Radar optimization method and device, electronic equipment and storage medium

Abstract

The invention provides a radar optimization method and device, electronic equipment and a storage medium. The method comprises the steps that whether a current radar receives an ultrasonic signal transmitted by other radars or not is judged; and if the current radar receives the ultrasonic signals transmitted by other radars, the waiting time of the current radar is adjusted according to the waiting time threshold. By adjusting the waiting time of the current radar (hostless fixed-frequency radar), the time for receiving ultrasonic echo signals by the current radar and the time for transmitting ultrasonic signals by other radars are staggered, the probability that the current radar is interfered by other radars is reduced as much as possible, the probability that the current radar is interfered by other radars on the same vehicle can be reduced, and the probability that the current radar is interfered by other radars on the same vehicle is reduced. And the probability that the current radar is interfered by other radars on different vehicles can be reduced, so that the current radar is prevented from being interfered by other radars under the condition of lower cost. The method is simple and easy to implement, and the current radar can be optimized only by modifying the single-chip microcomputer logic of the current radar through software.

Description

Technical Field

[0001] The present application relates to the field of radar optimization technology, and specifically to a radar optimization method, device, electronic equipment and storage medium. Background Art

[0002] The car reversing radar is a sensor that is activated when the vehicle is reversing. It relies on a single-chip microcomputer to drive the piezoelectric ceramic vibrator to emit an ultrasonic signal. When the piezoelectric ceramic vibrator receives the reflected ultrasonic echo signal, the single-chip microcomputer calculates the time difference between the transmission and reception of the ultrasonic signal, thereby calculating the distance between the obstacle and the vehicle, and determines whether an alarm is needed based on the distance. When the distance is small, an alarm message is output.

[0003] It is understandable that because the internal receiver of the reversing radar cannot distinguish between the ultrasonic echo signal emitted by itself and the ultrasonic echo signal emitted by other radars, when two reversing radars emit ultrasonic signals at the same frequency and the distance between the two reversing radars is very close, the current radar will receive interference from the ultrasonic echo signals of other radars of the same model or other radars with similar frequencies when working, thereby causing co-frequency interference and leading to false alarm of the current radar.

[0004] In the related art, co-frequency interference is avoided by: radars with non-interfering envelope surfaces on the same vehicle perform detection and alarm in a certain order; or the ultrasonic signal emitted by each reversing radar is individually encoded to filter out clutter signals.

[0005] However, when adjusting the detection alarm sequence of different reversing radars on the same vehicle, the reversing radar on the vehicle will still be interfered by the reversing radars on other vehicles; filtering the clutter signal through separate coding has replaced the original fixed-frequency reversing radar in hardware, which is relatively costly.

[0006] It should be pointed out that the information disclosed in the background technology section of this application is only intended to deepen the understanding of the general background technology of this application, and should not be regarded as an admission or suggestion in any form that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0007] In view of this, the present application provides a radar optimization method, device, electronic device and storage medium, so as to solve the problem in the prior art that when adjusting the detection alarm sequence of different reversing radars on the same vehicle, the reversing radar on the vehicle will still be interfered with by the reversing radars on other vehicles; the original fixed-frequency reversing radar has been replaced in hardware by filtering the clutter signal through separate encoding, which is costly.

[0008] In a first aspect, an embodiment of the present application provides a radar optimization method, including:

[0009] Determine whether the current radar receives ultrasonic signals emitted by other radars;

[0010] If the current radar receives the ultrasonic signal transmitted by the other radar, the waiting time of the current radar is adjusted according to the waiting time threshold, and the waiting time of the current radar is the time when the current radar suspends transmitting and receiving ultrasonic signals.

[0011] In the embodiment of the present application, by adjusting the waiting time of the current radar (hostless fixed-frequency radar), the time when the current radar receives the ultrasonic echo signal is staggered with the time when other radars transmit the ultrasonic signal, the probability of the current radar being interfered with by other radars is reduced as much as possible, and the probability of the current radar being interfered with by other radars on the same vehicle can be reduced, and the probability of the current radar being interfered with by other radars on different vehicles can also be reduced, thereby avoiding the current radar from being interfered with by other radars at a low cost. The method provided in the embodiment of the present application is simple and easy to implement, and does not require the modification of the hardware of the current radar. It only requires the modification of the single-chip microcomputer logic of the current radar through software to achieve the optimization of the current radar.

[0012] In a possible implementation manner, before adjusting the waiting time of the current radar according to the waiting time threshold, the method further includes:

[0013] A waiting time threshold is calculated according to the frequency of ultrasonic signals transmitted by the current radar, and the waiting time threshold is used to adjust the waiting time of the current radar.

[0014] In the embodiment of the present application, the waiting time threshold is calculated according to the frequency of the ultrasonic signal emitted by the current radar, so as to adjust the waiting time of the current radar. Because each radar emits ultrasonic signals at different frequencies, the method provided in the embodiment of the present application can ensure that each radar can obtain a more suitable waiting time threshold, thereby ensuring the use effect of each radar and improving the user experience.

[0015] In a possible implementation, the determining whether the current radar receives the ultrasonic signal transmitted by other radars includes:

[0016] Calculate the first distance according to the time interval between the current radar transmitting the ultrasonic signal and receiving the ultrasonic signal and the propagation speed of the ultrasonic signal;

[0017] Determine whether the first distance is equal to a second distance, where the second distance is the distance between the current radar and the target obstacle.

[0018] In the embodiment of the present application, it is possible to determine whether the current radar receives ultrasonic signals emitted by other radars by comparing the actual distance (second distance) between the current radar and the target obstacle and the distance (first distance) calculated based on the time interval between ultrasonic transmission and reception. It is understandable that when the current radar is detected, the actual distance (second distance) between the current radar and the target obstacle can be directly obtained. By comparing the second distance with the first distance calculated by the current radar, it is possible to determine whether the ultrasonic signal received by the current radar is the ultrasonic signal sent by the current radar. In addition, by the method provided in the embodiment of the present application, it is possible to determine whether the current radar has an abnormality.

[0019] In a possible implementation, the determining whether the current radar receives the ultrasonic signal transmitted by other radars includes:

[0020] Determine whether the current radar receives multiple ultrasonic signals;

[0021] If the current radar receives multiple ultrasonic signals, then the current radar receives ultrasonic signals emitted by other radars; if the current radar receives one ultrasonic signal, then the current radar does not receive ultrasonic signals emitted by other radars.

[0022] In the embodiment of the present application, the current radar only transmits one ultrasonic signal when transmitting. Therefore, if the current radar receives multiple ultrasonic signals, the current radar must have received ultrasonic signals transmitted by other radars. If the current radar only receives one ultrasonic signal, the current radar has not received ultrasonic signals transmitted by other radars. It can be understood that the method provided in the embodiment of the present application can quickly determine whether the current radar receives ultrasonic signals transmitted by other radars, thereby determining whether optimization is required.

[0023] In a possible implementation manner, after adjusting the waiting time of the current radar according to the waiting time threshold, the method further includes:

[0024] Calculating a first probability and a second probability, wherein the first probability is the probability that the current radar before adjustment receives the ultrasonic signal transmitted by other radars, and the second probability is the probability that the current radar after adjustment receives the ultrasonic signal transmitted by other radars;

[0025] If the first probability is greater than the second probability, the radar optimization is completed.

[0026] In the embodiment of the present application, after optimizing the current radar, the first probability and the second probability are used to determine whether the radar optimization is completed, wherein the first probability is the probability that the current radar before adjustment receives ultrasonic signals emitted by other radars, and the second probability is the probability that the current radar after adjustment receives ultrasonic signals emitted by other radars. It can be understood that if the current radar optimization is completed, the second probability of the current radar must be less than the first probability, and if the second probability is greater than or equal to the first probability, the optimization fails and the current radar needs to be optimized again.

[0027] In a possible implementation manner, calculating the first probability includes:

[0028] According to the formula Calculate a first probability, where P1 is the first probability, m is the time when the current radar transmits an ultrasonic signal, n is the time when the current radar receives an ultrasonic signal, p is the time when the current radar calculates the distance, and X is the waiting time of the current radar before adjustment.

[0029] In the embodiment of the present application, the first probability is calculated by a formula, which can ensure that the first probability is more accurate, thereby ensuring the optimization effect on the current radar.

[0030] In a possible implementation manner, calculating the second probability includes:

[0031] According to the formula Calculate the second probability, where P2 is the second probability, m is the time when the current radar transmits the ultrasonic signal, n is the time when the current radar receives the ultrasonic signal, p is the time when the current radar calculates the distance, and Y is the adjusted waiting time of the current radar.

[0032] In the embodiment of the present application, the second probability is calculated by a formula, which can ensure that the second probability is more accurate, thereby ensuring the optimization effect on the current radar.

[0033] In a second aspect, an embodiment of the present application provides a radar optimization device, including:

[0034] A judgment module is used to judge whether the current radar receives ultrasonic signals emitted by other radars;

[0035] The adjustment module is used to adjust the waiting time of the current radar according to the waiting time threshold if the current radar receives the ultrasonic signal emitted by the other radar. The waiting time of the current radar is the time when the current radar suspends emitting ultrasonic signals and receiving ultrasonic signals.

[0036] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0037] processor;

[0038] Memory;

[0039] And a computer program, wherein the computer program is stored in the memory, and the computer program includes instructions, and when the instructions are executed by the processor, the electronic device executes any one of the methods described in the first aspect.

[0040] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described in the first aspect.

[0041] It is understandable that the radar optimization device provided in the second aspect, the electronic device provided in the third aspect, and the computer-readable storage medium provided in the fourth aspect are used to execute the method provided in the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0043] Figure 1 A schematic diagram of a radar optimization method provided in an embodiment of the present application;

[0044] Figure 2 A timing comparison diagram of a certain model of radar before and after adjustment of the waiting time provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of a flow chart of another radar optimization method provided in an embodiment of the present application;

[0046] Figure 4 A schematic diagram of the structure of a radar optimization device provided in an embodiment of the present application;

[0047] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0049] It should be clear that 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 the field without creative work are within the scope of protection of the present application.

[0050] 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.

[0051] 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.

[0052] The car reversing radar is a sensor that is activated when the vehicle is reversing. It relies on a single-chip microcomputer to drive the piezoelectric ceramic vibrator to emit an ultrasonic signal. When the piezoelectric ceramic vibrator receives the reflected ultrasonic echo signal, the single-chip microcomputer calculates the time difference between the transmission and reception of the ultrasonic signal, thereby calculating the distance between the obstacle and the vehicle, and determines whether an alarm is needed based on the distance. When the distance is small, an alarm message is output.

[0053] It is understandable that because the internal receiver of the reversing radar cannot distinguish between the ultrasonic echo signal emitted by itself and the ultrasonic echo signal emitted by other radars, when two reversing radars emit ultrasonic signals at the same frequency and the distance between the two reversing radars is very close, the current radar will receive interference from the ultrasonic echo signals of other radars of the same model or other radars with similar frequencies when working, thereby causing co-frequency interference and leading to false alarm of the current radar.

[0054] In the related art, co-frequency interference is avoided by: radars with non-interfering envelope surfaces on the same vehicle perform detection and alarm in a certain order; or the ultrasonic signal emitted by each reversing radar is individually encoded to filter out clutter signals.

[0055] However, when adjusting the detection alarm sequence of different reversing radars on the same vehicle, the reversing radar on the vehicle will still be interfered by the reversing radars on other vehicles; filtering the clutter signal through separate coding has replaced the original fixed-frequency reversing radar in hardware, which is relatively costly.

[0056] In view of the above problems, an embodiment of the present application provides a radar optimization method. In the embodiment of the present application, by adjusting the waiting time of the current radar (hostless fixed-frequency radar), the time when the current radar receives the ultrasonic echo signal is staggered with the time when other radars transmit the ultrasonic signal, so as to reduce the probability of the current radar being interfered with by other radars as much as possible, and can reduce the probability of the current radar being interfered with by other radars on the same vehicle, and can also reduce the probability of the current radar being interfered with by other radars on different vehicles, thereby avoiding the current radar from being interfered with by other radars at a low cost. The method provided by the embodiment of the present application is simple and easy to implement, and does not require the modification of the hardware of the current radar. It only needs to modify the single-chip microcomputer logic of the current radar through software to achieve the optimization of the current radar. Specifically, it is described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0057] See also Figure 1 , is a flow chart of a radar optimization method provided in an embodiment of the present application. The method mainly includes the following steps.

[0058] Step S101: Determine whether the current radar receives ultrasonic signals emitted by other radars.

[0059] Specifically, the current radar transmits ultrasonic signals according to a set program, and determines whether the current radar receives ultrasonic radars transmitted by other radars. The set program is the initial calibration software of the current radar.

[0060] In a possible implementation, the first distance is calculated based on the time interval between the current radar transmitting the ultrasonic signal and receiving the ultrasonic signal and the propagation speed of the ultrasonic signal, and it is determined whether the first distance is equal to the second distance, where the second distance is the actual distance between the current radar and the target obstacle.

[0061] It is understandable that when the current radar is detected, the actual distance (second distance) between the current radar and the target obstacle can be directly obtained, and by comparing the second distance with the first distance calculated by the current radar, it can be determined whether the ultrasonic signal received by the current radar is the ultrasonic signal sent by the current radar. In addition, through the method provided in the embodiment of the present application, it can be determined whether the current radar has an abnormality.

[0062] In one possible implementation, the radar optimization device determines whether the current radar receives multiple ultrasonic signals. If the current radar receives multiple ultrasonic signals, the current radar receives ultrasonic signals emitted by other radars; if the current radar receives one ultrasonic signal, the current radar does not receive ultrasonic signals emitted by other radars.

[0063] It is understandable that when the current radar transmits an ultrasonic signal, only one is transmitted. Therefore, if the current radar receives multiple ultrasonic signals, the current radar must have received ultrasonic signals transmitted by other radars. If the current radar only receives one ultrasonic signal, the current radar has not received ultrasonic signals transmitted by other radars. It is understandable that, through the method provided in the embodiment of the present application, it is possible to quickly determine whether the current radar receives ultrasonic signals transmitted by other radars, thereby determining whether optimization is required.

[0064] Step S102: If the current radar receives an ultrasonic signal transmitted by other radars, the waiting time of the current radar is adjusted according to the waiting time threshold.

[0065] Specifically, if the current radar receives an ultrasonic signal emitted by other radars, the waiting time of the current radar is adjusted according to the waiting time threshold, wherein the waiting time of the current radar is the time when the current radar suspends emitting ultrasonic signals and receiving ultrasonic signals. In a possible implementation, the waiting time threshold is a preset time, and no matter what type of the current radar is, the preset waiting time threshold is used to adjust the waiting time of the current radar. Those skilled in the art may set the waiting time threshold to any value according to actual needs, and the embodiments of the present application do not impose specific restrictions on this.

[0066] However, regardless of the model of the current radar, the same preset waiting time threshold is used, which may result in low flexibility of the waiting time threshold. For some radars, the preset waiting time threshold is too large, which may cause these radars to easily miss obstacles, and for some radars, the preset waiting time threshold is too small, which may cause these radars to still be susceptible to co-frequency interference.

[0067] Therefore, in the embodiment of the present application, before adjusting the waiting time of the current radar according to the waiting time threshold, the waiting time threshold is calculated according to the frequency of the ultrasonic signal emitted by the current radar, and the waiting time threshold is used to adjust the waiting time of the current radar. It can be understood that because each radar emits ultrasonic signals at different frequencies, the method provided in the embodiment of the present application can ensure that each radar can obtain a more suitable waiting time threshold, thereby ensuring the use effect of each radar and improving the user experience.

[0068] In the embodiment of the present application, the host computer connects the current radar with a LIN communication simulator (J-LIN) by flashing the wiring harness, and detects the connection status between the host computer and the current radar through J-LIN, thereby obtaining the software information of the current radar, and re-flashing the software of the current radar. After the radar optimization device adjusts the waiting time of the current radar according to the waiting time threshold, it obtains a certain software package, and burns the new software package to the current radar through the burning engineering file of the single-chip programming software KEIL through KEIL.

[0069] In a possible implementation, after adjusting the waiting time of the current radar according to the waiting time threshold, it also includes: calculating the first probability and the second probability, wherein the first probability is the probability that the current radar before adjustment receives the ultrasonic signal emitted by other radars, and the second probability is the probability that the current radar after adjustment receives the ultrasonic signal emitted by other radars; if the first probability is greater than the second probability, the radar optimization is completed. It can be understood that if the current radar optimization is completed, the second probability of the current radar must be less than the first probability, and if the second probability is greater than or equal to the first probability, the optimization fails, and the user can be prompted to optimize the current radar again through an alarm message.

[0070] In one possible implementation, according to the formula Calculate the first probability, where P1 is the first probability, m is the time when the current radar transmits the ultrasonic signal, n is the time when the current radar receives the ultrasonic signal, p is the time when the current radar calculates the distance, and X is the waiting time of the current radar before adjustment. It can be understood that by calculating the first probability through the formula, the first probability can be guaranteed to be more accurate, thereby ensuring the optimization effect of the current radar.

[0071] For example, see Figure 2 , is a timing comparison diagram of a certain type of radar before and after the waiting time adjustment provided in an embodiment of the present application. Figure 2 As shown in a, the maximum detection cycle of this model of radar before adjustment is 120ms. If the radar is set to detect a distance of 1.5m, the time (n) for the radar to receive ultrasonic signals is 9ms. One cycle includes three ultrasonic signal transmissions and receptions. The time (m) for each ultrasonic signal transmission is 3ms, the time for receiving ultrasonic signals (n) is 9ms, the time for calculating the distance (p) is 4ms, and the waiting time (X) before adjustment is any time between 3 and 24ms. At this time, the probability (i.e., the first probability) that the radar receives ultrasonic signals transmitted by other radars is X is a random number between 3 and 24.

[0072] At this time, the probability that the radar receives the ultrasonic signal emitted by other radars is relatively high. After the radar is optimized by the method provided by the present application, the detection timing diagram of the radar is as follows: Figure 2As shown in b in the figure, the maximum detection cycle of the radar after adjustment is 150ms. One cycle includes three transmissions and receptions of ultrasonic signals. The time for each transmission of ultrasonic signals (m) is 3ms, the time for receiving ultrasonic signals (n) is 9ms, the time for calculating the distance (p) is 4ms, and the adjusted waiting time (Y) is any time between 3 and 34ms. At this time, the probability that the radar receives ultrasonic signals emitted by other radars (i.e., the second probability) is Y is a random number between 3 and 34.

[0073] Obviously, after the adjustment, the probability of receiving ultrasonic signals emitted by other radars is reduced, and there is no need to modify the hardware of the current radar. Only the microcontroller logic of the current radar needs to be modified through software to achieve the optimization of the current radar.

[0074] It should be pointed out that Figure 2 The embodiment shown is only an exemplary description and should not be regarded as limiting the scope of protection of the present application.

[0075] Corresponding to the above embodiment, the embodiment of the present application also provides a flow chart of another radar optimization method.

[0076] See also Figure 3 , is a flow chart of another radar optimization method provided in an embodiment of the present application. Figure 3 As shown, it mainly includes the following steps.

[0077] Step S301: The current radar is installed in the vehicle with the initial calibration software to detect whether there is co-frequency interference.

[0078] Step S302: If there is co-frequency interference, the initial calibration software of the current radar is modified through the host computer.

[0079] Step S303: Burn the modified software to the current radar through J-LI N and KE IL burning project files.

[0080] Specifically, the host computer burns the current radar through J-LI N and KE IL burning project files.

[0081] Step S304: Determine whether the optimization is successful based on the first probability and the second probability.

[0082] Specifically, the first probability and the second probability are calculated, and it is determined whether the second probability is less than the first probability. If so, the optimization is successful; if not, the optimization fails.

[0083] For specific contents involved in the embodiments of this application, please refer to the above Figure 1 and Figure 2For the sake of brevity, the description in the illustrated embodiment will not be repeated here.

[0084] Corresponding to the above embodiments, the present application also provides a radar optimization device.

[0085] See also Figure 4 , is a schematic diagram of the structure of a radar optimization device provided in an embodiment of the present application. Figure 4 As shown, the radar optimization device may include: a judgment module 401 and an adjustment module 402. These components communicate through one or more buses. Those skilled in the art will appreciate that the structure of the control device shown in the figure does not limit the embodiment of the present invention. It may be a bus structure or a star structure, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0086] The determination module 401 is used to determine whether the current radar receives ultrasonic signals emitted by other radars;

[0087] The adjustment module 402 is used to adjust the waiting time of the current radar according to the waiting time threshold if the current radar receives the ultrasonic signal emitted by the other radar. The waiting time of the current radar is the time when the current radar suspends emitting ultrasonic signals and receiving ultrasonic signals.

[0088] Corresponding to the above embodiments, the present application also provides an electronic device.

[0089] See also Figure 5 , is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown, the electronic device 500 may include: a processor 501, a memory 502 and a communication unit 503. These components communicate via one or more buses. Those skilled in the art will appreciate that the structure of the electronic device shown in the figure does not limit the embodiments of the present application, and it may be a bus structure or a star structure, and may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently.

[0090] The communication unit 503 is used to establish a communication channel so that the electronic device can communicate with other devices, receive user data sent by other devices or send user data to other devices.

[0091] The processor 501 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. It runs or executes software programs, instructions, and / or modules stored in the memory 502, and calls data stored in the memory to perform various functions of the electronic device and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of a plurality of packaged ICs with the same or different functions. For example, the processor 501 can include only a central processing unit (CPU). In the embodiment of the present application, the CPU can be a single computing core or multiple computing cores.

[0092] The memory 502 is used to store the execution instructions of the processor 501. The memory 502 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0093] When the execution instruction in the memory 502 is executed by the processor 501, the electronic device 500 can execute Figure 1 Some or all of the steps in the illustrated embodiments.

[0094] In a specific implementation, the embodiment of the present application further provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment of the simulation scene generation method provided in the embodiment of the present application. The storage medium may be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0095] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0096] Those of ordinary skill in the art will appreciate that the various units and algorithm steps described in the embodiments disclosed herein can be implemented in a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0097] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0098] In several embodiments provided in the present application, any function can be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., and other media that can store program codes.

[0099] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

Claims

1. A radar optimization method, characterized in that: include: Determine whether the current radar receives ultrasonic signals emitted by other radars; If the current radar receives the ultrasonic signal transmitted by the other radar, the waiting time of the current radar is adjusted according to the waiting time threshold, and the waiting time of the current radar is the time when the current radar suspends transmitting and receiving ultrasonic signals.

2. The method according to claim 1, characterized in that Before adjusting the waiting time of the current radar according to the waiting time threshold, the method further includes: A waiting time threshold is calculated according to the frequency of ultrasonic signals transmitted by the current radar, and the waiting time threshold is used to adjust the waiting time of the current radar.

3. The method according to claim 1, characterized in that The determining whether the current radar receives the ultrasonic signal emitted by other radars includes: Calculate the first distance according to the time interval between the current radar transmitting the ultrasonic signal and receiving the ultrasonic signal and the propagation speed of the ultrasonic signal; Determine whether the first distance is equal to a second distance, where the second distance is the distance between the current radar and the target obstacle.

4. The method according to claim 1, characterized in that: The determining whether the current radar receives the ultrasonic signal emitted by other radars includes: Determine whether the current radar receives multiple ultrasonic signals; If the current radar receives multiple ultrasonic signals, then the current radar receives ultrasonic signals emitted by other radars; if the current radar receives one ultrasonic signal, then the current radar does not receive ultrasonic signals emitted by other radars.

5. The method according to claim 1, characterized in that After adjusting the waiting time of the current radar according to the waiting time threshold, the method further includes: Calculating a first probability and a second probability, wherein the first probability is the probability that the current radar before adjustment receives the ultrasonic signal transmitted by other radars, and the second probability is the probability that the current radar after adjustment receives the ultrasonic signal transmitted by other radars; If the first probability is greater than the second probability, the radar optimization is completed.

6. The method according to claim 5, characterized in that The calculating the first probability comprises: According to the formula Calculate a first probability, where P1 is the first probability, m is the time when the current radar transmits an ultrasonic signal, n is the time when the current radar receives an ultrasonic signal, p is the time when the current radar calculates the distance, and X is the waiting time of the current radar before adjustment.

7. The method according to claim 5, characterized in that The calculating the second probability comprises: According to the formula Calculate the second probability, where P2 is the second probability, m is the time when the current radar transmits the ultrasonic signal, n is the time when the current radar receives the ultrasonic signal, p is the time when the current radar calculates the distance, and Y is the adjusted waiting time of the current radar.

8. A radar optimization device, characterized in that: include: A judgment module is used to judge whether the current radar receives ultrasonic signals emitted by other radars; The adjustment module is used to adjust the waiting time of the current radar according to the waiting time threshold if the current radar receives the ultrasonic signal emitted by the other radar. The waiting time of the current radar is the time when the current radar suspends emitting ultrasonic signals and receiving ultrasonic signals.

9. An electronic device, characterized in that: include: processor; Memory; And a computer program, wherein the computer program is stored in the memory, and the computer program includes instructions, and when the instructions are executed by the processor, the electronic device executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

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