A method and system for alerting before starting a vehicle and a vehicle

Abstract

The application relates to the technical field of vehicles and discloses a warning method and system before starting a vehicle, an electronic device, a storage medium and a vehicle, which comprise setting a corresponding relationship of a sound speed reference value and an environmental temperature and a distance correction factor; in response to the acquired environmental temperature, the sound speed under the current environmental temperature is calculated based on a relationship model between the sound speed and the environmental temperature, and the distance correction factor corresponding to the sound speed is calculated; the process of emitting an ultrasonic wave to a hypothetical target and returning is simulated, and the ultrasonic wave round trip time is recorded; the original detection distance is calculated based on the sound speed under the current environmental temperature and the ultrasonic wave round trip time, the original detection distance is corrected according to the distance correction factor, and the corrected original detection distance is compared with a dynamic threshold value to determine whether to give a warning. The application can improve detection precision and reliability by comprehensively judging multiple factors, can flexibly cope with detection requirements in different scenes, and can improve warning accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle pre-start warning method, system, electronic device, storage medium and vehicle. BACKGROUND

[0002] At present, with the continuous increase of the number of automobiles, vehicle driving safety has become the focus of social attention. Especially before the vehicle starts, if the collision with the animals in the surrounding environment cannot be found and avoided in time, not only the animals may be injured or killed, but also the vehicle may be damaged, and even serious traffic accidents may be caused.

[0003] The vehicle safety system in the prior art mainly relies on visual or radar sensors to detect obstacles, but in some cases, such as at night, in fog or when the animals are in the visual blind area, the detection effect of these systems may be greatly reduced.

[0004] Therefore, the present application provides a vehicle pre-start warning method to solve the above technical problems. SUMMARY

[0005] The purpose of the present application is to provide a vehicle pre-start warning method, system, electronic device, storage medium and vehicle to solve the technical problem that the warning accuracy is low in the prior art, which is easy to cause false alarm or missed alarm.

[0006] In order to solve the above technical problems, the present application provides a vehicle pre-start warning method, comprising:

[0007] The initialization parameter step comprises setting a sound speed reference value and a corresponding relationship between the environmental temperature and the distance correction factor;

[0008] The step of calculating the real-time sound speed and the distance correction factor comprises calculating the sound speed under the current environmental temperature based on the relationship model between the sound speed and the environmental temperature in response to the obtained environmental temperature, and calculating the distance correction factor corresponding to the sound speed;

[0009] The step of performing ultrasonic detection and timing comprises simulating the process of ultrasonic wave emission to the imaginary target and return, and recording the ultrasonic round trip time;

[0010] The step of calculating the detection distance and performing comprehensive judgment comprises calculating the original detection distance based on the sound speed under the current environmental temperature and the ultrasonic round trip time, correcting the original detection distance according to the distance correction factor, and comparing with the dynamic threshold to determine whether to alarm.

[0011] In some embodiments, the initialization parameter step comprises setting a sound speed reference value and a corresponding relationship between the environmental temperature and the distance correction factor, further comprising:

[0012] Setting a standard sound speed reference value, including a sound speed value under standard atmospheric pressure and 20 degrees Celsius;

[0013] Defining a mathematical model of sound speed variation under different ambient temperature conditions and a corresponding distance correction factor relationship, including constructing an ambient temperature and distance correction factor control table or function, wherein the control table or function is used to adjust the accuracy of the detection distance according to the ambient temperature variation.

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

[0015] Obtaining a numerical value representing the current ambient temperature;

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

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

[0018] In some embodiments, the step of performing ultrasonic detection and timing includes simulating the process of ultrasonic wave emission to a hypothetical target and returning, recording the ultrasonic round trip time, further comprising:

[0019] Simulating the ultrasonic signal propagation process centered on the vehicle bottom area;

[0020] Recording the round trip time of the ultrasonic wave sent to the hypothetical target and returned, wherein the hypothetical target includes obstacles.

[0021] In some embodiments, the step of calculating the detection distance and performing comprehensive judgment includes calculating the original detection distance based on the sound speed under the current ambient temperature and the ultrasonic round trip time, correcting the original detection distance according to the distance correction factor, and comparing with the dynamic threshold to determine whether to alarm, further comprising:

[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] Calculate the corrected detection distance;

[0028] Set a dynamic threshold, wherein the dynamic threshold is calculated according to noise level and temperature factor;

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

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

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

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

[0033] Based on the same concept, the present application also provides an alarm system before vehicle start, comprising:

[0034] An initialization parameter module configured to set a sound speed reference value and a corresponding relationship between environmental temperature and distance correction factor;

[0035] A real-time sound speed and distance correction factor calculation module configured to calculate the sound speed under the current environmental temperature based on the relationship model between sound speed and environmental temperature in response to the obtained environmental temperature, and calculate the distance correction factor corresponding to the sound speed;

[0036] An ultrasonic detection and timing module configured to simulate the process of ultrasonic wave emission to a hypothetical target and return, and record the ultrasonic round trip time;

[0037] A detection distance calculation and comprehensive judgment module configured to calculate the original detection distance based on the sound speed under the current environmental temperature and the ultrasonic round trip time, correct the original detection distance according to the distance correction factor, and compare with the dynamic threshold to determine whether to alarm.

[0038] Based on the same concept, the present application 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 complete communication with each other through the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the vehicle start alarm method.

[0039] Based on the same concept, the application further provides a computer readable storage medium, which stores a computer program executable by an electronic device, and when the computer program runs on the electronic device, the computer program causes the electronic device to execute the steps of the alarm method before vehicle starting.

[0040] Based on the same concept, the application further provides a vehicle, which is provided with the alarm system before vehicle starting as described above.

[0041] Compared with the prior art, the application has the beneficial effects that:

[0042] The application discloses an alarm method and system before vehicle starting, an electronic device, a storage medium and a vehicle, which improves detection accuracy and reliability by comprehensively judging multiple factors, can flexibly cope with detection requirements in different scenes, and improves alarm accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a flowchart of the alarm method before vehicle starting in some specific embodiments of the application;

[0044] Figure 2 is a flowchart of the alarm method before vehicle starting in some applications of the application;

[0045] Figure 3 is a structural diagram of the alarm system before vehicle starting in some specific embodiments of the application;

[0046] Figure 4 is a structural diagram of the electronic device in some specific embodiments of the application. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the application clearer, the application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the application.

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

[0049] It should be understood that the term "and / or" as used herein merely describes an associated relationship, which means that there can be three relationships, for example, A and / or B, which can represent three cases: A exists alone, A and B exist together, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

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

[0051] Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if it is determined" or "if (a stated condition or event) is detected" can be interpreted as "when it is determined" or "in response to determining" or "when (a stated condition or event) is detected" or "in response to detecting (a stated condition or event)".

[0052] It should also be noted that the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusions, so that a product or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such product or device. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of another identical element in the product or device comprising the element.

[0053] In particular, it should be noted that the symbols and / or numbers present in the description, if not marked in the description of the drawings, are not drawing reference numbers.

[0054] Referring to Figure 1 A warning method before starting a vehicle, comprising:

[0055] S101, a parameter initialization step, including setting a sound speed reference value and a corresponding relationship of an environmental temperature and a distance correction factor;

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

[0057] Correction factor = Theoretical ranging result / Actual ranging result;

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

[0059] The distance correction factor corresponding to each temperature point is arranged in tabular form, or a function relationship is constructed by mathematical fitting method.

[0060] For example,

[0061] The following table of corresponding relationship between environmental temperature and distance correction factor is obtained by experiment:

[0062] Ambient temperature (°C) Distance correction factor -10 0.98 0 0.99 10 1.00 20 1.01 30 1.02 40 1.03

[0063] In some applications, the reference value of sound speed and the corresponding relationship between environmental temperature and distance correction factor are set, the standard reference value of sound speed is set, including the sound speed value under standard atmospheric pressure and 20 degrees Celsius; the mathematical model of sound speed change under different environmental temperature conditions and the corresponding distance correction factor relationship are defined, including the construction of environmental temperature and distance correction factor table or function, which is used to adjust the accuracy of detection distance according to the change of environmental temperature.

[0064] It can be understood that, when the environment is under standard atmospheric pressure (i.e. 101325 pascal) and the temperature is 20 degrees Celsius, the sound speed in air is about 343 meters per second (m / s), which is set as the reference value of sound speed.

[0065] The mathematical model is established, and a linear model is taken as an example for illustration:

[0066]

[0067] Wherein, is the sound speed at a certain temperature, is the reference sound speed (i.e. 343 m / s), is the coefficient of sound speed change with temperature, is the current environmental temperature, is the reference temperature (i.e. 20°C).

[0068] determining coefficient The specific value of the above mathematical model is implemented in the algorithm to calculate the current sound speed value according to the real-time acquired environmental temperature value.

[0069] A table or function of environmental temperature and distance correction factor is constructed, because the change of sound speed will directly affect the calculation of ultrasonic wave detection distance, so a table or function is constructed to reflect the relationship between environmental temperature and distance correction factor. Distance correction factor is used to adjust the original detection distance calculated based on the current sound speed to a more accurate distance.

[0070] The distance correction factor values under different environmental temperatures are obtained. These values are arranged in the form of a table, and the rows of the table represent different environmental temperature values, and the columns represent the corresponding distance correction factor values. Alternatively, use mathematical methods (such as interpolation method, curve fitting, etc.) to fit these values into a function, so as to directly calculate the distance correction factor by inputting the environmental temperature value.

[0071] S102, calculating real-time sound speed and distance correction factor step, including in response to the acquired environmental temperature, based on the relationship model between sound speed and environmental temperature, calculating the sound speed under the current environmental temperature, and calculating the distance correction factor corresponding to the sound speed;

[0072] It can be understood that in order to improve the accuracy of detection distance, it is necessary to calculate the sound speed in real time and adjust the calculation of detection distance according to the change of sound speed. Real-time acquisition of current environmental temperature value. Read the environmental temperature value regularly (such as every second, every half second, etc.). After obtaining the current environmental temperature, the sound speed value under the current environmental temperature is calculated by using the preset relationship model between sound speed and environmental temperature, and the corresponding distance correction factor is calculated.

[0073] In some applications, in response to the acquired environmental temperature, based on the relationship model between sound speed and environmental temperature, the sound speed under the current environmental temperature is calculated, and the distance correction factor corresponding to the sound speed is calculated. The value representing the current environmental temperature is obtained; the value is substituted into the relationship model to calculate the sound speed under the current environmental temperature, and the relationship model includes a linear model; based on the corresponding relationship between environmental temperature and distance correction factor, the distance correction factor under the current environmental temperature is calculated.

[0074] It can be understood that the sound speed under the current environment is calculated by using the preset relationship model between sound speed and environmental temperature. Take the linear model as an example for illustration.

[0075] Relationship model example (linear model):

[0076]

[0077] wherein, is the sound speed under a certain temperature, is the reference sound speed (i.e. 343 m / s), is the coefficient of the sound speed variation with temperature, is the current ambient temperature, is the reference temperature (i.e. 20°C).

[0078] Substitute the obtained ambient temperature value into the linear model above, perform the calculation, and obtain the sound speed value in the current environment.

[0079] For example: Substitute (T = 25°C) into the model, and calculate: ;

[0080] Based on the correspondence between ambient temperature and distance correction factor, calculate the distance correction factor at the current ambient temperature, and use the pre-established correspondence between ambient temperature and distance correction factor (which can be a lookup table or a function relationship) to calculate the corresponding distance correction factor according to the current ambient temperature.

[0081] The lookup table or function relationship should be based on experimental data or theoretical calculations to ensure accuracy and reliability. Take the current ambient temperature value as input, and find the corresponding distance correction factor by looking up the lookup table or calculating the function relationship.

[0082] For example (using a lookup table): The lookup table lists the correspondence between different ambient temperatures and distance correction factors. The distance correction factor corresponding to the current ambient temperature of 25°C is 1.01.

[0083] S103, perform the ultrasonic detection and timing step, including simulating the process of ultrasonic wave transmission to the hypothetical target and returning, and recording the ultrasonic round-trip time;

[0084] It can be understood that the target distance is calculated by simulating the process of ultrasonic wave transmission to the hypothetical target and returning, and recording the ultrasonic round-trip time. Before starting the ultrasonic detection, initialize the ultrasonic transmitter and receiver, including setting the transmission power, reception sensitivity, working frequency and other parameters.

[0085] For example, set the frequency of the ultrasonic transmitter to 40 kHz, and the transmission power to a fixed value (such as 10 mW), and adjust the sensitivity of the receiver to ensure accurate reception of the returned ultrasonic signal.

[0086] Trigger the ultrasonic transmitter by a control signal to emit an ultrasonic pulse. The pulse has a specific waveform and duration.

[0087] For example, send an ultrasonic pulse with a duration of 100 microseconds and a frequency of 40 kHz.

[0088] Simulate the propagation of ultrasonic waves to the hypothetical target and return.

[0089] For example, the target is located 1 meter away from the ultrasonic transmitter. According to the speed of sound (about 340 m / s in air), the round-trip time of the ultrasonic wave is: t = 340 m / s2x 1 m ≈ 0.00588 s ≈ 5.88 ms. Therefore, in the simulation process, a time delay of 5.88 ms is set to simulate the round trip of the ultrasonic wave.

[0090] After the ultrasonic pulse is emitted, 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.

[0091] In some applications, the process of simulating the emission and return of ultrasonic waves to the imaginary target is recorded, and the ultrasonic round-trip time is recorded, with the center of the vehicle bottom area as the center, simulating the process of ultrasonic signal propagation; record the round-trip time of the ultrasonic wave sent to the imaginary target and returned, and the imaginary target includes obstacles.

[0092] It can be understood that the center point of the vehicle bottom area is determined.

[0093] For example, the vehicle bottom plane is rectangular, 4 meters long and 1.8 meters wide, and the center point can be set as the intersection of the diagonal lines of the rectangle, which is approximately below the center axis of the vehicle and a certain height (such as 0.3 meters) from the ground.

[0094] Install ultrasonic sensors at the center point of the vehicle bottom area or its vicinity to ensure that the sensors can emit ultrasonic signals in all directions around the vehicle.

[0095] For example, one or more ultrasonic sensors are installed directly below the center point of the vehicle bottom, and each sensor can cover a certain sector area, together covering most of the space around the vehicle bottom.

[0096] Emit ultrasonic signals through ultrasonic sensors and simulate the process of these signals propagating in all directions with the vehicle bottom area as the center.

[0097] For example, set the ultrasonic signal to be emitted from the sensor in the form of a spherical wave front and diffuse 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).

[0098] A series of imaginary obstacles are set around the vehicle bottom area, which can be static or dynamic, depending on the scene requirements.

[0099] When the ultrasonic signal encounters an imaginary obstacle, the simulated signal is reflected back to the ultrasonic sensor. The sensor records the total time from signal emission to receiving the reflected signal, which is the round-trip time of the ultrasonic wave.

[0100] S104, calculate the detection distance and perform the 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 with the dynamic threshold to determine whether to alarm.

[0101] It can be understood that this step calculates the original detection distance based on the sound speed at the current ambient temperature and the ultrasonic round trip time, and accurately adjusts and alarms by the distance correction factor and the dynamic threshold.

[0102] In some applications, in the step of 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 with the dynamic threshold to determine whether to alarm, the original detection distance is calculated based on the formula: original detection distance=(331.6+0.61*ambient temperature)*round trip time / 2; the corrected detection distance is calculated based on the formula: corrected detection distance=original detection distance*distance correction factor; the dynamic threshold is set, which is calculated according to the noise level and the 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.

[0103] It can be understood that the current ambient temperature (in 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 of the ultrasonic signal from emission to reflection by the obstacle and return, i.e. the original detection distance.

[0104] For example, the current ambient temperature is 25℃, and the ultrasonic round trip time is 10ms, then the original detection distance is calculated as (331.6+0.61*25)*10ms / 2=1.73m (the time unit needs to be converted to seconds, i.e. 10ms=0.01s).

[0105] Based on the distance correction factor preset or calculated in real time, the original detection distance is corrected to compensate for the deviation caused by possible system errors, environmental factors (such as changes in air density), etc. The correction formula is corrected detection distance=original detection distance*distance correction factor.

[0106] For example, the distance correction factor is 0.98 (indicating that the actual distance may be slightly smaller than the original calculated value), then the corrected detection distance is 17.36m*0.98=16.99m.

[0107] The dynamic threshold is calculated in real time according to the current ambient noise level and the temperature factor to ensure the accuracy and adaptability of the alarm system.

[0108] For example, define the basic threshold:

[0109] First, define a base threshold (T base ), which is the default safety distance under standard environmental conditions (e.g., temperature 20°C, low noise environment). For example, T base = 10 meters.

[0110] Consider temperature effects:

[0111] Temperature affects the speed of sound and air density, which in turn affects the propagation and reflection of ultrasonic waves. Define a temperature adjustment factor (F temp ) that changes with temperature. For example, a linear or non-linear function can be used to model this relationship:

[0112] F temp = 1 + α⋅(T env − T ref );

[0113] where T env is the current environmental temperature (in Celsius), T ref is a reference temperature (e.g., 20°C), and α is a coefficient determined from experimental data (e.g., α = 0.005 means that each degree of temperature change has a 0.5% effect on the threshold).

[0114] Consider noise effects:

[0115] Noise levels directly affect the signal-to-noise ratio and detection accuracy of ultrasonic signals. Define a noise adjustment factor (F noise ) that changes with noise levels. For example, a logarithmic function can be used to model the relationship between noise and threshold:

[0116] F noise = β⋅log 10 (1 + N level );

[0117] where N level is the current noise level (which can be in decibels or other quantitative indicators), and β is a scaling factor that adjusts the degree of noise's impact on the threshold.

[0118] Calculate the dynamic threshold:

[0119] Combine the base threshold, temperature adjustment factor, and noise adjustment factor to calculate the dynamic threshold (T dynamic ):

[0120] T dynamic = T base ⋅ F temp ⋅ F noise

[0121] For example:

[0122] T base = 10 meters;

[0123] T env = 25 degrees Celsius;

[0124] T ref = 20 degrees Celsius;

[0125] a = 0.005;

[0126] N level = 60 decibels (assumed noise level);

[0127] b = 0.1;

[0128] Then:

[0129] F temp = 1 + 0.005 * (25 - 20) = 1.0025;

[0130] F noise = 0.1 * log 10 (1 + 60) ≈ 0.1 * 1.785 = 0.1785;

[0131] T dynamic = 10 * 1.0025 * 0.1778 ≈ 1.78 meters;

[0132] The modified detection distance is compared with the dynamic threshold. If the modified 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.

[0133] For example, in the above example, the modified 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. But if the modified detection distance is less than or equal to 1.78, the alarm is triggered according to the preset alarm strategy (such as sound alarm, visual prompt, etc.).

[0134] In some applications, 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.

[0135] It can be understood 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 can include but is not limited to text, icons, color changes, etc. to attract the user's attention and clearly inform the alarm content.

[0136] For example, when the alarm logic is triggered, the LED light at the front of the vehicle starts flashing red, and the text information "Attention! There is an obstacle in front of you" is displayed on the vehicle display screen.

[0137] Output the alarm information in the hearing way, and send the alarm sound to the user in the hearing way through the sound equipment (such as a loudspeaker, a buzzer, etc.). The alarm sound can be a preset alarm sound, a voice prompt, etc., so as to still receive the alarm information when the vision is blocked or the user's vision is not in the monitoring area.

[0138] For example, when the LED light flashes, a continuous buzzing sound is also sounded in the vehicle interior, reminding the driver to pay attention.

[0139] In the process of executing the alarm logic, relevant data and event information are automatically recorded, including but not limited to the time of triggering the alarm, the original detection distance, the corrected detection distance, the dynamic threshold, the environmental temperature, the noise level, the alarm mode (visual / auditory), etc., for subsequent analysis, troubleshooting or system optimization.

[0140] The following will be combined Figure 2 to describe the embodiments of the alarm method of the vehicle before starting in some applications:

[0141] As Figure 2 shown,

[0142] 1. Initialization parameters: set the sound speed value under the standard condition, that is, 343.42 m / s at 20 degrees Celsius; set the temperature range in different seasons and different regions and the corresponding distance correction factor K table;

[0143] 2. Obtain the real-time temperature: use the temperature sensor to obtain the real-time environmental temperature, determine which season or region the current belongs to according to the real-time temperature, and find the corresponding distance correction factor (K);

[0144] 3. Ultrasonic detection timing, the duration is T;

[0145] 4. Calculate the detection distance:

[0146] Use the sound speed under the real-time temperature and the timing result to calculate the original detection distance D_raw=(331.6+0.61*real-time temperature)*T / 2, and correct the detection distance by applying the distance correction factor K D_corrected=D_raw*K;

[0147] 5. Comprehensive judgment: compare the corrected detection distance D_corrected and the dynamic alarm threshold D_dynamic, which can comprehensively consider the noise, temperature, humidity and other factor threshold configuration, that is:

[0148] D_dynamic=D_base*K_noise*K_temp*K_1;

[0149] Where D_base is the distance base threshold, K_noise represents the noise level adjustment factor, which is adjusted according to the real-time measured background noise level N_level, if N_level increases, then K_noise should also be reduced to ensure that the impact of noise on the alarm is excluded. It can be represented by a linear model, that is, K_noise = -a * N_level + b, a and b need to be further determined by a machine learning algorithm;

[0150] K_temp represents the temperature adjustment factor, which is a function based on temperature T_real, that is, K_temp = 1 + (T_real - 20) / T_scale, T_scale is a scaling factor, which is used to adjust the degree of influence of temperature on the threshold. K_1 is the adjustment factor of other factors.

[0151] If D_corrected <= D_dynamic, and other preset conditions such as signal strength, duration, etc. are met, an alarm is triggered.

[0152] 6, Alarm response: display alarm information on the car screen and prompt by voice.

[0153] The following describes this embodiment in combination with application scenarios:

[0154] Examples of distance correction factor K for different regions in summer and winter are designed as follows:

[0155] Region Summer temperature range Winter temperature range Summer correction factor K Winter correction factor K Beijing 25~35 -5~5 1.005~1.015 1.000~1.002 Shanghai 28~35 5~10 1.006~1.018 1.001~1.003 Guangzhou 28~33 15~25 1.006~1.012 1.002~1.005

[0156] If the current vehicle is in Beijing with a temperature of 35 degrees Celsius, look up the table to get the distance correction factor K = 1.015.

[0157] If the ultrasonic wave timing result T = 0.5 milliseconds, then the original detection distance D_raw = (331.6 + 0.61 * 35) * 0.5 * 0.001 / 2 = 0.0882 meters, and the corrected distance is D_corrected = D_raw * K = 0.0882 * 1.015 = 0.089523.

[0158] Assuming the noise base threshold is D_base = 0.1 meters, the currently detected noise level N_level = 200, the pre-training parameter 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, and the temperature adjustment factor K_temp = -(35-20) / 30 + 1 = 0.7.

[0159] The dynamic threshold can be obtained as follows:

[0160] D_dynamic = 0.1 * K_noise * K_temp = 0.1 * 0.9 * 0.7 = 0.063,

[0161] D_corrected > D_dynamic, the alarm condition is not met.

[0162] 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 application are not limited by the order of the described actions, because according to the embodiments of the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.

[0163] As shown in Figure 3 The present application also provides an alarm system before starting a vehicle, comprising:

[0164] An initialization parameter module 201 is configured to set a sound speed reference value and a corresponding relationship between an environmental temperature and a distance correction factor;

[0165] A real-time sound speed and distance correction factor calculation module 202 is configured to calculate the sound speed under the current environmental temperature based on the relationship model between the sound speed and the environmental temperature in response to the obtained environmental temperature, and calculate the distance correction factor corresponding to the sound speed;

[0166] An ultrasonic detection and timing execution module 203 is configured to simulate the process of ultrasonic wave emission to a hypothetical target and return, and record the ultrasonic round trip time;

[0167] A detection distance calculation and comprehensive judgment execution module 204 is configured to calculate the original detection distance based on the sound speed under the current environmental temperature and the ultrasonic round trip time, correct the original detection distance according to the distance correction factor, and compare with the dynamic threshold to determine whether to alarm.

[0168] It is worth noting that, although only some basic function modules are disclosed in the embodiments of the present application, it does not mean that the composition of the system is limited to the above basic function modules, on the contrary, the meaning expressed in the embodiments is: on the basis of the above basic function modules, those skilled in the art can add one or more function modules to form infinite embodiments or technical solutions in combination with the prior art, that is, the system is open rather than closed, and the protection scope of the present application claim cannot be limited to the disclosed basic function modules because the embodiments only disclose individual basic function modules. At the same time, in order to facilitate description, the above device is described as various units and modules. Of course, the functions of the units and modules can be implemented in the same or multiple software and / or hardware when implementing the present application.

[0169] As shown in Figure 4 The present application 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 complete communication with each other through the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the vehicle pre-starting alarm method.

[0170] Figure 4 is a structural schematic diagram of an electronic device provided by the embodiments of the present application. As shown in the structure of Figure 4 The electronic device provided in the embodiments of the present application comprises one or more processors 710 and storage devices 720; the processor 710 in the electronic device can be one or more, Figure 4 In the foregoing, the processor 710 is taken as an example; the storage device 720 is used for storing 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 pre-starting alarm method according to any one of the embodiments of the present application.

[0171] The electronic device can also comprise an input device 730 and an output device 740.

[0172] The processor 710, the storage device 720, the input device 730 and the output device 740 in the electronic device can be connected through a bus or other means, Figure 4 In the foregoing, the connection through the bus is taken as an example.

[0173] The storage 720 in the electronic device serves as a computer readable storage medium, and can be used to store one or more programs, which can be software programs, computer executable programs and modules, such as the program instructions / modules corresponding to the alarm method before starting the vehicle provided in the embodiments of the present application. The processor 710 performs various function applications and data processing of the electronic device by running the software programs, instructions and modules stored in the storage 720, that is, implements the alarm method before starting the vehicle in the above method embodiments.

[0174] The storage 720 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function; and the data storage area can store data created according to the use of the electronic device, etc. In addition, the storage 720 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some examples, the storage 720 can further include a memory remotely arranged with respect to the processor 710, and these remote memories can be connected to the device through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0175] The input device 730 can be used to receive input digital or character information, and to generate key signal input related to the user settings and function control of the electronic device. The output device 740 can include a display device such as a display screen.

[0176] The present application also provides a computer readable storage medium storing a computer program executable by an electronic device, which causes the electronic device to perform the steps of the alarm method before starting the vehicle when the computer program is running on the electronic device.

[0177] In particular, a computer storage medium of embodiments of the present application can employ any combination of one or more computer readable medium or media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this embodiment, the computer readable storage medium can be any tangible medium that contains or stores a program used by an instruction execution system, apparatus, or device to function or to be combined with the instruction execution system, apparatus, or device.

[0178] The present application also provides a vehicle provided with the warning system before starting of the vehicle as described above.

[0179] Finally, it should be noted that the above embodiments are merely used to illustrate the technical solutions of the present application, rather than limiting them; even though the present application has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the above embodiments, or equivalently replace some or all of the technical features thereof; and 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 application.

Claims

1. A method of alerting before starting a vehicle, characterized by, The application comprises the following steps: initializing parameters, including setting a reference value of sound speed and a corresponding relationship between environmental temperature and distance correction factor; calculating real-time sound speed and distance correction factor, including calculating sound speed under current environmental temperature based on a relationship model between sound speed and environmental temperature and calculating distance correction factor corresponding to the sound speed in response to the acquired environmental temperature; performing ultrasonic detection and timing, including simulating the process of ultrasonic wave emission to a hypothetical target and return and recording ultrasonic round-trip time; calculating detection distance and performing comprehensive judgment, including calculating original detection distance based on sound speed under current environmental temperature and the ultrasonic round-trip time, correcting the original detection distance according to the distance correction factor, and comparing the corrected detection distance with a dynamic threshold to determine whether to alarm; calculating detection distance and performing comprehensive judgment, including calculating original detection distance based on sound speed under current environmental temperature and the ultrasonic round-trip time, correcting the original detection distance according to the distance correction factor, and comparing the corrected detection distance with a dynamic threshold to determine whether to alarm, further comprising: calculating the original detection distance based on the formula: original detection distance = (331.6 + 0.61 * environmental temperature) * round-trip time / 2; calculating the original detection distance; calculating the corrected 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 according to noise level and temperature factor; comparing the corrected detection distance with the dynamic threshold, and triggering alarm logic when the corrected detection distance is less than or equal to the dynamic threshold. F noise = β · log 10 (1 + N level ); Where, N level This represents the current noise level, and β is a scaling factor used to adjust the degree of noise's influence on the threshold. T dynamic = T base • F temp • F noise ; First, define the base threshold T base This value is the default safety distance under standard environmental conditions; A temperature adjustment factor F can be defined temp which varies with temperature; A noise adjustment factor F can be defined noise which varies according to the variation of the noise level; The dynamic threshold is calculated in real time according to the current environmental noise level and temperature factor to ensure the accuracy and adaptability of the alarm system.

2. The method of claim 1, wherein The initializing parameter step includes setting a reference value of sound speed and a corresponding relationship between environmental temperature and distance correction factor, further comprising: setting a standard sound speed reference value, including sound speed value under standard atmospheric pressure and 20 degrees Celsius; defining a mathematical model of sound speed change under different environmental temperature conditions and a corresponding distance correction factor relationship, including constructing a control table or function of environmental temperature and distance correction factor, wherein the control table or function is used to adjust the accuracy of detection distance according to environmental temperature change.

3. The method of claim 1, wherein The calculating real-time sound speed and distance correction factor step includes calculating sound speed under current environmental temperature based on a relationship model between sound speed and environmental temperature and calculating distance correction factor corresponding to the sound speed in response to the acquired environmental temperature, further comprising: acquiring a value representing current environmental temperature; substituting the value into the relationship model to calculate sound speed under current environmental temperature, wherein the relationship model includes a linear model; calculating distance correction factor under current environmental temperature based on the corresponding relationship between environmental temperature and distance correction factor.

4. The method of claim 1, wherein The performing ultrasonic detection and timing step includes simulating the process of ultrasonic wave emission to a hypothetical target and return and recording ultrasonic round-trip time, further comprising: centering on the bottom area of the vehicle, simulating ultrasonic signal propagation process; record the round trip time of the ultrasonic wave sent to the imaginary target and returned, wherein the imaginary target comprises an obstacle.

5. The method of claim 1, wherein The alarm logic further comprises: outputting alarm information in a perceptible manner when the alarm logic is triggered, including visually and aurally; recording relevant data and event information when the alarm logic is executed.

6. A pre-start alert system for a vehicle, characterized by comprises: an initialization parameter module configured to set a sound speed reference value and a corresponding relationship between an environmental temperature and a distance correction factor; a real-time sound speed and distance correction factor calculation module configured to calculate a sound speed at the current environmental temperature based on a relationship model between sound speed and environmental temperature in response to the acquired environmental temperature, and calculate a distance correction factor corresponding to the sound speed; an ultrasonic wave detection and timing module configured to simulate the process of ultrasonic wave emission to an imaginary target and return, and record the ultrasonic wave round trip time; a detection distance calculation and comprehensive judgment module configured to calculate an original detection distance based on the sound speed at the current environmental temperature and the ultrasonic wave round trip time, correct the original detection distance according to the distance correction factor, and compare with a dynamic threshold to determine whether to alarm; The detection distance calculation and comprehensive judgment step comprises calculating an original detection distance based on the sound speed at the current environmental temperature and the ultrasonic wave round trip time, correcting the original detection distance according to the distance correction factor, and comparing with a dynamic threshold to determine whether to alarm, and further comprises: based on the formula: original detection distance = (331.6 + 0.61 * environmental 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 a dynamic threshold, wherein the dynamic threshold is calculated according to noise level and temperature factor; 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; F noise = β · log 10 (1 + N level ); where N level is the current noise level, and β is a scaling factor used to adjust the degree of influence of the noise on the threshold. T dynamic = T base • F temp • F noise ; First, define the base threshold T base This value is the default safety distance under standard environmental conditions; A temperature adjustment factor F can be defined temp which varies with temperature; A noise adjustment factor F can be defined noise which varies according to the variation of the noise level; The dynamic threshold is calculated in real time according to the current environmental noise level and temperature factor to ensure the accuracy and adaptability of the alarm system.

7. An electronic device, comprising: comprises: 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; the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method of any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, which 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 of any one of claims 1 to 5.

9. A vehicle characterized by comprising: The vehicle is provided with the alarm system before the vehicle starts as claimed in claim 6.

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