Alarm method and system before vehicle starting and vehicle

Abstract

The invention relates to the technical field of vehicles, and discloses an alarm method and system before vehicle starting, electronic equipment, a storage medium and a vehicle, and the method comprises the steps: setting a sound velocity reference value and a corresponding relation between an environment temperature and a distance correction factor; in response to the acquired environment temperature, calculating the sound velocity at the current environment temperature based on a relation model between the sound velocity and the environment temperature, and calculating a distance correction factor corresponding to the sound velocity; simulating the process of transmitting ultrasonic waves to a hypothetical target and returning, and recording the round-trip time of the ultrasonic waves; and calculating an original detection distance based on the sound velocity at the current environment temperature and the ultrasonic round-trip time, correcting the original detection distance according to the distance correction factor, and comparing the corrected original detection distance with a dynamic threshold value to determine whether to give an alarm. According to the method, the detection precision and reliability are improved by comprehensively judging multiple factors, the detection requirements in different scenes can be flexibly met, and the alarm accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a warning method, system, electronic equipment, storage medium and vehicle before vehicle startup. Background Art

[0002] At present, with the continuous increase in the number of cars, vehicle driving safety has become the focus of social attention. Especially before the vehicle starts, if it fails to detect and avoid collisions with animals in the surrounding environment in time, it may not only cause injury or death to the animals, but also damage the vehicle and even cause serious traffic accidents.

[0003] Existing vehicle safety systems mainly rely on sensors such as vision or radar to detect obstacles, but in some cases, such as at night, in fog, or when animals are in the blind spot, the detection effect of these systems may be greatly reduced.

[0004] Therefore, the present application provides a warning method before vehicle startup to solve the above technical problems. Summary of the invention

[0005] The purpose of the present invention is to provide a warning method, system, electronic device, storage medium and vehicle before vehicle start-up, so as to solve the technical problem in the prior art that the warning accuracy is low and easily leads to false alarm or missed alarm.

[0006] In order to solve the above technical problems, the present invention provides a warning method before vehicle startup, comprising:

[0007] Initializing parameter steps, including setting a reference value of the speed of sound and a corresponding relationship between the ambient temperature and the distance correction factor;

[0008] The step of calculating the real-time sound speed and distance correction factor comprises: in response to the acquired ambient temperature, based on a relationship model between the sound speed and the ambient temperature, calculating the sound speed at the current ambient temperature, and calculating the distance correction factor corresponding to the sound speed;

[0009] Executing ultrasonic detection and timing steps, including simulating the process of ultrasonic wave transmission to an imaginary target and returning, and recording the ultrasonic wave round trip time;

[0010] Calculate the detection distance and perform comprehensive judgment steps, including calculating the original detection distance based on the speed of sound at the current ambient temperature and the ultrasonic round-trip time, correcting the original detection distance according to the distance correction factor, and comparing it with the dynamic threshold to determine whether to issue an alarm.

[0011] In some specific embodiments, the parameter initialization step includes setting a reference value of the speed of sound and a corresponding relationship between the ambient temperature and the distance correction factor, and further includes:

[0012] Set standard sound speed reference values, including the sound speed values ​​at standard atmospheric pressure and 20 degrees Celsius;

[0013] A mathematical model for the change in sound speed under different ambient temperature conditions and the corresponding distance correction factor relationship are defined, including constructing a comparison table or function of ambient temperature and distance correction factor, wherein the comparison table or function is used to adjust the accuracy of the detection distance according to the change in ambient temperature.

[0014] In some specific embodiments, the step of calculating the real-time sound speed and distance correction factor includes, in response to the acquired ambient temperature, calculating the sound speed at the current ambient temperature based on a relationship model between the sound speed and the ambient temperature, and calculating the distance correction factor corresponding to the sound speed, further including:

[0015] Get the value representing the current ambient temperature;

[0016] Substituting the numerical value into the relationship model to calculate the speed of sound at the current ambient temperature, wherein the relationship model includes a linear model;

[0017] Based on the corresponding relationship between the ambient temperature and the distance correction factor, the distance correction factor under the current ambient temperature is calculated.

[0018] In some specific embodiments, the ultrasonic detection and timing step includes simulating the process of emitting ultrasonic waves to an imaginary target and returning, and recording the ultrasonic round trip time, further comprising:

[0019] Centered on the bottom area of ​​the vehicle, simulate the propagation process of ultrasonic signals;

[0020] The round trip time of the ultrasonic wave being sent to the imaginary target and returned is recorded, wherein the imaginary target includes an obstacle.

[0021] In some specific embodiments, the detection distance is calculated and a comprehensive judgment step is performed, including calculating the original detection distance based on the sound speed at the current ambient temperature and the ultrasonic round-trip time, correcting the original detection distance according to the distance correction factor, and comparing it with the dynamic threshold to determine whether to alarm, further including:

[0022] Based on the formula:

[0023] Original detection distance = (331.6 + 0.61 * ambient temperature) * round trip time / 2;

[0024] Calculating the original detection distance;

[0025] Based on the formula:

[0026] Corrected detection distance = original detection distance * distance correction factor;

[0027] Calculating the corrected detection distance;

[0028] Setting a dynamic threshold, wherein the dynamic threshold is calculated based on a noise level and a temperature factor;

[0029] The corrected detection distance is compared with the dynamic threshold, and when the corrected detection distance is less than or equal to the dynamic threshold, the alarm logic is triggered.

[0030] In some specific embodiments, the alarm logic further includes:

[0031] When the alarm logic is triggered, the alarm information is output in a perceptible manner, including visual and auditory;

[0032] When the alarm logic is executed, relevant data and event information are recorded.

[0033] Based on the same concept, the present invention also provides a warning system before vehicle start-up, comprising:

[0034] Initialize the parameter module, configured to set the sound speed reference value and the corresponding relationship between the ambient temperature and the distance correction factor;

[0035] A module for calculating real-time sound speed and distance correction factor, configured to calculate the sound speed at the current ambient temperature in response to the acquired ambient temperature, based on a relationship model between the sound speed and the ambient temperature, and calculate a distance correction factor corresponding to the sound speed;

[0036] An ultrasonic detection and timing module is executed, configured to simulate the process of ultrasonic waves being emitted to an imaginary target and returning, and to record the ultrasonic round trip time;

[0037] The detection distance calculation and comprehensive judgment execution module is configured to calculate the original detection distance based on the sound speed at the current ambient temperature and the ultrasonic round-trip time, correct the original detection distance according to the distance correction factor, and compare it with the dynamic threshold to determine whether to issue an alarm.

[0038] Based on the same concept, the present invention also provides an electronic device, comprising: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the warning method before the vehicle starts.

[0039] Based on the same concept, the present invention also provides a computer-readable storage medium storing a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of the vehicle start-up warning method.

[0040] Based on the same concept, the present invention also provides a vehicle, wherein the vehicle is provided with the above-mentioned warning system before vehicle start-up.

[0041] Compared with the prior art, the invention has the following beneficial effects:

[0042] The present invention discloses a warning method, system, electronic device, storage medium and vehicle before vehicle start-up, which improves detection accuracy and reliability by comprehensively judging multiple factors, can flexibly respond to detection needs in different scenarios, and improves warning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a flowchart of a warning method before vehicle startup in some specific embodiments of the present invention;

[0044] Figure 2 It is a flow chart of a warning method before vehicle start-up in some applications of the present invention;

[0045] Figure 3 It is a schematic diagram of the structure of a warning system before vehicle start-up in some specific embodiments of the present invention;

[0046] Figure 4 It is a schematic diagram of the structure of an electronic device in some specific embodiments of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0048] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0049] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0050] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0051] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0052] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0053] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0054] Reference Figure 1 , a warning method before vehicle starting, comprising:

[0055] S101, initializing parameters, including setting a reference value of the speed of sound and a corresponding relationship between the ambient temperature and the distance correction factor;

[0056] It can be understood that 343m / s is used as the reference value for calculating the speed of sound, and the corresponding relationship between the ambient temperature and the distance correction factor is established. Under multiple different temperature conditions (such as -10°C, 0°C, 10°C, 20°C, 30°C, 40°C, etc.), the difference between the actual distance measurement results and the theoretical distance measurement results at different temperatures is recorded, and the collected experimental data is processed and analyzed to calculate the distance correction factor at each temperature point. The distance correction factor can be calculated using the following formula:

[0057] Correction factor = theoretical distance measurement result / actual distance measurement result;

[0058] Among them, the theoretical ranging result is calculated based on the sound speed reference value (343m / s) and the ultrasonic round-trip time.

[0059] Each temperature point and its corresponding distance correction factor are organized into a table, or constructed into a functional relationship through a mathematical fitting method.

[0060] For example,

[0061] The following table of correspondence between ambient temperature and distance correction factor is obtained through experiments:

[0062]

[0063]

[0064] In some of the applications, in setting the sound speed reference value and the correspondence between the ambient temperature and the distance correction factor, a standard sound speed reference value is set, including the sound speed value under standard atmospheric pressure and 20 degrees Celsius; a mathematical model of the sound speed change under different ambient temperature conditions and the corresponding distance correction factor relationship are defined, including constructing a comparison table or function of the ambient temperature and the distance correction factor, and the comparison table or function is used to adjust the accuracy of the detection distance according to the change in ambient temperature.

[0065] It can be understood that when the environment is at standard atmospheric pressure (ie, 101325 Pascals) and the temperature is 20 degrees Celsius, the speed of sound in the air is approximately 343 meters per second (m / s), which is set as the reference value of the speed of sound.

[0066] The establishment of mathematical model is explained by taking linear model as an example:

[0067] v=v0+α·(T-T0)

[0068] Among them, v is the speed of sound at a certain temperature, v0 is the reference speed of sound (i.e. 343m / s), α is the coefficient of change of sound speed with temperature, T is the current ambient temperature, and T0 is the reference temperature (i.e. 20℃).

[0069] Determine the specific value of the coefficient α. Implement the above mathematical model in the algorithm so as to calculate the current sound speed value based on the ambient temperature value obtained in real time.

[0070] Construct a comparison table or function of ambient temperature and distance correction factor. Since the change of sound speed will directly affect the calculation of ultrasonic detection distance, a comparison table or function is constructed to reflect the relationship between ambient temperature and distance correction factor. The distance correction factor is used to adjust the original detection distance calculated based on the current sound speed to a more accurate distance.

[0071] Obtain the distance correction factor values ​​at different ambient temperatures. Arrange these values ​​in the form of a comparison table, where the rows of the table represent different ambient temperature values ​​and the columns represent the corresponding distance correction factor values. Alternatively, use mathematical methods (such as interpolation, curve fitting, etc.) to fit these values ​​into a function so that the distance correction factor can be directly calculated by inputting the ambient temperature value.

[0072] S102, a step of calculating a real-time sound speed and a distance correction factor, comprising, in response to the acquired ambient temperature, calculating the sound speed at the current ambient temperature based on a relationship model between the sound speed and the ambient temperature, and calculating a distance correction factor corresponding to the sound speed;

[0073] It is understandable that in order to improve the accuracy of the detection distance, it is necessary to calculate the speed of sound in real time and adjust the calculation of the detection distance according to the change of the speed of sound. Get the current ambient temperature value in real time. Read the ambient temperature value regularly (such as every second, every half second, etc.), and after obtaining the current ambient temperature, calculate the current speed of sound value using the preset relationship model between the speed of sound and the ambient temperature, and calculate the corresponding distance correction factor.

[0074] In some of the applications, in response to the acquired ambient temperature, based on a relationship model between the sound speed and the ambient temperature, the sound speed at the current ambient temperature is calculated, and a distance correction factor corresponding to the sound speed is calculated to obtain a numerical value representing the current ambient temperature; the numerical value is substituted into the relationship model to calculate the sound speed at the current ambient temperature, and the relationship model includes a linear model; based on the correspondence between the ambient temperature and the distance correction factor, the distance correction factor at the current ambient temperature is calculated.

[0075] It is understandable that the preset relationship model between the speed of sound and the ambient temperature is used to calculate the speed of sound in the current environment. A linear model is used as an example for explanation.

[0076] Example of a relational model (linear model):

[0077] v=v0+α·(T-T0)

[0078] Among them, v is the speed of sound at a certain temperature, v0 is the reference speed of sound (i.e. 343m / s), α is the coefficient of the change of the speed of sound with temperature, T is the current ambient temperature, and T0 is the reference temperature (i.e. 20℃).

[0079] Substitute the obtained ambient temperature value into the above linear model, perform calculations, and obtain the sound speed value in the current environment.

[0080] For example, substituting (T = 25°C) into the model, we can calculate: v = 343m / s + 0.6m / (s·°C) × (25°C - 20°C) = 343m / s + 3m / s = 346m / s;

[0081] Based on the correspondence between ambient temperature and distance correction factor, the distance correction factor at the current ambient temperature is calculated, and the corresponding distance correction factor is calculated according to the current ambient temperature using the pre-established correspondence between ambient temperature and distance correction factor (which can be a comparison table or a functional relationship).

[0082] The comparison table or functional relationship should be based on experimental data or theoretical calculation to ensure accuracy and reliability. The current ambient temperature value is used as input, and the corresponding distance correction factor is obtained by looking up the comparison table or calculating the functional relationship.

[0083] For example (using a comparison table): The comparison table lists the corresponding relationship between different ambient temperatures and distance correction factors. The distance correction factor corresponding to the current ambient temperature of 25°C is 1.01.

[0084] S103, executing ultrasonic detection and timing steps, including simulating the process of ultrasonic wave transmission to an imaginary target and returning, and recording the ultrasonic wave round trip time;

[0085] It can be understood that by simulating the process of ultrasonic wave transmission to the imaginary target and returning, the ultrasonic wave round trip time is recorded to calculate the target distance. Before starting the ultrasonic detection, the ultrasonic transmitter and receiver are initialized, including setting the transmission power, receiving sensitivity, working frequency and other parameters.

[0086] For example, the frequency of the ultrasonic transmitter is set to 40 kHz, the transmission power is set to a fixed value (such as 10 mW), and the sensitivity of the receiver is adjusted to ensure that the returned ultrasonic signal can be accurately received.

[0087] The ultrasonic transmitter is triggered by a control signal to emit an ultrasonic pulse with a specific waveform and duration.

[0088] For example, an ultrasonic pulse with a duration of 100 microseconds and a frequency of 40 kHz is sent.

[0089] Simulates ultrasonic waves propagating to an imaginary target and back.

[0090] For example, if the target is located 1 meter away from the ultrasonic transmitter, the ultrasonic round trip time is calculated based on the speed of sound (about 340 m / s in air): t = 340 m / s2 × 1 m ≈ 0.00588 s ≈ 5.88 ms. Therefore, in the simulation process, the time delay is set to 5.88 milliseconds to simulate the round trip of the ultrasonic wave.

[0091] After the ultrasonic pulse is sent, the timing starts immediately and stops when the receiver receives the returned ultrasonic signal. The recorded time is the round trip time of the ultrasonic wave.

[0092] In some of these applications, the process of ultrasonic wave emission to an imaginary target and returning is simulated, and the round-trip time of the ultrasonic wave is recorded. The ultrasonic wave signal propagation process is simulated with the bottom area of ​​the vehicle as the center; the round-trip time of the ultrasonic wave sent to the imaginary target and returned is recorded. The imaginary target includes obstacles.

[0093] It will be appreciated that a center point of the vehicle bottom area is determined.

[0094] For example, if the bottom plane of the vehicle is a rectangle, 4 meters long and 1.8 meters wide, the center point can be set to the intersection of the diagonals of the rectangle, which is roughly below the center axis of the vehicle and at a certain height (such as 0.3 meters) from the ground.

[0095] The ultrasonic sensor is installed at or near the center point of the bottom area of ​​the vehicle, ensuring that the sensor can emit ultrasonic signals in all directions around the vehicle.

[0096] For example, one or more ultrasonic sensors are installed directly below the center point of the bottom of the vehicle, and each sensor can cover a certain fan-shaped area, and together they cover most of the space under the vehicle and its surroundings.

[0097] Ultrasonic signals are emitted by ultrasonic sensors, and the process of these signals propagating around the bottom area of ​​the vehicle is simulated.

[0098] For example, suppose that the ultrasonic signal is emitted from the sensor in the form of a spherical wavefront and spreads in all directions. To simplify the simulation, it can be assumed that the signal propagation speed is the speed of sound in air (about 340 m / s).

[0099] Set a series of imaginary obstacles around the bottom area of ​​the vehicle. These obstacles can be static or dynamic, depending on the scenario requirements.

[0100] When the ultrasonic signal encounters an imaginary obstacle, the analog signal is reflected back to the ultrasonic sensor. The sensor records the total time from the signal transmission to the reception of the reflected signal, which is the round-trip time of the ultrasonic wave.

[0101] S104, calculate the detection distance and perform a comprehensive judgment step, including calculating the original detection distance based on the speed of sound at the current ambient temperature and the ultrasonic round-trip time, correcting the original detection distance according to the distance correction factor, and comparing it with the dynamic threshold to determine whether to issue an alarm.

[0102] It can be understood that this step calculates the original detection distance based on the speed of sound at the current ambient temperature and the ultrasonic round-trip time, and makes precise adjustments and alarm judgments through the distance correction factor and dynamic threshold.

[0103] In some of these applications, the original detection distance is calculated based on the speed of sound and the ultrasonic round-trip time at the current ambient temperature, the original detection distance is corrected according to the distance correction factor, and compared with the dynamic threshold to determine whether to issue an alarm, based on the formula: original detection distance = (331.6 + 0.61 * ambient temperature) * round-trip time / 2; calculate the original detection distance; based on the formula: corrected detection distance = original detection distance * distance correction factor; calculate the corrected detection distance; set the dynamic threshold, which is calculated based on the noise level and temperature factors; compare the corrected detection distance with the dynamic threshold, and when the corrected detection distance is less than or equal to the dynamic threshold, the alarm logic is triggered.

[0104] It can be understood that the current ambient temperature (in degrees Celsius) is first obtained, and the formula, original detection distance = (331.6 + 0.61 * ambient temperature) * round-trip time / 2 is used to calculate half of the total distance from the ultrasonic signal being emitted to being reflected by the obstacle and returned, that is, the original detection distance.

[0105] For example, the current ambient temperature is 25°C and the ultrasonic round trip time is 10ms, then the original detection distance is calculated as (331.6+0.61*25)*10ms / 2=17.36m (the time unit needs to be converted to seconds, that is, 10ms=0.01s).

[0106] Based on the preset or real-time calculated distance correction factor, the original detection distance is corrected to compensate for possible system errors, environmental factors (such as air density changes), etc. The correction formula is corrected detection distance = original detection distance * distance correction factor.

[0107] For example, if the distance correction factor is 0.98 (indicating that the actual distance may be slightly smaller than the original calculated value), the corrected detection distance is 17.36m*0.98=16.99m.

[0108] Dynamic thresholds are calculated in real time based on the current environmental noise level and temperature factors to ensure the accuracy and adaptability of the alarm system.

[0109] For example, to define a base threshold:

[0110] First, define the basic threshold (T base ), this value is the default safety distance under standard environmental conditions (such as temperature 20℃, low noise environment). For example, T base =10 meters.

[0111] Consider the temperature effect:

[0112] Temperature affects the speed of sound and air density, which in turn affects the propagation and reflection of ultrasound. A temperature adjustment factor (F temp ), which changes with temperature. For example, a linear or nonlinear function can be used to model this relationship:

[0113] F temp =1+α·(T env -T ref );

[0114] Among them, T env is the current ambient temperature (in degrees Celsius), T ref is the reference temperature (such as 20°C), and α is a coefficient determined according to experimental data (for example, α=0.005 means that each degree of temperature change has a 0.5% effect on the threshold).

[0115] Consider the impact of noise:

[0116] The noise level directly affects the signal-to-noise ratio and detection accuracy of the ultrasonic signal. The noise adjustment factor (F noise ), which changes according to the noise level. For example, a logarithmic function can be used to model the relationship between noise and threshold:

[0117] F noise =β·log 10 (1+N level );

[0118] Among them, N level is the current noise level (can be a decibel value or other quantitative indicators), and β is a scaling factor used to adjust the degree of influence of noise on the threshold.

[0119] Calculate the dynamic threshold:

[0120] The basic threshold, temperature adjustment factor and noise adjustment factor are combined to calculate the dynamic threshold (T dynamic ):

[0121] T dynamic =T base ·F temp ·F noise

[0122] For example:

[0123] T base =10 m;

[0124] T env =25 degrees Celsius;

[0125] T ref =20 degrees Celsius;

[0126] α = 0.005;

[0127] N level = 60 dB (hypothetical noise level);

[0128] β = 0.1;

[0129] but:

[0130] F temp =1+0.005·(25-20)=1.0025;

[0131] F noise =0.1·l og10(1+60)≈0.1·1.778=0.1778;

[0132] T dynamic =10·1.0025·0.1778≈1.78 m;

[0133] The corrected detection distance is compared with the dynamic threshold. If the corrected detection distance is less than or equal to the dynamic threshold, it is considered that there is a potential risk or obstacle and the alarm logic needs to be triggered.

[0134] For example, in the above example, the corrected detection distance is 16.99m, and the dynamic threshold is 1.78m. Since 16.99m is greater than 1.78m, the alarm logic is not triggered. However, if the corrected detection distance is less than or equal to 1.78, an alarm is issued according to the preset alarm strategy (such as sound alarm, visual prompt, etc.).

[0135] In some of these applications, when the alarm logic is triggered, the alarm information is output in a perceptible manner, including visually and auditorily; when the alarm logic is executed, relevant data and event information are recorded.

[0136] It is understandable that when the alarm logic is triggered, the alarm information can be displayed to the user in a visual manner through a display device (such as an LED light, a display screen, etc.). The alarm information may include but is not limited to text, icons, color changes, etc. to attract the user's attention and clearly inform the alarm content.

[0137] For example, when the warning logic is triggered, the LED light on the front of the vehicle starts flashing red, and the text message "Attention! There is an obstacle ahead" is displayed on the on-board display.

[0138] Output the warning information in an auditory manner, and send a warning sound to the user in an auditory manner through an audio device (such as a speaker, buzzer, etc.). The warning sound can be a preset alarm sound, voice prompt, etc., so that the user can still receive the warning information when the vision is blocked or the user's sight is not in the monitoring area.

[0139] For example, when the LED light flashes, a continuous beeping sound will sound inside the vehicle to alert the driver.

[0140] In the process of executing the alarm logic, relevant data and event information are automatically recorded, including but not limited to the time when the alarm is triggered, the original detection distance, the corrected detection distance, the dynamic threshold, the ambient temperature, the noise level, the alarm mode (visual / auditory), etc., for subsequent analysis, troubleshooting or system optimization.

[0141] Combine the following Figure 2 The following describes some examples of the warning method before vehicle startup of the present invention in some applications:

[0142] like Figure 2 As shown,

[0143] 1. Initialization parameters: Set the speed of sound under standard conditions, i.e. 343.42 m / s at 20 degrees Celsius; set the temperature ranges in different seasons and regions and the corresponding distance correction factor K table;

[0144] 2. Get real-time temperature: Use the temperature sensor to get the real-time ambient temperature, determine the current season or region based on the real-time temperature, and find the corresponding distance correction factor (K);

[0145] 3. Ultrasonic detection timing, duration is T;

[0146] 4. Calculate the detection distance:

[0147] Use the sound velocity and timing results at real-time temperature to calculate the original detection distance D_raw = (331.6 + 0.61 * real-time temperature) * T / 2, and apply the distance correction factor K to correct the detection distance D_corrected = D_raw * K;

[0148] 5. Comprehensive judgment: Compare the corrected detection distance D_corrected with the dynamic alarm threshold D_dynamic. The dynamic alarm threshold can comprehensively consider noise, temperature, humidity and other factors to configure the threshold, that is:

[0149] D_dynamic=D_base*K_noise*K_temp*K_1;

[0150] Where D_base is the distance base threshold, and K_noise is the noise level adjustment factor. The threshold is adjusted according to the real-time measured background noise level N_level. If N_level increases, K_noise should also decrease to ensure that the impact of noise on the alarm is eliminated. It can be expressed by a linear model, that is, K_noise = -a*N_level + b. a and b need to be further determined by machine learning algorithms;

[0151] K_temp represents the temperature adjustment factor, which is a function based on the temperature T_real, that is, K_temp=1+(T_real-20) / T_scale, where T_scale is a scaling factor used to adjust the influence of temperature on the threshold. K_1 is the adjustment factor of other factors.

[0152] If D_corrected<=D_dynamic and other preset conditions such as signal strength, duration, etc. are met, an alarm is triggered.

[0153] 6. Alarm response: Display the alarm information on the vehicle screen and give voice prompts.

[0154] This embodiment is described below in conjunction with application scenarios:

[0155] The table examples of distance correction factor K for summer and winter in different regions are designed as follows:

[0156]

[0157] If the current vehicle temperature in Beijing is 35 degrees Celsius, then look up the above table and obtain the distance correction factor K=1.015.

[0158] If the ultrasonic timing result T=0.5 milliseconds, the original detection distance D_raw=(331.6+0.61*35)*0.5*0.001 / 2=0.0882 meters is calculated, and the corrected distance is D_corrected=D_raw*K=0.0882*1.015=0.089523.

[0159] Assume that the noise base threshold is D_base=0.1 meters, the currently detected noise level N_level=200, the pre-training parameters a=0.001 and b=1, then the noise level adjustment factor K_noise=-0.001*100+1=0.9; the pre-training T_scale is 50, then the temperature adjustment factor K_temp=-(35-20) / 30+1=0.7.

[0160] The dynamic threshold can be obtained:

[0161] D_dynamic=0.1*K_noise*K_temp=0.1*0.9*0.7=0.063,

[0162] It is judged that D_corrected>D_dynamic, and the alarm condition is not met.

[0163] For the method steps disclosed in the above embodiments, the method steps are described as a series of action combinations for the purpose of simple description, but those skilled in the art should know that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0164] like Figure 3 As shown, the present invention also provides a warning system before vehicle startup, comprising:

[0165] Initialization parameter module 201, configured to set the sound speed reference value and the corresponding relationship between the ambient temperature and the distance correction factor;

[0166] The module 202 for calculating real-time sound speed and distance correction factor is configured to calculate the sound speed at the current ambient temperature in response to the acquired ambient temperature, based on a relationship model between the sound speed and the ambient temperature, and calculate a distance correction factor corresponding to the sound speed;

[0167] Execute the ultrasonic detection and timing module 203, configured to simulate the process of ultrasonic wave transmission to the imaginary target and return, and record the ultrasonic wave round trip time;

[0168] The detection distance calculation and comprehensive judgment execution module 204 is configured to calculate the original detection distance based on the speed of sound at the current ambient temperature and the ultrasonic round-trip time, correct the original detection distance according to the distance correction factor, and compare it with the dynamic threshold to determine whether to issue an alarm.

[0169] It is worth noting that although only some basic functional modules are disclosed in the embodiments of the present invention, it does not mean that the composition of the present system is limited to the above basic functional modules. On the contrary, what the present embodiment wants to express is that on the basis of the above basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with the prior art to form an infinite number of embodiments or technical solutions. In other words, the present system is open rather than closed. Just because the present embodiment only discloses individual basic functional modules, it cannot be considered that the protection scope of the claims of the present invention is limited to the disclosed basic functional modules. At the same time, for the convenience of description, the above devices are described in terms of functions and are described separately in various units and modules. Of course, when implementing the present invention, the functions of each unit and module can be implemented in the same or one or more software and / or hardware.

[0170] like Figure 4 As shown, the present invention also provides an electronic device, comprising: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the warning method before the vehicle starts.

[0171] Figure 4 Schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 4 The electronic device provided in the embodiment of the present invention includes: one or more processors 710 and a storage device 720; the processor 710 in the electronic device may be one or more, Figure 4 A processor 710 is taken as an example; the storage device 720 is used to store one or more programs; the one or more programs are executed by the one or more processors 710, so that the one or more processors 710 implement the vehicle start-up warning method as described in any one of the embodiments of the present invention.

[0172] The electronic device may further include: an input device 730 and an output device 740 .

[0173] The processor 710, storage device 720, input device 730 and output device 740 in the electronic device can be connected via a bus or other means. Figure 4 The example of connecting through bus is taken in the following.

[0174] The storage device 720 in the electronic device is a computer-readable storage medium that can be used to store one or more programs, which can be software programs, computer executable programs and modules, such as program instructions / modules corresponding to the vehicle start-up warning method provided in the embodiment of the present invention. The processor 710 executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the storage device 720, that is, the vehicle start-up warning method in the above method embodiment is implemented.

[0175] The storage device 720 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the storage device 720 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the storage device 720 may further include a memory remotely arranged relative to the processor 710, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0176] The input device 730 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the electronic device. The output device 740 may include a display device such as a display screen.

[0177] The present invention also provides a computer-readable storage medium storing a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of the warning method before vehicle startup.

[0178] Specifically, the computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with 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 the present embodiment, the computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0179] The present invention also provides a vehicle, wherein the vehicle is provided with the above-mentioned warning system before vehicle start-up.

[0180] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A warning method before vehicle startup, characterized in that: include: Initializing parameter steps, including setting a reference value of the speed of sound and a corresponding relationship between the ambient temperature and the distance correction factor; The step of calculating the real-time sound speed and distance correction factor comprises: in response to the acquired ambient temperature, based on a relationship model between the sound speed and the ambient temperature, calculating the sound speed at the current ambient temperature, and calculating the distance correction factor corresponding to the sound speed; Executing ultrasonic detection and timing steps, including simulating the process of ultrasonic wave transmission to an imaginary target and returning, and recording the ultrasonic wave round trip time; Calculate the detection distance and perform comprehensive judgment steps, including calculating the original detection distance based on the speed of sound at the current ambient temperature and the ultrasonic round-trip time, correcting the original detection distance according to the distance correction factor, and comparing it with the dynamic threshold to determine whether to issue an alarm.

2. The vehicle start-up warning method according to claim 1, characterized in that: The parameter initialization step includes setting the sound speed reference value and the corresponding relationship between the ambient temperature and the distance correction factor, and further includes: Set standard sound speed reference values, including the sound speed values ​​at standard atmospheric pressure and 20 degrees Celsius; A mathematical model for the change in sound speed under different ambient temperature conditions and the corresponding distance correction factor relationship are defined, including constructing a comparison table or function of ambient temperature and distance correction factor, wherein the comparison table or function is used to adjust the accuracy of the detection distance according to the change in ambient temperature.

3. The vehicle start-up warning method according to claim 1, characterized in that: The step of calculating the real-time sound speed and distance correction factor includes, in response to the acquired ambient temperature, calculating the sound speed at the current ambient temperature based on a relationship model between the sound speed and the ambient temperature, and calculating the distance correction factor corresponding to the sound speed, further including: Get the value representing the current ambient temperature; Substituting the numerical value into the relationship model to calculate the speed of sound at the current ambient temperature, wherein the relationship model includes a linear model; Based on the corresponding relationship between the ambient temperature and the distance correction factor, the distance correction factor under the current ambient temperature is calculated.

4. The vehicle start-up warning method according to claim 1, characterized in that: Performing ultrasonic detection and timing steps, including simulating the process of ultrasonic wave transmission to an imaginary target and returning, recording the ultrasonic wave round trip time, further includes: Centered on the bottom area of ​​the vehicle, simulate the propagation process of ultrasonic signals; The round trip time of the ultrasonic wave being sent to the imaginary target and returned is recorded, wherein the imaginary target includes an obstacle.

5. The vehicle start-up warning method according to claim 1, characterized in that: Calculating the detection distance and performing a comprehensive judgment step, including calculating the original detection distance based on the sound speed at the current ambient temperature and the ultrasonic round-trip time, correcting the original detection distance according to the distance correction factor, and comparing it with the dynamic threshold to determine whether to alarm, further including: Based on the formula: Original detection distance = (331.6 + 0.61 * ambient temperature) * round trip time / 2; Calculating the original detection distance; Based on the formula: Corrected detection distance = original detection distance * distance correction factor; Calculating the corrected detection distance; Setting a dynamic threshold, wherein the dynamic threshold is calculated based on a noise level and a temperature factor; The corrected detection distance is compared with the dynamic threshold, and when the corrected detection distance is less than or equal to the dynamic threshold, the alarm logic is triggered.

6. The vehicle start-up warning method according to claim 5, characterized in that: The alarm logic further includes: When the alarm logic is triggered, the alarm information is output in a perceptible manner, including visual and auditory; When the alarm logic is executed, relevant data and event information are recorded.

7. A warning system before vehicle start, characterized in that: include: Initialize the parameter module, configured to set the sound speed reference value and the corresponding relationship between the ambient temperature and the distance correction factor; A module for calculating real-time sound speed and distance correction factor is configured to calculate the sound speed at the current ambient temperature in response to the acquired ambient temperature, based on a relationship model between the sound speed and the ambient temperature, and calculate a distance correction factor corresponding to the sound speed; An ultrasonic detection and timing module is executed, configured to simulate the process of ultrasonic waves being emitted to an imaginary target and returning, and to record the ultrasonic round trip time; The detection distance calculation and comprehensive judgment execution module is configured to calculate the original detection distance based on the speed of sound at the current ambient temperature and the ultrasonic round-trip time, correct the original detection distance according to the distance correction factor, and compare it with the dynamic threshold to determine whether to issue an alarm.

8. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the method described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: It stores a computer program executable by an electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the method described in any one of claims 1 to 6.

10. A vehicle, characterized in that: The vehicle is provided with a vehicle pre-start warning system as claimed in claim 7.

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