed at the same height. In the specific design, an ultrasonic radar 1 can be installed on the bumper below the traditional installation height position to avoid affecting the installation of radars in other positions of the vehicle.

[0034] In an optional embodiment of the present invention, within a detection cycle, the time interval between two adjacent ultrasonic radars 1 is 30-40ms. In this embodiment, within the above time interval within a detection cycle, two adjacent ultrasonic radars 1 transmit to detect obstacles. Combined with the above-mentioned transmission interval, three ultrasonic radars 1 complete the transmission, and the duration of a detection cycle is 60-80ms. Within this time interval, the possibility of sudden changes in the states of the motor vehicle and the obstacle is very low. Therefore, the various embodiments of the present invention do not consider the movement of the motor vehicle and the obstacle during this period, which simplifies the calculation and is also conducive to improving the calculation efficiency.

[0035] On the other hand, the embodiment of the present invention further provides a motor vehicle obstacle height detection device 3, such as Figure 6 As shown, the device is connected to two ultrasonic radars 1 installed on a motor vehicle, and 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 30 executes the computer program, the motor vehicle obstacle height detection method as described in the above embodiment is implemented.

[0036] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory 32 and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the motor vehicle obstacle height detection device 3. For example, the computer program may be divided into Figure 7 The functional modules in the motor vehicle obstacle height detection device 3, wherein the radar control module 41, the detection distance calculation module 42, the vertical distance calculation module 43, the relative height calculation module 44 and the target height calculation module 45 respectively execute the above steps S1 to S5.

[0037] The motor vehicle obstacle height detection device 3 can be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The motor vehicle obstacle height detection device 3 can include, but is not limited to, a processor 30 and a memory 32. Those skilled in the art can understand that the schematic diagram is only an example of the motor vehicle obstacle height detection device 3 and does not constitute a limitation on the motor vehicle obstacle height detection device 3. It can include more or less components than shown in the figure, or combine certain components, or different components. For example, the motor vehicle obstacle height detection device 3 can also include input and output devices, network access devices, buses, etc.

[0038] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 30 is the control center of the motor vehicle obstacle height detection device 3, and uses various interfaces and lines to connect various parts of the entire motor vehicle obstacle height detection device 3.

[0039] The memory 32 can be used to store the computer program and / or module. The processor 30 realizes various functions of the motor vehicle obstacle height detection device 3 by running or executing the computer program and / or module stored in the memory 32 and calling the data stored in the memory 32. The memory 32 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a graphic recognition function, a graphic overlay function, etc.), etc.; the data storage area can store data (such as graphic data, etc.) created according to the use of the control device, etc. In addition, the memory 32 can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0040] If the functions described in the embodiments of the present invention are implemented in the form of software function modules or units and sold or used as independent products, they can be stored in a storage medium readable by a computing device. Based on this understanding, the embodiments of the present invention implement all or part of the processes in the above-mentioned embodiments, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor 30, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased 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 electric carrier signals and telecommunication signals.

[0041] On the other hand, an embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the motor vehicle obstacle height detection method as described in the above embodiment.

[0042] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0043] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, which all belong to the protection scope of the present invention.

Claims

1. A method for detecting the height of an obstacle in a motor vehicle, characterized in that: The method comprises the following steps: Sending a detection instruction to three ultrasonic radars on the motor vehicle to control the three ultrasonic radars to emit waves once in a predetermined order within a detection cycle to detect obstacles ahead in the driving direction, wherein the detection areas of the three ultrasonic radars partially overlap, and two of the ultrasonic radars are installed at the same height and different from the installation height of another ultrasonic radar, and the planes where the three ultrasonic radars are located are perpendicular to the reference horizontal plane of the motor vehicle, and each time the ultrasonic radars are emitted for detection, one of the ultrasonic radars acts as a emitting radar to emit ultrasonic detection waves while the other two ultrasonic radars act as listening radars; Acquire the detection return waves received by each ultrasonic radar as the transmitting radar and the listening radar respectively, calculate a main transmitting detection distance and two listening detection distances corresponding to each ultrasonic radar according to the detection return waves, and take the average of the main transmitting detection distance and the two listening detection distances corresponding to each ultrasonic radar as the actual detection distance of the obstacle relative to the corresponding ultrasonic radar; Based on the plane geometric relationship and in combination with the actual detection distance of the obstacle relative to each ultrasonic radar and the preset actual installation spacing of each ultrasonic radar, a first actual vertical distance D1 of the obstacle relative to the plane where the three ultrasonic radars are located and a second actual vertical distance D2 of the obstacle relative to the line connecting two ultrasonic radars with the same installation height are calculated; Calculate the actual relative height H1 of the two ultrasonic radars with the same relative installation height of the obstacle based on the plane geometric relationship and the first actual vertical distance D1 and the second actual vertical distance D2; and The actual installation height H2 of the two ultrasonic radars with the same installation height relative to the road surface on which the motor vehicle is traveling is obtained, and the target height H3 of the obstacle relative to the road surface on which the motor vehicle is traveling is calculated by combining the actual installation height H2 and the actual relative height H1.

2. The motor vehicle obstacle height detection method according to claim 1, characterized in that: Assume that the actual installation distance between the two ultrasonic radars with the same installation height is a, and the actual installation distances between an ultrasonic radar with different installation heights and the two ultrasonic radars with the same installation height are b and c respectively, the actual detection distances of the obstacle relative to the two ultrasonic radars with the same installation height are p and q respectively, and the actual detection distance relative to the ultrasonic radar with different installation heights is r, The first actual vertical distance D1 of the obstacle relative to the plane where the three ultrasonic radars are located is expressed as: ， in, , ， ， ， ， ； The second actual vertical distance D2 of the obstacle relative to the connecting line of the two ultrasonic radars installed at the same height is expressed as: ， in, .

3. The motor vehicle obstacle height detection method according to claim 2, characterized in that: The actual relative height H1 of the obstacle relative to the two ultrasonic radars with the same installation height is expressed as: 。 4. The motor vehicle obstacle height detection method according to claim 3, characterized in that: Calculating the target height H3 of the obstacle relative to the road surface on which the motor vehicle is traveling in combination with the actual relative height H1 and the actual installation height H2 specifically means: comparing the actual relative height H1 with the actual installation height H2; if the actual relative height H1 is less than or equal to the actual installation height H2, determining that the target height H3 of the obstacle is not higher than the actual installation height H2, and the target height H3=H2-H1; otherwise, determining that the target height H3 of the obstacle is higher than the actual installation height H2, and the target height H3=H2+H1.

5. The motor vehicle obstacle height detection method according to claim 1, characterized in that: The installation heights of the two ultrasonic radars are the same and higher than the installation height of another ultrasonic radar.

6. The motor vehicle obstacle height detection method according to claim 1, characterized in that: In one detection cycle, the time interval between two adjacent ultrasonic radars transmitting waves is 30-40ms.

7. A motor vehicle obstacle height detection device connected to three ultrasonic radars installed on a motor vehicle, 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, and the processor implements the motor vehicle obstacle height detection method according to any one of claims 1 to 6 when executing the computer program.

8. 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, the device where the computer-readable storage medium is located is controlled to execute the motor vehicle obstacle height detection method according to any one of claims 1 to 6.

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