Fault judgment method, device and equipment of ultrasonic radar and medium

Abstract

The embodiment of the invention provides an ultrasonic radar fault judgment method and device, equipment and a medium. The fault judgment method of the ultrasonic radar comprises the following steps: acquiring first detection data generated by the ultrasonic radar, and determining an obstacle detection frame proportion of the ultrasonic radar based on the first detection data; determining whether there is an obstacle in the detection area based on the obstacle detection frame; when it is determined that there is an obstacle in the detection area, whether there is an obstacle in the detection area is verified based on a detection mode other than ultrasonic waves; when it is determined that there is no obstacle in the detection region by means of a detection method other than ultrasonic waves, it is determined that the ultrasonic radar surface covers foreign matter. By adopting the scheme provided by the embodiment of the invention, the problem of abnormal obstacle detection of the ultrasonic radar due to the fact that foreign matters such as muddy water and leaves cover the ultrasonic radar in the normal driving process of the vehicle can be quickly eliminated, wrong cognition of a driver is avoided, and the use experience of the driver is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor fault perception, and specifically designs a fault detection method, device, equipment and medium for an ultrasonic radar. Background Art

[0002] Ultrasonic radar is a sensor widely used in vehicles that uses ultrasonic detection to sense obstacles at close range. When the vehicle is parking or driving at low speed, the ultrasonic radar emits ultrasonic waves and receives external echoes, and uses the time difference between the emission of ultrasonic waves and the echoes to determine whether there are obstacles at close range. Due to the principle limitations of ultrasonic radar, when foreign matter or paint protection film adheres to the surface of the ultrasonic radar, the ultrasonic waves will be reflected and cause a false alarm of the ultrasonic radar. Since the vehicle driver may not have the ability to identify the type of ultrasonic radar fault, when the ultrasonic radar falsely alarms and the vehicle driver determines that there is no obstacle at the corresponding location through other means, he may simply think that the ultrasonic radar has a fault or that the reliability of the vehicle sensor is insufficient, resulting in a poor user experience. Summary of the invention

[0003] In order to solve the above technical problems, the embodiments of the present disclosure provide a fault determination method, device, equipment and medium for an ultrasonic radar.

[0004] In a first aspect, an embodiment of the present disclosure provides a method for determining a fault of an ultrasonic radar, comprising:

[0005] Acquire first detection data generated by the ultrasonic radar, and determine an obstacle detection frame ratio of the ultrasonic radar based on the first detection data;

[0006] Determining whether there is an obstacle in the detection area based on the obstacle detection frame;

[0007] In the case where it is determined that there is an obstacle in the detection area, verifying whether there is the obstacle in the detection area based on a detection method other than ultrasonic wave;

[0008] When it is determined by a detection method other than ultrasonic wave that there is no obstacle in the detection area, it is determined that the surface of the ultrasonic radar is covered with foreign matter.

[0009] Optionally, determining whether there is an obstacle in the detection area based on the obstacle detection frame ratio includes:

[0010] Determine the obstacle detection frame ratio of the ultrasonic radar based on the first detection data;

[0011] When the obstacle detection frame ratio is greater than a preset ratio, it is determined that the obstacle exists in the detection area.

[0012] Optionally, the acquiring first detection data generated by the ultrasonic radar for obstacle detection includes:

[0013] When the vehicle is in a target motion state, the first detection data generated by the ultrasonic radar is acquired, and the target kinematic state includes a stationary state and / or a moving state.

[0014] Optionally, the checking whether the obstacle exists in the detection area based on other detection methods includes:

[0015] In the case where it is determined based on the first detection data that the obstacle exists, whether the detection area exists the obstacle is checked based on other detection methods.

[0016] Optionally, the checking whether the obstacle exists in the detection area based on other detection methods includes:

[0017] Acquire second detection data generated by other types of environmental state sensors, where the other types of environmental state sensors include cameras and / or laser radars, and the second detection data include data representing obstacle information in the detection area;

[0018] The second detection data is analyzed and processed to determine whether the obstacle exists in the detection area.

[0019] Optionally, when determining that the detection area does not have the obstacle by a detection method other than ultrasonic wave, determining that the surface of the ultrasonic radar is covered with foreign matter includes:

[0020] When it is determined by other detection methods other than ultrasonic wave that there is no obstacle in the detection area, the detection count value is increased by 1;

[0021] Determine whether the detection count value is greater than a set threshold;

[0022] When the detection count value is greater than the set threshold, it is determined that the surface of the ultrasonic radar is covered with foreign matter.

[0023] Optionally, after determining that the surface of the ultrasonic radar is covered with foreign matter, the method further includes:

[0024] Generate and display foreign object removal prompt information, where the foreign object prompt information is used to prompt that the surface of the ultrasonic radar is covered with foreign objects.

[0025] In a second aspect, an embodiment of the present disclosure provides a fault determination device for an ultrasonic radar, comprising:

[0026] A first detection unit, configured to obtain first detection data generated by the ultrasonic radar, and determine an obstacle detection frame ratio of the ultrasonic radar based on the first detection data;

[0027] A judgment unit, configured to determine whether there is an obstacle in the detection area based on the obstacle detection frame ratio;

[0028] A second detection unit, configured to verify whether the detection area has the obstacle based on a detection method other than ultrasonic wave when the judgment unit determines that the detection area has the obstacle;

[0029] The foreign object determination unit is used to determine whether the surface of the ultrasonic radar is covered by foreign objects when it is determined that there is no obstacle in the detection area by a detection method other than ultrasonic waves.

[0030] In the third aspect, the embodiments of the present disclosure also provide a computing device, including a processor, a memory and a signal receiving device, wherein the memory is used to store a computer program, and the signal collector is used to collect signals; when the computer program is loaded by the processor, the processor controls the signal collector to collect signals to execute the ultrasonic radar fault judgment method as described above.

[0031] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, wherein the storage medium stores a computer program. When the computer program is executed by a processor, the processor implements the ultrasonic radar fault determination method as described above.

[0032] In a fifth aspect, an embodiment of the present disclosure provides a vehicle, including a vehicle system and an ultrasonic radar;

[0033] The ultrasonic radar is communicatively connected to the vehicle system and generates first detection data when powered on and sends it to the vehicle system; the vehicle system determines whether the surface of the ultrasonic radar is covered with foreign objects according to the ultrasonic radar fault judgment method as described above based on the received first detection data.

[0034] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0035] The solution provided by the embodiment of the present disclosure, after obtaining the first detection data generated by the ultrasonic radar and determining that there is an obstacle in the detection area covered by the ultrasonic radar based on the first detection data, verifies whether there is an obstacle in the detection area based on other detection methods using ultrasonic detection. If it is determined that there is an obstacle in the detection area based on the first detection data but it is determined that there is no obstacle based on other detection methods, it is determined that the surface of the ultrasonic radar is covered with foreign matter. The solution provided by the embodiment of the present disclosure can quickly eliminate the problem of abnormal obstacle detection by the ultrasonic radar caused by foreign matter such as mud, water, leaves, etc. covering the ultrasonic radar during normal driving of the vehicle, avoid causing the driver's misunderstanding, and improve the driver's user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor, among which:

[0038] Figure 1 is a flow chart of a fault determination method of an ultrasonic radar provided in an embodiment of the present disclosure;

[0039] Figure 2 is a structural schematic diagram of a fault determination device for an ultrasonic radar provided in an embodiment of the present disclosure;

[0040] Figure 3 It is a schematic diagram of the structure of a computing device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0041] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0042] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0043] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0044] In order to solve the problem that the existing ultrasonic radar surface is covered with foreign objects, it may be misjudged as a vehicle fault or a fault of the ultrasonic radar itself, the present disclosure provides a method for determining the fault of the ultrasonic radar. The method for determining the fault of the ultrasonic radar determines whether the surface of the ultrasonic radar is covered with obstacles by reference verification.

[0045] Figure 1 FIG. 1 is a flow chart of a method for determining a fault of an ultrasonic radar provided by an embodiment of the present disclosure. Figure 1 As shown, the ultrasonic radar fault determination method provided in the embodiment of the present disclosure includes S110-S140.

[0046] It should be noted that the ultrasonic radar fault determination method provided in the embodiment of the present disclosure can be executed by a computing device. In a specific implementation, the computing device can be a device directly used for obstacle detection and obstacle information processing, such as a vehicle computer system in a vehicle.

[0047] S110: Acquire first detection data generated by the ultrasonic radar, and determine the obstacle detection frame ratio of the ultrasonic radar based on the first detection data.

[0048] In the disclosed embodiment, when the vehicle is in a certain motion state, the ultrasonic radar in the vehicle will be powered on and start to sense the environment state, generating first detection data. For example, when the vehicle is in a reverse state, the ultrasonic radar at the rear of the vehicle will start and detect whether there are obstacles in the area behind the vehicle. For another example, when the vehicle is in a slow forward state, the ultrasonic radar at the front of the vehicle will start and detect whether there are obstacles in front of the vehicle.

[0049] When the ultrasonic radar senses the environmental status, the ultrasonic radar generates first detection data and sends the first detection data to the computing device.

[0050] In some embodiments, the ultrasonic radar has a built-in data processing chip. After the ultrasonic radar sends ultrasonic waves to the environment, the ultrasonic radar will receive reflected waves formed by the ultrasonic waves reflected by obstacles. After receiving the reflected waves, the data processing chip can determine the flight time of the ultrasonic waves based on the time difference between sending the ultrasonic waves and receiving the reflected waves, and calculate the distance of the obstacle based on the flight time. In this case, the first detection data can be data indicating that there are no obstacles, or data indicating the distance from the obstacle to the ultrasonic radar.

[0051] In some other embodiments, the ultrasonic radar does not have a built-in data processing chip. After the ultrasonic radar sends ultrasonic waves and receives reflected waves, the sending time and the reflection time are sent as first detection data to the computing device, and the computing device performs the aforementioned process of determining the flight time and calculating the obstacle distance.

[0052] The detection area covered by the ultrasonic radar in the disclosed embodiment is the area that the ultrasonic waves generated by the ultrasonic radar can reasonably cover. It should be noted that the detection area covered by the ultrasonic radar is a very important data in the disclosed embodiment, but considering that how to determine the detection area covered by the ultrasonic radar is not the focus of the disclosed embodiment, it will not be expanded here. In a specific embodiment, the range of the detection area covered by the ultrasonic radar can be determined by looking up the model parameters and instructions for use of the ultrasonic radar.

[0053] S111: Determine the obstacle detection frame ratio of the ultrasonic radar based on the first detection data.

[0054] In an embodiment of the present disclosure, the first detection data is periodically sent to the computing device at a set frame frequency. After receiving each frame of the first detection data, the computing device can determine whether there is an obstacle in the corresponding frame based on each frame of the first detection data. If it is determined that there is an obstacle in the detection area of ​​the ultrasonic radar based on a certain frame of the first detection data, there may be a problem of a large number of false detections being identified due to various tiny objects in the driving vehicle. To avoid the aforementioned problems, in an embodiment of the present disclosure, the ultrasonic radar will periodically generate the first detection data according to the set frame frequency and send it to the computing device. The computing device will determine whether there is an obstacle in each frame based on the received first detection data, and count the proportion of obstacle detection frames with obstacles.

[0055] For example, the ultrasonic sensor generates and sends first detection data to the computing device at a set frequency of 30 frames / s. If the computing device determines that there is an obstacle based on 20 frames of received first detection data, the obstacle detection frame ratio is determined to be 0.667.

[0056] S120: Determine whether there is an obstacle in the detection area based on the obstacle detection frame ratio; if so, execute S130.

[0057] In some embodiments, if the obstacle detection frame ratio is greater than a preset ratio, the computing device determines that there is a high probability of an obstacle in the detection area by accumulating data. For example, in a specific application, the preset ratio is set to 0.8, and if the obstacle detection frame ratio is greater than 0.8, it is determined that there is an obstacle in the detection area.

[0058] S130: Check whether there are obstacles in the detection area based on a detection method other than ultrasonic wave.

[0059] In the disclosed embodiment, checking whether there are obstacles in the detection area based on a detection method other than ultrasonic wave may be checking whether there are obstacles in the detection area using a method other than ultrasonic radar detection.

[0060] Verifying whether there are obstacles in the detection area based on detection methods other than ultrasonic waves may be based on detecting the vehicle's surroundings to determine whether there are obstacles, or it may be based on manual inspection, and the disclosed example is not limited to this.

[0061] In some embodiments, the vehicle may be equipped with an environmental state sensor such as a camera or a laser radar. Based on the second detection data generated by the aforementioned environmental state sensor, the computing device may determine whether there is an obstacle in the detection area. The specific method of determining whether there is an obstacle based on the second detection data generated by other environmental state sensors will be analyzed later.

[0062] In some further embodiments, the computing device may prompt the driver to check whether there are any obstacles in the corresponding detection area by generating prompt information.

[0063] It should be noted that the results of verifying whether there are obstacles in the detection area using detection methods other than ultrasonic waves should have a considerable degree of confidence.

[0064] S140: When it is determined that there is no obstacle by a detection method other than ultrasonic wave, it is determined that the ultrasonic radar surface is covered by foreign matter.

[0065] In the embodiment of the present disclosure, the working reliability of the ultrasonic radar has been strictly tested. In most cases, the ultrasonic radar can work normally and generate correct first detection data. Under the aforementioned conditions, if it is determined that there is an obstacle in the detection area based on the duty cycle of the obstacle detection frame generated by the first detection data, and it is determined that there is no obstacle in the detection area based on detection methods other than ultrasonic waves, it can be determined that the detection result of the ultrasonic radar should be suspected. Using the fault judgment method of the ultrasonic radar provided in the embodiment of the present disclosure, after obtaining the obstacle detection duty cycle and determining whether there is an obstacle in the detection area covered by the ultrasonic radar based on the obstacle detection duty cycle, it is verified whether there is an obstacle in the detection area based on detection methods other than ultrasonic waves. If it is determined that there is no obstacle based on detection methods other than ultrasonic waves, it is determined that the surface of the ultrasonic radar is covered by foreign matter.

[0066] By adopting the method provided in the embodiment of the present disclosure, the problem of abnormal obstacle detection by ultrasonic radar caused by foreign objects such as mud, leaves, and paint protection film covering the ultrasonic radar during normal driving of the vehicle can be quickly eliminated, thereby avoiding the driver's misunderstanding and improving the driver's user experience.

[0067] In actual applications, when it is determined that the surface of the ultrasonic radar is covered with foreign objects, personnel need to be prompted to remove the foreign objects from the surface of the ultrasonic radar so that the ultrasonic radar can resume normal detection.

[0068] To achieve the aforementioned purpose, in some embodiments of the present disclosure, after executing the aforementioned S140 to determine whether the surface of the ultrasonic radar is covered by foreign matter, the computing device may further execute the following S150.

[0069] S150: Generate and display foreign matter removal prompt information.

[0070] Foreign object prompt information is information used to prompt the driver that the surface of the ultrasonic radar is covered with foreign objects. In some specific embodiments, the foreign object removal prompt information may only include information such as "the surface of the ultrasonic radar is covered with foreign objects, please remove them". In other embodiments, in addition to the aforementioned "the surface of the ultrasonic radar is covered with foreign objects, please remove them", the foreign object removal prompt information may also include information such as the identification of the ultrasonic radar and / or the installation location of the ultrasonic radar, so that the driver can quickly find the ultrasonic radar covered with foreign objects according to the aforementioned prompt information, and then quickly remove the foreign objects.

[0071] In some other embodiments of the present disclosure, a vehicle may be provided with a structure similar to a windshield wiper or a glass water spraying structure at the location where the ultrasonic radar is installed. When it is determined that the ultrasonic radar surface is covered with foreign matter, the computing device may control the aforementioned windshield wiper and glass water spraying mechanism to operate, and remove the foreign matter by means of windshield wiper scraping and glass water spraying. If the windshield wiper scraping and glass water spraying methods cannot remove the foreign matter covering the ultrasonic radar surface, the computing device will control the generation and display of foreign matter removal prompt information.

[0072] Due to the limitation of ultrasonic radar detection principle, it can only be used to detect obstacles close to the vehicle, such as obstacles within 1.5m from the vehicle. Since ultrasonic radar can only detect obstacles within a limited range and cannot detect obstacles beyond a long distance, it is necessary to obtain the first detection data generated by the ultrasonic radar when the vehicle is in a target motion state when executing S110. The aforementioned target motion state includes a stationary state and / or a moving state.

[0073] The aforementioned stationary state is when the vehicle is still in the forward gear or reverse gear, but the driver is braking and the vehicle is not moving, rather than the vehicle being in the P gear and not moving. The aforementioned low-speed moving state is when the vehicle is in the forward gear or reverse gear, but the vehicle speed is not high. In specific implementation, the speed threshold of the low-speed moving state needs to be determined according to the detection distance of the ultrasonic radar. For example, when the detection distance of the ultrasonic radar is 1.5m, the speed threshold can be set to 5km / h.

[0074] As mentioned above, when executing S120, if the obstacle detection frame ratio is greater than the preset ratio, it is determined that there is an obstacle in the ultrasonic radar coverage area. At this time, the execution of S130 is triggered. In a specific implementation, the size of the preset ratio used for comparison with the obstacle detection frame ratio is different depending on the vehicle's motion state. Specifically, since when the vehicle is stationary, a larger preset ratio can be used to determine whether there is an obstacle in the ultrasonic radar coverage area. For example, the preset ratio can be set to 0.8. When the vehicle is in a moving state, the obstacle and the vehicle may move at the same time, resulting in low data credibility. At this time, in order to ensure safety, a smaller preset ratio needs to be used. For example, the preset ratio can be set to 0.3.

[0075] In some other embodiments of the present disclosure, when the target motion state includes a stationary state and a moving state, different values ​​can be set for the preset proportion in the stationary state (such as a preset static proportion) and the preset proportion in the moving state (such as a preset dynamic proportion), respectively, and then the motion state of the vehicle is used to judge whether the obstacle detection frame proportion is greater than the preset proportion; for example, the preset proportion includes a preset static proportion and a preset dynamic proportion, the preset static proportion can be set to 0.7, and the preset dynamic proportion can be set to 0.2. When the motion state of the vehicle includes both a stationary state and a moving state within a period of time, the obstacle detection frame proportion obtained by the vehicle in the stationary state can be compared with the preset static proportion, and the obstacle detection frame proportion obtained by the vehicle in the moving state can be compared with the preset dynamic proportion. When the obstacle detection frame proportion obtained by the vehicle in the stationary state is greater than the preset static proportion, and the obstacle detection frame proportion obtained by the vehicle in the moving state is greater than the preset dynamic proportion, it can be determined that there is an obstacle in the ultrasonic radar coverage area.

[0076] As analyzed above, in some embodiments, the computing device verifies whether there is a foreign object in the detection area based on the second detection data generated by other detection methods other than ultrasonic waves. Specifically, the computing device verifies whether there is a foreign object in the detection area by executing the following S131-S132.

[0077] S131: Acquire second detection data generated by detecting a test area using other types of environmental status sensors.

[0078] The aforementioned other types of environmental status sensors may include cameras and / or laser radars, and the corresponding second detection data may be image data or laser point cloud data.

[0079] It should be noted that in order to verify whether the detection area includes an obstacle, the second detection data should include information representing the obstacle in the detection area.

[0080] S132: Analyze and process the second detection data to determine whether there are obstacles in the detection area.

[0081] After acquiring the second detection data, the computing device then analyzes and processes the second detection data to determine whether there is an obstacle in the detection area. The process of analyzing and processing the second detection data may be to determine the data representing the information in the detection area in the second detection data, and then determine whether there is an obstacle in the detection area based on the data representing the information in the detection area.

[0082] When the second detection data is image data, the computing device can determine the pixel data representing the obstacle information in the detection area, use a pre-trained obstacle recognition model to process the pixel data representing the obstacle information in the detection area to obtain an output result, and determine whether there is an obstacle in the detection area based on the output result.

[0083] In the case where the second detection data is point cloud data, the computing device can determine the point cloud data located in the detection area based on the position characteristics of the point cloud. After determining the point cloud data located in the detection area, cluster analysis is then performed on the point cloud data, that is, it can be determined whether there are obstacles in the detection area based on the point cloud data.

[0084] In practical applications, it is only a small probability event that the surface of the ultrasonic radar is covered with foreign objects, and when it is determined that there is an obstacle in the detection area based on the first detection data, starting other environmental status sensors for detection and generating second detection data will cause a large resource overhead.

[0085] Optionally, in some embodiments of the present disclosure, when the computing device executes S140, it may be executed according to the following S141-S143.

[0086] S141: When it is determined that there is no obstacle in the detection area by a detection method other than ultrasonic wave, the detection count value is increased by 1.

[0087] The detection count value is a count value accumulated from 0. In the embodiment of the present disclosure, when it is determined that there is an obstacle in the detection area according to the first detection data but other detection methods determine that there is no obstacle in the detection area, the computing device does not directly determine that the surface of the ultrasonic radar is covered by foreign matter, but adds 1 to the detection count value to obtain a new detection count value.

[0088] S142: Determine whether the detection count value is greater than a set threshold; if so, execute S143; if not, continue to execute S141.

[0089] S143: Determine whether the surface of the ultrasonic radar is covered by foreign matter.

[0090] If the detection count value is greater than the set threshold, it is determined that there are obstacles in the detection area based on the first detection data multiple times, but other verification methods determine that there are no obstacles in the detection area. At this time, it can be relatively certain that the surface of the ultrasonic radar is covered with foreign objects, so S143 is executed.

[0091] Of course, in other embodiments, it is not limited to determining whether the ultrasonic radar covers foreign objects through the aforementioned S141-S143. It is also possible to directly determine that the ultrasonic radar surface is covered by foreign objects when it is determined that there are obstacles in the detection area according to the first detection data but other detection methods determine that there are no obstacles in the detection area.

[0092] In addition to providing the aforementioned ultrasonic radar fault determination method, the embodiment of the present disclosure also provides an ultrasonic radar fault determination device. Figure 2 FIG. 1 is a schematic diagram of the structure of a fault determination device for an ultrasonic radar provided in an embodiment of the present disclosure. Figure 2 As shown, the ultrasonic radar fault determination device 200 provided in the embodiment of the present disclosure includes a first fault detection unit 201, a first determination unit 202, a second detection unit 203 and a second determination unit 204.

[0093] The first detection unit 201 is used to obtain the first detection data generated by the ultrasonic radar, and determine the obstacle detection frame ratio of the ultrasonic radar based on the first detection data. The first judgment unit 202 is used to determine whether there is an obstacle in the detection area based on the obstacle detection frame ratio. The second detection unit 203 is used to verify whether there is an obstacle in the detection area based on a detection method other than ultrasonic wave when the judgment unit determines that there is an obstacle in the detection area. The second judgment unit 204 is used to determine whether the ultrasonic radar surface is covered with foreign matter when it is determined that there is no obstacle in the detection area by a detection method other than ultrasonic wave.

[0094] In some embodiments, the first judgment unit 202 determines that there is an obstacle in the detection area when the obstacle detection frame ratio is greater than a preset ratio.

[0095] In some embodiments, the first detection unit 201 acquires first detection data generated by the ultrasonic radar when the vehicle is in a target motion state, and the target kinematic state includes a stationary state and / or a moving state.

[0096] In some embodiments, the second detection unit 203 obtains second detection data generated by other types of environmental state sensors, and then analyzes and processes the second detection data to determine whether there is an obstacle in the detection area. Other types of environmental state sensors include cameras and / or laser radars, and the second detection data includes data representing obstacle information in the detection area.

[0097] In some embodiments, the second detection unit 203 includes a counting subunit, a comparing subunit, and a foreign object determination subunit. The counting subunit is used to increase the detection count value by 1 when it is determined that there is no obstacle in the detection area by a detection method other than ultrasonic wave; the comparing subunit is used to determine whether the detection count value is greater than a set threshold; the foreign object determination subunit is used to determine that the ultrasonic radar surface is covered with foreign objects when the detection count value is greater than the set threshold.

[0098] In some embodiments, the ultrasonic radar fault determination device 200 further includes a prompt unit. The prompt unit is used to generate and display foreign object removal prompt information, and the foreign object prompt information is used to prompt that the ultrasonic radar surface is covered with foreign objects.

[0099] An embodiment of the present disclosure further provides a computing device, which includes a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the fault determination method of the ultrasonic radar in any of the above embodiments can be implemented.

[0100] Figure 3 Schematic diagram of the structure of the computing device provided by the embodiment of the present disclosure. Figure 3 , which shows a schematic diagram of the structure of a computing device 300 suitable for implementing the embodiments of the present disclosure. Figure 3 The computing device shown is only an example and should not bring any limitation to the functionality and scope of use of the embodiments of the present disclosure.

[0101] like Figure 3 As shown, the computing device 300 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 301, which can perform various appropriate actions and processes according to a program stored in a read-only memory ROM 302 or a program loaded from a storage device 308 to a random access memory RAM 303. Various programs and data required for the operation of the computing device 300 are also stored in the RAM 303. The processing device 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input / output I / O interface 305 is also connected to the bus 304.

[0102] Typically, the following devices may be connected to the I / O interface 305: input devices 305 including, for example, a touch screen, a touch pad, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 307 including, for example, a liquid crystal display 204 (LCD), a speaker, a vibrator, etc.; storage devices 308 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 309. The communication devices 309 may allow the computing device 300 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 3The computing device 300 is shown with various devices, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have instead.

[0103] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 309, or installed from the storage device 308, or installed from the ROM 302. When the computer program is executed by the processing device 301, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0104] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0105] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (Hypertext Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0106] The computer-readable medium may be included in the computing device, or may exist independently without being incorporated into the computing device.

[0107] The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by the computing device, the computing device: obtains the first detection data generated by the ultrasonic radar, and determines whether there is an obstacle in the detection area covered by the ultrasonic radar based on the first detection data; verifies whether there is an obstacle in the detection area based on other detection methods; and determines that the surface of the ultrasonic radar is covered by foreign objects when it is determined that there is an obstacle in the detection area according to the first detection data but other detection methods determine that there is no obstacle in the detection area.

[0108] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the tester computer, partially on the tester computer, as a separate software package, partially on the tester computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the tester computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0109] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated system based on hardware that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0110] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0111] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0112] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection according to one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0113] The embodiments of the present disclosure also provide a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of any of the above method embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0114] The disclosed embodiment also provides a vehicle. The vehicle includes a vehicle system and an ultrasonic radar; the ultrasonic radar is connected to the vehicle system in communication, and generates first detection data when powered on and sends it to the vehicle system; the vehicle system determines whether the surface of the ultrasonic radar is covered with foreign matter according to the ultrasonic radar fault determination method according to any one of claims 1 to 7 based on the received first detection data. Of course, the vehicle also includes some other necessary devices to realize its functions, which are not given as examples here.

[0115] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0116] The above are only specific embodiments of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining a fault of an ultrasonic radar, characterized in that: include: Acquire first detection data generated by the ultrasonic radar, and determine an obstacle detection frame ratio of the ultrasonic radar based on the first detection data; Determining whether there is an obstacle in the detection area based on the obstacle detection frame ratio; In the case where it is determined that there is an obstacle in the detection area, verifying whether there is the obstacle in the detection area based on a detection method other than ultrasonic wave; When it is determined by a detection method other than ultrasonic wave that there is no obstacle in the detection area, it is determined that the surface of the ultrasonic radar is covered with foreign matter.

2. The method according to claim 1, characterized in that The determining whether there is an obstacle in the detection area based on the obstacle detection frame includes: When the obstacle detection frame ratio is greater than a preset ratio, it is determined that the obstacle exists in the detection area.

3. The method according to claim 1, characterized in that The obtaining of first detection data generated by the ultrasonic radar for obstacle detection includes: When the vehicle is in a target motion state, the first detection data generated by the ultrasonic radar is acquired, and the target kinematic state includes a stationary state and / or a moving state.

4. The method according to claim 1, characterized in that: The checking whether there is the obstacle in the detection area based on a detection method other than ultrasonic wave includes: Acquire second detection data generated by other types of environmental state sensors, where the other types of environmental state sensors include cameras and / or laser radars, and the second detection data include data representing obstacle information in the detection area; The second detection data is analyzed and processed to determine whether the obstacle exists in the detection area.

5. The method according to any one of claims 1 to 3, characterized in that: When it is determined that the detection area does not have the obstacle by a detection method other than ultrasonic wave, determining that the surface of the ultrasonic radar is covered with foreign matter includes: When it is determined by a detection method other than ultrasonic wave that there is no obstacle in the detection area, the detection count value is increased by 1; Determine whether the detection count value is greater than a set threshold; When the detection count value is greater than the set threshold, it is determined that the surface of the ultrasonic radar is covered with foreign matter.

6. The method according to any one of claims 1 to 3, characterized in that: After determining that the surface of the ultrasonic radar is covered with foreign matter, the method further includes: Generate and display foreign object removal prompt information, where the foreign object prompt information is used to prompt that the surface of the ultrasonic radar is covered with foreign objects.

7. A fault determination device for an ultrasonic radar, characterized in that: include: A first detection unit, configured to obtain first detection data generated by the ultrasonic radar, and determine an obstacle detection frame ratio of the ultrasonic radar based on the first detection data; A first judgment unit, configured to determine whether there is an obstacle in the detection area based on the obstacle detection frame ratio; A second detection unit, configured to verify whether the detection area has the obstacle based on a detection method other than ultrasonic wave when the judgment unit determines that the detection area has the obstacle; The second judgment unit is used to determine whether the surface of the ultrasonic radar is covered with foreign matter when it is determined that there is no obstacle in the detection area by a detection method other than ultrasonic wave.

8. A computing device, characterized in that It includes a processor, a memory and a signal receiving device, wherein the memory is used to store computer programs, and the signal collector is used to collect signals; When the computer program is loaded by the processor, the processor controls the signal collector to collect signals to execute the ultrasonic radar fault determination method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the processor implements the fault determination method of the ultrasonic radar as described in any one of claims 1 to 6.

10. A vehicle, characterized in that: Including vehicle system and ultrasonic radar; The ultrasonic radar is connected to the vehicle system for communication, and generates first detection data when powered on and sends it to the vehicle system; The vehicle system determines whether the surface of the ultrasonic radar is covered with foreign objects according to the ultrasonic radar fault determination method according to any one of claims 1 to 6 based on the received first detection data.

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