Signal processing method and related device

Abstract

The invention discloses a signal processing method and a related device, which can be applied to the fields of automatic driving, intelligent driving or unmanned driving. In the embodiment of the invention, a signal processing device receives a first signal segment from an ultrasonic radar from a first moment to a second moment. And shielding a signal segment from the ultrasonic radar from the second moment to the third moment. And receiving a second signal segment from the ultrasonic radar from the third moment to the fourth moment. Therefore, the possibility of confusion of the first signal segment bearing the echo signal and the second signal segment bearing the data can be reduced, and the accuracy of a detection result is improved.

Description

Technical Field

[0001] The present application relates to detection technology, and in particular to a signal processing method and related devices. Background Art

[0002] Ultrasonic radar, or ultrasonic sensor system (USS), is a sensor that uses ultrasonic waves for detection and is widely used in fields such as automobiles and drones. USS usually uses signals to feedback detection results, which include echo signals and data (such as the characteristics of echo signals). Due to the complex object space environment, the process of feedback detection results through signals is often interfered by noise, resulting in poor accuracy of detection results.

[0003] For example, the echo received by the USS usually contains noise, which may cause confusion between the signal segment carrying the echo signal and the signal segment carrying the data, resulting in poor accuracy of the detection result of the ultrasonic radar. Summary of the invention

[0004] The embodiments of the present application provide a signal processing method and related devices, which can reduce the possibility of confusion between a first signal segment carrying an echo signal and a second signal segment carrying data, thereby improving the accuracy of detection results.

[0005] In a first aspect, an embodiment of the present application provides a signal processing method, which is used to process a signal from an ultrasonic radar; the method comprises:

[0006] From the first moment to the second moment, receiving a first signal segment from the ultrasonic radar, the first signal segment being used to obtain an echo signal, the echo signal being used to indicate distance information between the ultrasonic radar and a target object;

[0007] From the second moment to the third moment, shielding the signal segment from the ultrasonic radar;

[0008] From the third moment to the fourth moment, a second signal segment is received from the ultrasonic radar, where the second signal segment is used to carry the characteristics of the echo signal.

[0009] Optionally, shielding the signal segment from the ultrasonic radar from the second moment to the third moment includes: a preset level combination between the first signal segment and the second signal segment, such as a high level or a low level, or no signal is received between the first signal segment and the second signal segment.

[0010] In the embodiment of the present application, by shielding the signal from the ultrasonic radar from the second moment to the third moment, there is an obvious signal interval between the first signal segment and the second signal segment. The possibility of confusion between the first signal segment carrying the echo signal and the second signal segment carrying the characteristics of the echo signal is reduced. Moreover, the signal interval enables the first signal segment and the second signal segment to be accurately distinguished, thereby improving the accuracy of the generated detection result.

[0011] Generally speaking, the farther the distance between the target and the ultrasonic radar, the more the signal strength of the echo is attenuated, and the more interference the echo is subject to noise. Moreover, since ultrasonic radars are usually equipped with multiple probes, noise will also be generated between the multiple probes. In short, a variety of reasons will cause more noise signals to be received in the later period of the time period when the ultrasonic radar receives the echo. For example, in some scenarios, the echo signal received by the ultrasonic radar after the second moment often contains a lot of noise. The embodiment of the present application can shield the signal from the ultrasonic radar within a period of time after the first signal segment (such as from the second moment to the third moment), which can reduce the received noise, reduce the interference of noise on the echo signal, and improve the effectiveness of the signal, thereby improving the accuracy of the detection result.

[0012] In a possible implementation manner of the first aspect, the working period of the ultrasonic radar includes an echo segment, a synchronization segment, and a data segment, and the echo segment, the synchronization segment, and the data segment are arranged sequentially in time;

[0013] The first moment is the starting moment of the echo segment, the second moment is located in the echo segment; the third moment is located in the synchronization segment; and the fourth moment is the ending moment of the data segment.

[0014] In the above implementation, the first moment is the start moment of the echo segment, the second moment is in the echo segment, the third moment is in the synchronization segment, and the fourth moment is the end moment of the data segment. It can be seen that the first signal segment includes part of the signal sent by the ultrasonic radar in the echo segment, the second signal segment includes part of the signal sent by the ultrasonic radar in the synchronization segment and all the signals sent by the ultrasonic radar in the data segment, and the shielded signal includes part of the signal sent by the ultrasonic radar in the late echo segment and part of the signal sent by the ultrasonic radar in the early synchronization segment.

[0015] It is understandable that as the transmission time of ultrasound in space increases, the loss caused by transmission will continue to increase, and the noise carried will also continue to increase. The echo signal received in the late echo segment has a longer transmission time, so its echo intensity is low and it also carries a lot of noise. Shielding the signal from the ultrasonic radar from the second moment to the third moment can shield a lot of noise, reduce the interference of noise on the echo signal carried in the first signal segment, and improve the detection accuracy of the ultrasonic radar.

[0016] In yet another possible implementation of the first aspect, the characteristics of the echo signal include signal strength, frequency offset, and noise information.

[0017] In the above implementation, by analyzing the signal strength of the echo signal, the shape, size, material and other properties of the target object can be obtained. By analyzing the frequency offset of the echo signal, the Doppler effect caused by the movement of the target object can be obtained, and then the movement state of the target object can be obtained, thereby improving the accuracy and availability of the detection results of the millimeter wave radar. By analyzing the noise information carried in the echo signal, the noise level of the ultrasonic transmission environment can be obtained, and then it can be determined whether the received echo is a valid echo.

[0018] In another possible implementation manner of the first aspect, shielding the signal from the ultrasonic radar from the second moment to the third moment includes:

[0019] From the second moment to the third moment, the signal line is controlled to be in a first level state, and the signal line is used to receive a signal from the ultrasonic radar.

[0020] In the above embodiment, by controlling the signal line to be in the first level state from the second moment to the third moment, the signal received by the controller from the second moment to the third moment is a signal in the first level state, thereby shielding the signal from the ultrasonic radar.

[0021] In another possible implementation manner of the first aspect, the first level state is a high level or a low level.

[0022] In another possible implementation manner of the first aspect, the method further includes: storing the bits BIT represented by the second signal segment into a cache queue in sequence according to the level state of the second signal segment;

[0023] The N bits last stored in the cache queue are extracted, where the N bits are used to represent the characteristics of the echo signal, and N is a positive integer.

[0024] In the above implementation, the bits represented by the second signal segment are sequentially stored in the cache queue according to the level state of the second signal segment. Alternatively, the second signal segment represents one or more bits, and the one or more bits represented by the second signal segment are first obtained, and then the one or more bits are sequentially stored in the cache queue according to their sequence on the signal segment.

[0025] Since the number of bits N used to represent the characteristics of the echo signal can be preset, agreed upon, or acquired in advance. Therefore, the last N bits stored are extracted from the cache queue, and the N bits are the bits represented by the level combination sent by the ultrasonic radar in the data segment. Through this scheme, the controller can accurately extract the bits returned by the ultrasonic radar in the data segment from the level combination sent by the ultrasonic radar, thereby improving the accuracy of generating target-related attributes. Among them, the controller can be a device that controls the operation of the ultrasonic radar, or a device that processes the first signal segment and the second signal segment returned by the ultrasonic radar, etc.

[0026] In another possible implementation of the first aspect, 10 BITs last stored in the cache queue are extracted, and the 10 BITs are used to represent the characteristics of the echo signal.

[0027] In another possible implementation manner of the first aspect, a duration between the second moment and an end moment of the echo segment is a transmission period of an integer number of bits;

[0028] The duration between the end time of the echo segment and the third time is an integer number of bit transmission periods.

[0029] In the above implementation, the duration between the second moment and the end moment of the echo segment is an integer bit transmission period, and the duration between the end moment of the echo segment and the third moment is an integer bit transmission period. That is, the shielded signal in the echo segment and the shielded signal after the echo segment are both used to represent one or more bits. In this way, the problem that the controller parses the received level signal with parsing errors or parses to obtain erroneous bits due to the shielding of a bit of the signal can be solved, thereby improving the accuracy of the information carried by the signal segment and thus improving the accuracy of the detection result.

[0030] In another possible implementation manner of the first aspect, the duration between the second moment and the end moment of the echo segment is a transmission period of 2 to 5 bits;

[0031] The duration between the end time of the echo segment and the third time is a transmission period of 1 bit.

[0032] In another possible implementation of the first aspect, the echo signal includes signals corresponding to M echoes, the second moment is a moment after the M echoes are received, and M is a natural number. For example, M≥0.

[0033] It is understandable that during an ultrasonic detection, the ultrasonic radar will receive multiple echoes. Generally, the accurate location information of the target object can be obtained by analyzing the first one or more echoes received by the ultrasonic radar, and the role of the echoes received later in generating the target object location information can be ignored.

[0034] In the above embodiment, by determining the time after receiving M echoes as the second time, the signal from the ultrasonic radar is shielded after receiving the M echoes. The controller can ensure the generation of accurate position information of the target object by sending a signal indicating the M echoes through the ultrasonic radar. In addition, by shielding the signal from the ultrasonic radar after the M echoes, as many useless echoes and noises as possible can be shielded, thereby reducing the interference of noise on the echo signal and improving the accuracy of the detection result.

[0035] In another possible implementation of the first aspect, the echo signal includes three echoes, and the second moment is a moment after receiving the three echoes.

[0036] In a second aspect, an embodiment of the present application provides a signal processing device, the device being used to process a signal from an ultrasonic radar; the device comprising:

[0037] a receiving unit, configured to receive a first signal segment from the ultrasonic radar from a first moment to a second moment, wherein the first signal segment is used to obtain an echo signal, and the echo signal is used to indicate distance information between the ultrasonic radar and a target object;

[0038] a shielding unit, used to shield the signal from the ultrasonic radar from the second moment to the third moment;

[0039] The receiving unit is also used to receive a second signal segment from the ultrasonic radar from the third moment to the fourth moment, where the second signal segment is used to carry the characteristics of the echo signal.

[0040] In a possible implementation of the second aspect, the working period of the ultrasonic radar includes an echo segment, a synchronization segment and a data segment, and the echo segment, the synchronization segment and the data segment are arranged successively in time; the first moment is the starting moment of the echo segment, and the second moment is located in the echo segment; the third moment is located in the synchronization segment; and the fourth moment is the end moment of the data segment.

[0041] In yet another possible implementation of the second aspect, the characteristics of the echo signal include signal strength, frequency offset, and noise information.

[0042] In another possible implementation of the second aspect, the shielding unit is specifically used to control the signal line to be in a first level state from the second moment to a third moment, and the signal line is used to receive a signal from the ultrasonic radar.

[0043] In another possible implementation manner of the second aspect, the first level state is a high level or a low level.

[0044] In another possible implementation manner of the second aspect, the device further includes:

[0045] a storage unit, configured to sequentially store the bits BIT represented by the second signal segment into a cache queue according to the level state of the second signal segment;

[0046] The extraction unit is used to extract the N BITs last stored in the cache queue, where the N BITs are used to represent the characteristics of the echo signal, and N is a positive integer.

[0047] In another possible implementation manner of the second aspect, a duration between the second moment and an end moment of the echo segment is a transmission period of an integer number of bits;

[0048] The duration between the end time of the echo segment and the third time is an integer number of bit transmission periods.

[0049] In another possible implementation of the second aspect, the echo signal includes M echoes, the second moment is a moment after receiving the M echoes, and M is a natural number.

[0050] In a third aspect, an embodiment of the present application provides a signal processing device, the device comprising a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement any aspect of the first aspect and any possible implementation method. Optionally, the communication device also includes a memory. Optionally, the communication device also includes a communication interface, and the processor is coupled to the communication interface.

[0051] In a fourth aspect, an embodiment of the present application provides a signal processing device, comprising: a logic circuit and a communication interface. The communication interface is used to receive information or send information; the logic circuit is used to receive information or send information through the communication interface, so that the communication device executes the method of any aspect of the first aspect and any possible implementation method.

[0052] In a fifth aspect, an embodiment of the present application provides a terminal, which includes a device of any aspect and any possible implementation of the second aspect above.

[0053] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program (also referred to as code, or instructions); when the computer program is run on a computer, the method of any aspect of the above-mentioned first aspect and any possible implementation method is implemented.

[0054] In the seventh aspect, an embodiment of the present application provides a computer program product, which includes: a computer program (also referred to as code, or instructions); when the computer program is executed, it enables the computer to execute the method of any one of the above-mentioned first aspect to any one of the possible implementation methods.

[0055] In an eighth aspect, an embodiment of the present application provides a chip, the chip including a processor, the processor being used to execute instructions, when the processor executes the instructions, the chip executes any aspect of the first aspect and any possible implementation method. Optionally, the chip also includes a communication interface, the communication interface being used to receive or send signals.

[0056] In the ninth aspect, an embodiment of the present application provides a vehicle end, which includes at least one signal processing device as described in the second aspect, or the signal processing device as described in the third aspect, or the signal processing device as described in the fourth aspect, or the terminal as described in the fifth aspect, or the chip as described in the eighth aspect.

[0057] Optionally, in the process of executing the method described in any aspect of the first aspect and any possible implementation method, the processor may be a processor specifically used to execute these methods, or a processor that executes these methods by executing computer instructions in a memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or may be separately arranged on different chips. The embodiment of the present application does not limit the type of memory and the arrangement of the memory and the processor.

[0058] In a possible implementation manner, the at least one memory is located outside the device.

[0059] In yet another possible implementation, the at least one memory is located within the device.

[0060] In another possible implementation, part of the at least one memory is located inside the device, and another part of the memory is located outside the device.

[0061] In the present application, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0062] The solutions provided in the second to ninth aspects are used to implement or cooperate with the corresponding methods provided in the first aspect, and therefore can achieve the same or corresponding beneficial effects as the corresponding methods in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0064] Figure 1 is a distribution diagram of a vehicle-mounted ultrasonic radar provided in an embodiment of the present application;

[0065] Figure 2 This is a schematic diagram of the working principle of an ultrasonic radar provided in an embodiment of the present application;

[0066] Figure 3 It is a schematic diagram of the architecture of a detection system provided in an embodiment of the present application;

[0067] Figure 4A is a schematic diagram of a level state of a signal line of an ultrasonic radar provided in an embodiment of the present application;

[0068] Figure 4B is a schematic diagram of a level combination provided in an embodiment of the present application;

[0069] Figure 4C is a schematic diagram of another level combination provided in an embodiment of the present application;

[0070] Figure 5 is a flowchart of a signal processing method provided in an embodiment of the present application;

[0071] Figure 6 This is a possible timing diagram provided by an embodiment of the present application;

[0072] Figure 7 This is another possible timing diagram provided by an embodiment of the present application;

[0073] Fig. 8A This is another possible timing diagram provided by an embodiment of the present application;

[0074] Figure 8B is a schematic diagram of a shielding signal provided in an embodiment of the present application;

[0075] Fig. 9 is a schematic diagram of a second signal segment provided in an embodiment of the present application;

[0076] Fig.10 is a structural schematic diagram of a signal processing device provided in an embodiment of the present application;

[0077] Fig.11 It is a structural diagram of another possible signal processing device 1100 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0078] The embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0079] For ease of understanding, the following exemplary descriptions of some concepts related to the embodiments of the present application are given for reference. As shown below:

[0080] 1. Ultrasonic sensor system (USS)

[0081] Ultrasonic radar is a sensor that uses ultrasound to measure distance. It is widely used in short-distance measurement scenarios (e.g., between 0-5 meters). For example, it can be used for safety assistance when parking and reversing a car, such as ultrasonic parking assistance (UPA) ultrasonic radar and automatic parking assistance (APA) ultrasonic radar.

[0082] See also Figure 1 , Figure 1 This is a schematic diagram of the distribution of vehicle-mounted ultrasonic radars, including a vehicle 101, a detection range 102 of a UPA ultrasonic radar, and a detection range 103 of an APA ultrasonic radar. The UPA ultrasonic radar is installed in front of the vehicle 101. The APA ultrasonic radar is installed on the side of the vehicle 101. It should be understood that Figure 1 Eight UPA ultrasonic radars and four APA ultrasonic radars are shown by way of example. Of course, the embodiment of the present application does not impose strict limitations on the type, quantity, arrangement, etc. of the ultrasonic radars installed on the vehicle 101.

[0083] Combination Figure 1 Ultrasonic radar can detect obstacles around the vehicle. In addition, ultrasonic radar can be combined with relevant prompting devices (such as sound, light, vibration or display screen, etc.) to inform the driver of the distance between the vehicle and the obstacle, thereby eliminating the trouble of the driver looking around when parking, reversing and starting the vehicle. For example, when reversing into a garage, the "beep beep" sound heard in the cab is the feedback information provided to the driver through sound after the ultrasonic radar measures the distance.

[0084] The following is an example of the working principle of ultrasonic radar. Figure 2 , Figure 2 A schematic diagram of the working principle of an ultrasonic radar provided in an embodiment of the present application.

[0085] like Figure 2 As shown, Figure 2 The system includes an ultrasonic radar 201, a target object 203, a transmission wave 204 and an echo 205, and optionally includes a controller 202.

[0086] in:

[0087] The ultrasonic radar 201 is used to transmit and receive ultrasonic waves. The ultrasonic waves transmitted by the ultrasonic radar 201 are called transmission waves 204, and the ultrasonic waves received by the ultrasonic radar 201 are called echo waves 205. The characteristics of the echo signal include one or more of the phase difference, frequency deviation, noise information carried by the echo 205, etc. compared with the transmission wave 204. Figure 2 It can be seen that the detection range of the ultrasonic radar includes the target 203, and the ultrasonic waves received by the ultrasonic radar may include ultrasonic waves reflected by the target 203. Optionally, the ultrasonic waves emitted by the ultrasonic radar 201 may be ultrasonic waves of a specific frequency, for example, 40kHz ultrasonic waves, 48kHz ultrasonic waves, or 58kHz ultrasonic waves.

[0088] The controller 202 is a device with control capabilities (e.g., outputting control information, generating control instructions, etc.), and is used to control the operation of the ultrasonic radar 201. For example, the ultrasonic radar 201 is controlled to transmit ultrasonic waves, receive ultrasonic waves, and return the signal corresponding to the received echo and the characteristics of the echo signal to the controller 202. Optionally, the controller 202 may also have computing capabilities for processing the characteristics of the received echo signal. Further, the controller 202 may also generate relevant information about the target 203. For example, the distance information between the ultrasonic radar 201 and the target 203, the speed, shape, and material of the target 203, etc. are generated. Exemplarily, the controller 202 includes but is not limited to a combination of one or more of processing modules such as a microcontroller unit (MCU), a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MPU), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), and a coprocessor (assisting the central processing unit to complete corresponding processing and applications), and the present application embodiment does not limit this. In some scenarios, the controller 202 can be set in the vehicle, for example, the controller 202 can be an electronic control unit (ECU), a domain controller (DC) or a vehicle integration unit (VIU) in the vehicle.

[0089] As a possible implementation, the controller 202 may output control information, the ultrasonic radar 201 receives the control information, and performs operations such as transmitting ultrasonic waves and receiving ultrasonic waves reflected by the target 203 according to the control information. The ultrasonic radar 201 is also used to analyze the echo 205 and obtain the characteristics of the echo 205. For example, by analyzing the echo 205, the phase difference and frequency deviation of the echo 205 compared with the transmission wave 204 and the noise information carried in the echo 205 are obtained.

[0090] The target 203 refers to an object within the detection range of the ultrasonic radar 201 that can reflect the transmission wave 204. For example, it can be a vehicle, a pedestrian, a building, a plant, and sand and gravel. In some implementations, the moving speed, shape, material, etc. of the target 203 will affect the frequency and phase of the echo 205. Therefore, by analyzing the echo 205, relevant information of the target 203 can be extracted, such as the speed, shape, material, etc. of the target 203.

[0091] For example, see Figure 3 , Figure 3 Schematic diagram of the architecture of a detection system provided in an embodiment of the present application. Figure 3 As shown, the system includes a controller and n ultrasonic radars, where n is an integer greater than 1. The controller includes a drive module and n interfaces. Optionally, the controller further includes a data fusion module. The n interfaces of the controller are respectively connected to the n ultrasonic radars through signal lines, for example, interface 1 is connected to ultrasonic radar 1. The data fusion module is used to process and analyze the information received by one or more interfaces to generate relevant properties of the target object, such as position, moving speed, shape, material and other information. The drive module is used to generate control information for controlling the ultrasonic radar, and send the control information to the ultrasonic radar through one or more interfaces. The ultrasonic radar can be, for example, Figure 1 The UPA and / or APA described in, or Figure 2 The ultrasonic radar 201 described in the embodiment of the present application does not limit the types that the n ultrasonic radars may include.

[0092] 2. Working process of ultrasonic radar

[0093] Combination Figure 2 and Figure 3 In a possible implementation, the controller 202 communicates with the ultrasonic radar 201 via a signal line, such as Figure 3 The signal line between the controller interface and the ultrasonic radar is shown.

[0094] In some scenarios, the signal line can have different level states. Within the level range that the signal line can output, the level above the first threshold is called a high level, and the level below the second threshold is called a low level. Among them, the first threshold is usually greater than the second threshold. Of course, the same is also used in this application for the same situation. By way of example, taking the level range that the signal line can output as 0~3.3v, the first threshold as 2.5v and the second threshold as 0.7v as an example, the low level refers to a voltage of 0~0.7v, and the high level refers to a voltage of 2.5v~3.3v. The embodiment of this application does not limit the specific values ​​of the level range that the signal line can output, the first threshold and the second threshold.

[0095] Normally, the first threshold and the second threshold can be configured according to the communication protocol supported by the ultrasonic radar and the level range of the signal line output. For example, the communication protocol stipulates the way of using a combination of high and low levels to represent information, and gives the value range of high and low levels (for example, the low level is 0~1v, and the high level is above 2v), and the level range that the signal line can output is 0~3.3v. Equivalently, the value range of the first threshold is the value range of the above low level (0~1v), and the value range of the second threshold is not less than the minimum value of the above high level (2v), and not higher than the maximum voltage that the signal line can output (3.3v), that is, 2~3.3v. Therefore, the first threshold can be configured as 0.7v (belonging to 0~1v), and the second threshold can be configured as 2.5v (belonging to 2~3.3v).

[0096] In some scenarios, when the communication protocol supported by the ultrasonic radar does not give the value range of high and low levels, the first threshold and the second threshold can be flexibly set in combination with the level range of the signal line output. For example, the first threshold and the second threshold are both within the level range of the signal line output, and the first threshold is less than the second threshold. Optionally, the difference between the set first threshold and the second threshold can be greater than 1v, so that the processor can easily identify low and high levels. For example, the level range of the signal line output is 0~5v, the first threshold can be set to 1v or 2v, and the second threshold can be set to 3v or 4v, etc.

[0097] Figure 4A A schematic diagram of the level state of a signal line of an ultrasonic radar provided in an embodiment of the present application shows the working process of an ultrasonic radar for detecting a target, including a sending segment, an echo segment, a synchronization segment, and a data segment. The above working process is introduced below:

[0098] 1) The sending segment is the time period occupied by the controller 202 to send control information to the ultrasonic radar 201. The control information is represented by different level combinations. The embodiment of the present application does not limit the duration occupied by the sending segment and the number of bits sent.

[0099] 2) The echo segment is the time period after the transmission segment, in which the ultrasonic radar 201 radiates the transmission wave 204 and receives the echo wave 205 .

[0100] In a possible implementation, the ultrasonic radar 201 generates a transmission wave 204 of an ultrasonic wave with a specified sound pressure level, a specified frequency and a specified duration according to the control information. The sound pressure level is used to characterize the emission intensity of the ultrasonic wave. The sound pressure level is represented by the symbol SPL. The effective value of the sound pressure to be measured P e Ratio to reference sound pressure P ref Take the common logarithm and multiply it by 20 to get:

[0101]

[0102] The unit of SPL is decibel (dB), the reference sound pressure in air P ref Generally, it is 2×10^ (-5) Pa.

[0103] For example, Figure 4A As shown, at the beginning of the echo segment, the ultrasonic radar 201 first emits ultrasonic waves with a sound pressure level of 106dB, a frequency of 40kHz and a duration of 500ms. The echo segment also includes the ultrasonic radar 201 receiving one or more echoes. For a detailed introduction to echoes, please refer to Figure 2 Description of echo 205. In one case, the ultrasonic radar 201 does not receive an echo in the echo band because there is no target object to reflect the ultrasonic wave or the target object is too far away from the ultrasonic radar. Since the echo is formed by the target object reflecting the transmitted wave, it is affected by noise, the material of the target object, transmission loss and other factors, resulting in the sound pressure level of an echo not being a fixed value. Figure 4A Three echoes are shown, namely: echo 1, echo 2 and echo 3. The sound pressure level curves of the three echoes are similar to parabolas.

[0104] Figure 4A Also shown are multiple lines for representing threshold strengths, which change over time according to preset rules. For example, the initial threshold strength is 50 dB, which decreases by 10 dB every 10 ms. The threshold strength is used to convert the echo 205 received by the ultrasonic radar 201 into a level combination that is easy to record. Exemplarily, in the echo band, when the sound pressure level of the transmitted wave or echo is higher than the threshold strength, the ultrasonic radar 201 sends a low level to the controller 202. When the sound pressure level of the transmitted wave or echo is lower than the threshold strength, or when no echo is received, the ultrasonic radar 201 sends a high level to the controller 202. The controller 202 analyzes the reception time and duration of the low level, and can obtain information such as the distance of the target 203 relative to the ultrasonic radar 201 and the shape of the target 203.

[0105] From the above analysis, it can be seen that in the process of the ultrasonic radar 201 sending a level signal to the controller 202, when the sound pressure level of the echo is lower than the threshold intensity and no echo is received, the ultrasonic radar sends a high level, and the part where the sound pressure level of the echo is higher than the threshold intensity is sent in the form of a low level.

[0106] In a possible implementation, after receiving the level signal sent by the ultrasonic radar 201 in the echo band, the controller 202 further filters the level signal and stores the level information obtained after the filtering as valid level information for subsequent analysis and processing.

[0107] Exemplarily, the controller 202 screens the level signals received in the echo band, and stores, analyzes and processes the low-level signals with a low-level duration of 30us to 1000us as valid level signals, and the remaining low-level signals are regarded as invalid level signals caused by noise because their duration is too short or too long.

[0108] It is understandable that the various parameters shown here, such as sound pressure level, frequency, duration, echo sound pressure level curve, threshold strength, etc., are only examples, and there may be other situations or other designs in the specific implementation process. For example, the echo sound pressure level curve can also be similar to a triangular function waveform or an irregular oscillation curve. In addition, Figure 4A The decrease in the maximum sound pressure levels of the three echoes over time shown in FIG. 1 is exemplary. In a specific implementation, the maximum sound pressure level of the echo may be affected by the target object, the transmission distance of the echo, noise, etc., and may show a random change characteristic.

[0109] 3) The synchronization segment is the time period after the echo segment, in which the ultrasonic radar 201 sends synchronization information to the controller 202. For example, the synchronization information can be two bits, and the data represented can be 00, 01, 10 or 11. The information sent by the ultrasonic radar 201 to the controller 202 can be represented by a combination of levels, such as Figure 4B and Figure 4C If the ultrasonic radar 201 directly sends the data segment information to the controller 202 after the echo segment, the controller 202 will not be able to accurately identify the level combination used to represent the echo segment information and the data segment information, thereby reducing the resolution accuracy of the controller. The synchronization segment is added between the echo segment and the data segment mainly to facilitate the controller 202 to accurately identify the level combination used to represent the echo segment information and the data segment information, and then accurately resolve the relevant information of the target 203, thereby improving the detection accuracy of the ultrasonic radar 201.

[0110] 4) The data segment refers to the time period occupied by the ultrasonic radar 201 sending one or more level combinations carrying data to the controller 202 after the synchronization segment.

[0111] Specifically, in a data segment, a bit is represented by a combination of high and low levels of a signal line. Figure 4B A schematic diagram of a level combination provided in an embodiment of the present application, used to represent data 0. The level combination is composed of a duration of T 0L The low level and duration is T 0H For example, T 0L is 100ms, T 0H is 50ms. Figure 4CA schematic diagram of another level combination provided in an embodiment of the present application, used to represent data 1. The level combination is composed of a duration of T 1L The low level and duration is T 1H For example, T 1L 50ms, T 1H is 100ms.

[0112] In addition, the time taken to transmit the level combination corresponding to one bit can be called the transmission period of one bit. Figure 4B As shown in the figure, a data 0 transmission period is the duration occupied by the level combination corresponding to data 0, that is, T 0L +T 0H For example, Figure 4C As shown in the figure, the transmission period of a data 1 is the duration occupied by the level combination corresponding to the data 1, that is, T 1L +T 1H Normally, the transmission period of data 0 is the same as the transmission period of data 1, that is, T 0L +T 0H Equal to T 1L +T 1H , for example, T 0L +T 0H =150ms, T 1L +T 1H =150ms. In some implementations, "an integer number of bit transmission periods" is used to quantify the duration or time interval, which can be understood as a transmission period of multiple bits, that is, a value representing a duration of: k×(T 0L +T 0H ) or k×(T 1L +T 1H ), where k is a non-negative integer. For example, when k=5, T 0L =100ms, T 0H =50ms, it can be expressed that the transmission period of 5 bits is 5×(100+50)=750ms.

[0113] Understandably, Figure 4B and Figure 4C The level combination shown is exemplary and does not constitute a limitation on the embodiments of the present application. Figure 4B The level combination shown represents data 0. Figure 4C The level combination shown represents data 1.

[0114] The bits transmitted in the data segment carry the characteristics of the echo signal obtained by the ultrasonic radar 201 analyzing the echo 205. The characteristics of the echo signal include one or more of the phase difference, frequency deviation, noise information carried in the echo 205, etc. of the echo 205 compared to the transmission wave 204. It should be noted that the above introduction to the data segment is exemplary, and the embodiment of the present application does not limit the number of bits sent in the data segment and the specific content of the additional information.

[0115] The above description of related concepts and explanation of working principles can be applied to the following embodiments.

[0116] review Figure 1 , multiple ultrasonic radars are usually installed on vehicles to achieve accurate detection of targets. When a vehicle needs to use ultrasonic radar to detect surrounding targets, it usually coordinates multiple ultrasonic radars to work, obtains target information detected by multiple ultrasonic radars, and then performs fusion analysis to generate accurate target information. Target information includes the location, motion state, material, and shape of the target. However, when multiple ultrasonic radars are working at the same time, the emitted ultrasonic waves will interfere with each other, causing problems such as unclear echo signals.

[0117] In addition to the mutual interference between ultrasonic radars, when the ultrasonic radar is too close to the target, it will cause the ultrasonic wave to oscillate back and forth between the ultrasonic radar and the target, causing the echo intensity and pulse width to have great randomness and uncertainty.

[0118] In addition, ultrasonic radar is also affected by the transmission environment and external noise. For example, in rainy and snowy weather, ultrasonic waves usually pass through water droplets or snowflakes during propagation. Since the transmission medium of ultrasonic waves changes during propagation, it will cause problems such as attenuation of echo intensity. For another example, when two target vehicles are too close to each other, the ultrasonic signals emitted by the two target vehicles will interfere with each other.

[0119] When the ultrasonic radar feeds back the detection results to the controller, it needs to feed back the echo signal and data. The noise in the echo signal may confuse the level combination of the signal segment with the level combination of the data, reducing the accuracy of the ultrasonic radar's detection results.

[0120] For example, from the above Figure 4AAs we can know from the introduction, the synchronization segment sends a two-bit level combination to the controller, making it easy for the controller to distinguish the level combination of the synchronization segment from the level combination of the data segment. However, when the ultrasonic radar is interfered, the intensity and pulse width of the received echo will show great randomness and uncertainty, resulting in a variety of different level combinations in the echo segment. If the echo segment has a level combination similar to the synchronization segment, the controller will mistakenly identify the level combination of the echo segment as the level combination of the synchronization segment, and thus cannot accurately extract the information of the echo segment and the data segment, reducing the detection accuracy of the ultrasonic radar, affecting the driving experience of the target vehicle, and burying certain safety hazards for the driving of the target vehicle.

[0121] In view of this, a technical solution of an embodiment of the present application is provided. The signal processing method and related device provided in the embodiment of the present application shield the signal from the ultrasonic radar within a period of time after the first signal segment (such as from the second moment to the third moment), which can reduce the possibility of receiving noise, reduce the interference of noise on the echo signal, improve the effectiveness of the signal, and thus improve the accuracy of the detection result.

[0122] For an ultrasonic radar system, which usually includes multiple ultrasonic radars, the signal processing method provided in the embodiment of the present application can be used to process the signal received by each ultrasonic radar. For ease of understanding, in the subsequent introduction, an ultrasonic radar is used as an example to introduce the signal processing method provided in the embodiment of the present application.

[0123] The following will describe in detail a signal processing method provided by an embodiment of the present application in conjunction with the accompanying drawings. Figure 5 , is a flow chart of a signal processing method provided in an embodiment of the present application, which is applied to the aforementioned controller or detection system, such as the aforementioned Figure 2 The controller 202 described in the above Figure 3 The detection system described.

[0124] The method includes but is not limited to the following steps:

[0125] S501. A signal processing device receives a first signal segment from an ultrasonic radar from a first moment to a second moment.

[0126] The signal processing device is a device having a signal receiving capability. For example, the signal processing device may be the aforementioned Figure 2 The controller 202 described in Figure 3The controller described in the above. The signal processing device can be connected to the ultrasonic radar through a signal line, so as to receive the signal segment from the ultrasonic radar. Further, the signal processing device can also process the signal. For example, the signal processing device can process the signal from the ultrasonic radar to generate relevant attributes of the target object, such as one or more of the distance, shape, material and moving speed.

[0127] The first signal segment is used to obtain an echo signal. The echo signal may include signals corresponding to M echoes, where M is a natural number, that is, M≥0. Figure 4A , the ultrasonic radar 201 can receive three echoes (i.e., M=3), and the signals corresponding to the three echoes are fed back to the signal processing device through the signal of the echo segment. Accordingly, the signal processing device receives the first signal segment and obtains the echo signal. Furthermore, the echo signal can be used to obtain relevant properties of the target object, such as distance. It should be noted that in some cases, the first signal segment may not obtain a signal corresponding to the echo after processing (i.e., M=0), and the present application is also applicable to the case where there is no signal corresponding to the echo in the first signal segment.

[0128] The first moment and the second moment are time points in a period of time, and the second moment is after the first moment. There is a certain duration between the first moment and the second moment. Therefore, the first moment to the second moment can also be replaced by a period of time starting from the first moment.

[0129] Here are some possible first-moment scenarios:

[0130] In case 1, the first moment may be the moment when the ultrasonic radar starts to send out the transmission wave. In this case, when the ultrasonic radar starts to send out the transmission wave, the signal corresponding to the echo can be carried by the first signal segment. Accordingly, the signal processing device can receive the first signal segment.

[0131] In case 2, the first moment may be the moment when the ultrasonic radar completes sending out the transmission wave. In this case, when the ultrasonic radar completes sending out the transmission wave, the signal corresponding to the echo is carried by the first signal segment. Accordingly, the signal processing device receives the first signal segment at the moment when the transmission wave is completed.

[0132] In case 3, the first moment may be the moment when the echo is received. In this case, when the ultrasonic radar receives the echo, the first signal segment carries the signal corresponding to the echo. Accordingly, the signal processing device receives the first signal segment.

[0133] In some possible implementations, the detection process of the ultrasonic radar includes multiple time periods, such as a transmission segment, an echo segment, a synchronization segment, and a data segment. For related descriptions, please refer to the above. The setting position of the first moment may be related to one or more time periods in the above detection process. The following continues to introduce possible situations of the first moment in combination with the detection process.

[0134] In case 4, the first time can be the end time of the sending segment. Figure 6 , Figure 6 This is a possible timing diagram provided by the embodiment of the present application. The detection process takes 80ms as a cycle, takes the cycle start time as 0ms as an example, and the sending segment is 0-10ms. At this time, the first moment ( Figure 6 Expressed as t1) is the 10th ms.

[0135] Case 5: The first moment may be the start moment of the echo segment. Figure 6 , the echo band is 10ms-50ms, and the first moment can be the 10th ms. It should be understood that Figure 6 This is an example of a situation where the sending segment and the echo segment are connected end to end. During specific implementation, the start time of the echo segment and the end time of the sending segment may be different.

[0136] In case 6, the first moment may be a moment after the start moment of the echo segment. There is a time interval between the first moment and the start moment of the echo segment, and for the convenience of distinction, the time interval is referred to as the first duration. For example, the first duration may be 5ms or 10ms, etc. For example, see Figure 7 , Figure 7 This is another possible timing diagram provided by the embodiment of the present application. In which, the detection process takes 80ms as a cycle, takes the first time length of 5ms and the echo band of 10ms-50ms as an example, the first moment ( Figure 7 Expressed as t1) can be the 15ms.

[0137] Here are some possible designs for the second moment:

[0138] Design method 1, there is a time interval between the second moment and the first moment, which is called the second time length for easy distinction. For example, the second time length can be 10ms or 25ms, etc. For example, continue to refer to Figure 7 , taking the first moment as 15ms and the second time as 25ms as an example, the second moment ( Figure 7 Expressed as t2) can be 40ms.

[0139] In this case, the time length of the received first signal segment is the second time length. Since the speed of ultrasound is usually within a range, the longer the interval between the current moment of receiving the echo and the moment of transmitting the ultrasound, the weaker the strength of the echo signal is usually, the more noise interference there is, and the less likely it is to obtain a valid echo. At this time, the second time length is designed to control the time of receiving the first signal segment through the second time length, so that the time length of receiving the echo signal can be flexibly controlled to reduce noise interference.

[0140] Design method 2, the second moment may be the moment when the signals corresponding to M echoes are received, where M is a natural number, and illustratively, M may be 1, 2, or 3, etc. Fig. 8A , Fig. 8A This is another possible timing diagram provided by the embodiment of the present application. The detection cycle is 80ms as one cycle. Taking M as 3 as an example, the second timing may be the timing when echo 3 is received ( Fig. 8A In this case, the first signal segment may include signals corresponding to M echoes, and the moment when the signals corresponding to the M echoes are received is the second moment.

[0141] Design method 3, the second time may be the time when the signals corresponding to L valid echoes are received, where L is a natural number, and for example, L may be 1, 2, or 3. For example, see Fig. 8A , taking L as 3 as an example, since the intensity of echo 3 is lower than the threshold intensity, echo 3 is not a valid echo. Therefore, the second moment may be the moment when echo 4 is received ( Fig. 8A Indicated as t2').

[0142] The signal processing device can determine whether a signal corresponding to an echo is received and whether the received signal corresponding to an echo indicates a valid echo according to the level state in the received level combination. For example, the controller can determine a received low-level signal as a signal corresponding to an echo. Alternatively, a low-level signal with a duration greater than a first threshold and less than a second threshold can be determined as a signal corresponding to an echo, and the signal corresponding to the echo indicates a valid echo. The first threshold and the second threshold can be predetermined, for example, the first threshold can be 30us, and the second threshold can be 1000us.

[0143] In some cases, the valid echo and the echo may be interchangeable. For example, the signal processing device regards the signals corresponding to the received echoes as the signals corresponding to the valid echo.

[0144] As a possible implementation, after the first moment, if the signals corresponding to the M echoes have not been received within the third time period, the signal reception is also stopped (i.e., the second moment is reached). In other words, in case 2 or case 3, the time interval between the first moment and the second moment is less than or equal to the third time period. Alternatively, the phrase "the signals corresponding to the M echoes have not been received within the third time period" can be replaced by "the signals corresponding to the L valid echoes have not been received within the third time period".

[0145] It is understandable that during an ultrasonic detection, the ultrasonic radar will receive multiple echoes. Normally, the accurate location information of the target object can be obtained by analyzing the first one or more echoes received by the ultrasonic radar, and the effect of the echoes received subsequently on generating the target object location information can be ignored. Therefore, by determining the moment after receiving M echoes as the second moment, the signal from the ultrasonic radar is shielded after receiving M echoes. Under the premise of ensuring that the signal processing device can generate accurate location information of the target object, as many useless echoes and noise as possible are shielded.

[0146] In some possible implementations, the detection process of the ultrasonic radar includes multiple time periods, such as a transmission segment, an echo segment, a synchronization segment, and a data segment. The relevant description can be found above. The setting position of the second moment can be related to one or more time periods in the aforementioned detection process. The following is a possible design method for the second moment:

[0147] Design method 4, the second time may be the start time of the synchronization segment. Figure 6 , taking the synchronization segment of 50ms to 55ms as an example, the second time can be the 50ms ( Figure 6 Indicated as t2).

[0148] Design method 5, the second time may be the end time of the echo segment. Figure 6 , taking the echo band of 10ms to 50ms as an example, the second moment may be the 50ms ( Figure 6 It should be understood that Figure 6 This is an example where the echo segment and the synchronization segment are connected end to end. During specific implementation, there may be a time interval between the echo segment and the synchronization segment.

[0149] Design method 6, the second moment may be a moment before the end moment of the echo segment. There is a time interval between the second moment and the end moment of the echo segment, and the time interval is referred to as a fourth time length. For example, the fourth time length may be 5ms or 2ms. For example, continue to refer to Figure 7 , taking the fourth time length of 5ms and the echo band of 10ms to 50ms as an example, the second time may be the 45ms ( Figure 7 Indicated as t2').

[0150] The above is an exemplary description of the timing of the first moment and the second moment. The following will continue to introduce possible settings for the first moment.

[0151] Setting method 1: The first moment may be preset.

[0152] Setting method 2: The first moment can be determined by the time interval between the first moment and the anchor moment. The anchor moment here refers to a moment that has been determined, which can be used as a reference point for determining the first moment. In other words, the first moment can be determined based on a certain defined moment. For example, there is a time interval between the first moment and an anchor moment, so that the first moment can be determined based on the anchor moment. For example, there can be multiple anchor moments. For example, the first moment can be the midpoint between two anchor moments, or there is a time interval between the first moment and two anchor times. For example, the time when the cycle starts, the start time of the echo segment, the end time of the transmission segment, the time when the ultrasonic signal is transmitted, the time when the echo signal starts to be received, etc. In some scenarios, if the second moment is determined first and then the first moment is determined, the anchor moment can also be the second moment.

[0153] For example, the anchor point time is taken as the start time of the echo segment. Figure 7 , taking the start time of the echo segment as 10ms, and the time interval between the first moment and the start time of the echo segment as 5ms, set the 15ms as the first moment ( Figure 7 Indicated as t1).

[0154] Combined with the description of the above cases 4 to 6. Of course, the same is applicable to the case where the anchor point time is other time.

[0155] Similarly, the second moment can also be preset, or determined by the time interval between the second moment and the anchor point moment, or determined by the number of received echoes (or valid echoes). It should be understood that when determining the second moment, the anchor point moment can be the first moment.

[0156] In a possible implementation, the time interval may be determined according to a transmission period for transmitting a number of bits. Figure 7 , it takes 150us to transmit one bit, and the anchor point time is the start time of the echo segment (for example, Figure 7 The first moment is the moment 4.5 ms after the start of the echo segment (for example, Figure 7For another example, if the transmission of one bit takes 150us, the anchor point time is the end time of the echo segment (for example, Figure 7 The time interval between the second moment and the end moment of the echo segment is the transmission period of 10 bits. Then, the second moment is the moment 1.5ms before the start moment of the echo segment (for example, Figure 7 48.5ms in the video).

[0157] Generally, the duration of a detection cycle, or each time period of a detection cycle, can be the duration of transmitting a number of bits, which facilitates the controller to parse and locate the received data. The above-mentioned transmission cycle of transmitting a number of bits represents the time interval, so that the duration between each time point can transmit an integer number of bits, avoiding the situation of transmitting incomplete bits, thereby improving the parsing accuracy of the controller.

[0158] S502: The signal processing device shields the signal segment from the ultrasonic radar from the second moment to the third moment.

[0159] The signal processing device is a device having a signal receiving capability. For example, the signal processing device may be the aforementioned Figure 2 The controller 202 described in Figure 3 For a detailed description of the signal processing device, please refer to the corresponding description in the aforementioned step S501, which will not be repeated here.

[0160] Shielding the signal segment from the ultrasonic radar includes one or more of the following situations: not receiving the signal from the ultrasonic radar, or not processing the signal from the ultrasonic radar, or replacing the signal segment from the ultrasonic radar with a known signal, etc. The above-mentioned situations are described exemplarily below.

[0161] The second moment and the third moment are both time points in a period of time, and the third moment is after the second moment, and there is a time interval between the third moment and the second moment. Therefore, the second moment to the third moment can also be replaced by a period of time starting from the second moment.

[0162] Here are some possible scenarios for the third moment:

[0163] In case 1, there is a time interval between the third moment and the second moment, which is called the fifth time length for easy distinction. For example, the fifth time length may be 3ms or 6ms. Figure 7 , with the fifth time length being 6ms and the second time being 45ms ( Fig. 8A For example, the third time can be 51 ms ( Fig. 8A Indicated as t3).

[0164] In this case, the duration of the signal segment used to shield the ultrasonic radar is the fifth duration. Usually, the echo of the ultrasonic radar will be interfered by a variety of noise signals. In different application scenarios, the ultrasonic radar will be affected by noise to different degrees. At this time, the fifth duration is designed to control the time of shielding the signal segment through the fifth duration, which can flexibly control the duration of shielding the echo signal, thereby reducing noise interference.

[0165] In some possible implementations, the detection process of the ultrasonic radar includes multiple time periods, such as a transmission period, an echo period, a synchronization period, and a data period, and the relevant description can be found above. The setting position of the third moment can be related to one or more time periods in the above detection process.

[0166] In case 2, the third moment may be the end moment of the echo band. In this case, the signal segment sent by the ultrasonic radar from the second moment to the end moment of the echo band is shielded, and the second moment to the end moment of the echo band is also called the partial time period of the late echo band. Since the echo signal sent in the late echo band has low strength and the echo signal is strongly interfered by noise, shielding the partial time period of the late echo band can greatly reduce the noise signal received by the signal processing device and improve the accuracy of the signal processing device generating the relevant attributes of the target object. For example, please continue to refer to Figure 6 , taking the echo band of 10ms to 50ms as an example, the third moment may be the 50ms ( Figure 6 Indicated as t3).

[0167] It should be noted that, when the third moment is the end moment of the echo segment, the second moment must be the moment before the third moment. In other words, only when the second moment is the moment before the end moment of the echo segment, the third moment can be the end moment of the echo segment. In addition, it cannot be described that it is necessary to determine the second moment first and then determine the third moment, and the embodiment of the present application does not limit this. For example, the third moment can be determined as the end moment of the echo segment first, and then the second moment can be determined according to the above-mentioned design method 6. The second moment can also be determined first, and if the second moment is the moment before the end moment of the echo segment, the end moment of the echo segment can be determined as the third moment.

[0168] In case 3, the third moment can be the starting moment of the synchronization segment. In this case, the signal segment sent by the ultrasonic radar from the second moment to the starting moment of the synchronization segment is shielded, and the period from the second moment to the starting moment of the synchronization segment includes a partial time period in the late echo segment. Since the echo signal sent in the late echo segment has low strength and the echo signal is strongly interfered by noise, shielding a partial time period in the late echo segment can significantly reduce the noise signal received by the signal processing device and improve the accuracy of the signal processing device generating the relevant attributes of the target object. For example, please continue to refer to Figure 6 , taking the synchronization segment of 50ms to 55ms as an example, the third time may be the 50ms ( Figure 6 Indicated as t3).

[0169] Understandably, Figure 6 Taking the case where the echo segment and the synchronization segment are connected end to end as an example, in a specific implementation process, there may be a time interval between the echo segment and the synchronization segment.

[0170] In case 4, the third moment may be the end moment of the synchronization segment. In this case, the signal segment sent by the ultrasonic radar from the second moment to the end moment of the synchronization segment is shielded, and the period from the second moment to the end moment of the synchronization segment includes a partial time period in the late echo segment and the synchronization segment. Since the echo signal sent in the late echo segment has low strength and is strongly interfered by noise, shielding a partial time period in the late echo segment can significantly reduce the noise signal received by the signal processing device and improve the accuracy of the signal processing device in generating the relevant attributes of the target object. For example, please continue to refer to Figure 6 , taking the synchronization segment of 50ms to 55ms as an example, the third time may be the 55ms ( Figure 6 Indicated as t3').

[0171] In case 5, the third time may be a time after the end time of the echo segment. There is a time interval between the third time and the end time of the echo segment, which is referred to as the sixth time length for easy distinction. For example, the sixth time length may be 3ms or 5ms. For example, please continue to refer to Figure 6 , taking the echo band of 10ms to 50ms and the sixth duration of 3ms as an example, the third moment may be the 53ms ( Figure 6 Indicated as t3”).

[0172] In case 6, the third time may be a time after the start time of the synchronization segment. There is a time interval between the third time and the start time of the synchronization segment, which is referred to as the seventh time length for easy distinction. For example, the seventh time length may be 3ms or 5ms. For example, please continue to refer to Figure 6 , taking the synchronization segment as 50ms to 55ms and the seventh duration as 3ms as an example, the third moment may be the 53ms ( Figure 6 Indicated as t3”).

[0173] In case 7, the third time may be a time before the end time of the synchronization segment. There is a time interval between the third time and the end time of the synchronization segment, which is referred to as the eighth time length for easy distinction. For example, the eighth time length may be 3ms or 5ms. For example, please continue to refer to Figure 7 , taking the synchronization segment as 50ms to 55ms and the eighth duration as 3ms as an example, the third moment may be the 52ms ( Figure 7 Indicated as t3').

[0174] Similar to the setting of the first moment or the second moment, the third moment can also be preset, or determined by the time interval between anchor moments. It should be understood that when determining the third moment, the anchor moment can be the second moment, the end moment of the synchronization segment, etc.

[0175] Similarly, the above time interval can also be determined according to a transmission period for transmitting a number of bits. For example, the fifth time length can be a transmission period for transmitting 100 bits. The sixth time length can be a transmission period for transmitting 1 bit. Regarding the specific implementation method and related beneficial effects of determining the above time interval according to the transmission period of a number of bits, please refer to the corresponding content above and no further description will be given here.

[0176] Here are some ways to shield signals from ultrasonic radar.

[0177] Mode 1: The signal processing device does not process the data received from the second moment to the third moment.

[0178] Exemplarily, the signal processing device does not store the data received from the second moment to the third moment, and does not perform subsequent processing and analysis operations. Alternatively, the signal processing device marks the data received from the second moment to the third moment with a target mark, and does not process and analyze the signal with the target mark.

[0179] Method 2: The signal processing device does not receive the data sent by the ultrasonic radar from the second moment to the third moment.

[0180] Exemplarily, at the second moment, the connection between the signal processing device and the ultrasonic radar can be disconnected. At the third moment, the connection between the signal processing device and the ultrasonic radar can be reestablished. For example, the target switch device can control the on and off of the signal line. At the second moment, the signal processing device disconnects the connection between the signal processing device and the ultrasonic radar by controlling the target switch device, or, at the third moment, the signal processing device establishes the connection between the signal processing device and the ultrasonic radar by controlling the target switch device.

[0181] Method 3 can achieve the purpose of shielding the ultrasonic lightning signal by controlling the signal line to the first level state. The signal line can be, for example, Figure 2 The signal line between the controller 202 and the ultrasonic radar 201.

[0182] Next, combine Fig. 8A and Figure 8B This method is introduced by way of example. Figure 8B A schematic diagram of a shielding signal provided in an embodiment of the present application, Figure 8B The first level state is shown as a high level. The second moment is the moment when three valid echoes are received ( Fig. 8A or Figure 8B The third moment is 53 ms ( Fig. 8A or Figure 8B As an example, Fig. 8A FIG. 2 shows the level combination of the signal sent by the ultrasonic radar to the signal processing device when no signal shielding is performed. Figure 8B The figure shows the level combination of the signal sent by the ultrasonic radar to the signal processing device when the ultrasonic radar signal from the second moment to the third moment is shielded. Figure 8B , the level of the signal sent by the ultrasonic radar to the signal processing device from time t2' to time t3 is the first level. Fig. 8A and Figure 8B It can be seen that shielding the ultrasonic radar signal from the second moment to the third moment can shield the signal and noise interference corresponding to a large number of invalid echoes, which can reduce the interference of useless signals and noise on the signal processing device, so that the signal processing device can generate accurate relevant attributes of the target object, thereby improving the accuracy of the signal processing device generating relevant attributes of the target object. Figure 8B It can be seen from the figure that in the signal segment sent by the ultrasonic radar, the level of the shielded signal segment is the first level. For the convenience of subsequent description, this part of the signal can be called the shielded signal segment. The shielded signal segment has a high degree of distinction from the signal segments of other parts, so that when the signal processing device extracts the information sent by the echo segment and the information sent by the data segment, it can distinguish them according to the shielded signal segment. For example, the signal before the shielded signal segment can be the signal segment returned by the echo segment, and the signal segment after the shielded signal segment can include the signal segment returned by the data segment. Therefore, the signal processing device can extract accurate echo segment information and data segment information, thereby improving the accuracy of the signal processing device in generating target-related attributes.

[0183] Mode 4 is to use the target signal segment to replace the signal received by the signal processing device from the second moment to the third moment.

[0184] Exemplarily, from the second moment to the third moment, the signal processing device may store the target signal segment in the signal receiving queue to replace the signal received by the signal processing device. The target signal segment may be, for example, a specific level combination, and the specific form is not limited in the embodiment of the present application.

[0185] In this case, the target signal segment is between the first signal segment and the second signal segment. When the signal processing device extracts the information sent by the ultrasonic radar in the echo segment and the information sent in the data segment, it can accurately distinguish them according to the target signal segment. This reduces the possibility of confusion between the first signal segment carrying the echo signal and the second signal segment carrying the characteristics of the echo signal, and improves the accuracy of the generated detection results.

[0186] It is understandable that after the ultrasonic radar sends out the transmission wave, as the ultrasonic wave's transmission time in space increases, the ultrasonic wave's loss will continue to increase, and the noise will also continue to increase. Therefore, the strength of the echo signal received by the ultrasonic radar later is usually smaller than the strength of the echo signal received by the ultrasonic radar earlier, and the echo signal received by the ultrasonic radar later will be interfered by more noise. In other words, the echo signal received by the ultrasonic radar in the late echo band has a small signal strength and will be interfered by more noise.

[0187] The second moment to the third moment may be the late stage of part of the echo band and the early stage of part of the synchronization segment. Since the echo signal received in the late stage of the echo band is subject to more noise interference, by shielding the signal sent to the signal processing device by the ultrasonic radar from the second moment to the third moment, the noise information received by the signal processing device can be reduced, the effectiveness of the signal can be improved, and the accuracy of the detection result of the signal processing device can be improved.

[0188] Normally, the third moment cannot be a moment in the data segment. If the third moment is a moment in the data segment, the signal shielded from the second moment to the third moment will include the data in the data segment, causing the effective information sent to the signal processing device to be missing, affecting the accuracy of the signal processing device in generating the relevant attributes of the target object.

[0189] S503: The signal processing device receives a second signal segment from the ultrasonic radar from the third moment to the fourth moment.

[0190] Among them, the third moment and the fourth moment are both time points in a period of time, and the fourth moment is after the third moment. There is a certain length of time between the fourth moment and the third moment. Therefore, the third moment to the fourth moment can also be replaced by a period of time starting from the third moment.

[0191] The second signal segment is used to carry the characteristics of the echo signal, wherein the characteristics of the echo signal include one or more of the phase difference of the echo signal compared to the transmitted wave, the frequency deviation, the noise information carried in the echo signal, etc. Correspondingly, the signal processing device receives the second signal segment and obtains the characteristics of the echo signal. Further, the characteristics of the echo signal can be used to obtain relevant properties of the target object, such as material, shape, moving speed, etc. It should be noted that the characteristics of the echo signal can be data generated by the ultrasonic radar by processing the received echo.

[0192] In a possible implementation, by analyzing the characteristics of the echo signal, relevant attributes of the target object can be generated.

[0193] Exemplarily, by analyzing the phase difference between the echo and the transmitted wave, one or more of the following characteristics of the target can be obtained, including: the size, shape and material of the target. By analyzing the frequency offset of the echo compared to the transmitted wave, the Doppler effect caused by the movement of the target can be obtained, or in other words, the moving speed of the target can be obtained. By analyzing the noise signal in the echo, the intensity of the noise signal in the environment can be obtained, which can be used to determine whether the echo signal is valid and to choose whether to re-detect. For example, when the intensity of the noise signal is greater than the target threshold, the echo signal is determined to be an invalid signal, and the target is detected again. For example, the signal-to-noise ratio is used to measure the noise signal, and the echo signal can be determined to be an invalid signal when the signal-to-noise ratio is lower than 0dB.

[0194] In some possible implementations, the fourth time may be preset. Figure 4A , give examples and appropriate explanations on the setting method of the fourth moment.

[0195] Here are some possible scenarios for the fourth moment:

[0196] In case 1, the fourth moment may be the end moment of the data segment. In this case, the ultrasonic radar stops sending signals to the signal processing device at the end moment of the data segment. Accordingly, the signal processing device may also stop receiving the second signal segment. For example, see Figure 6 , Figure 7 , Fig. 8A or Figure 8B , taking the data segment from 55ms to 80ms as an example, the fourth moment may be the 80ms ( Figure 6 , Figure 7 , Fig. 8A or Figure 8B Indicated as t4).

[0197] In case 2, the fourth time may be a time after the end time of the data segment. There is a time interval between the fourth time and the end time of the data segment, and it is called the ninth time length for the convenience of distinction. For example, the ninth time length may be 5ms or 10ms. Figure 6 , taking the ninth time length of 5ms and the data segment of 55ms to 80ms as an example, the fourth moment may be the 85ms ( Figure 6 Indicated as t4').

[0198] Here are some possible settings for the fourth moment:

[0199] Similar to the setting method of the first moment mentioned above, the fourth moment may also be preset, or determined by the time interval between anchor point moments.

[0200] Similarly, the above time interval can also be determined according to a transmission period for transmitting a number of bits. For example, the ninth time length can be a transmission period for transmitting 10 bits. Regarding the specific implementation method and related beneficial effects of determining the above time interval according to the transmission period of a number of bits, please refer to the corresponding content above and no further description will be given here.

[0201] Typically, the second signal segment may include a level combination converted from the characteristics of the echo signal. Optionally, the second signal segment may also include a level combination used to represent synchronization information in the synchronization segment.

[0202] In some implementations, the signal processing device first converts the received second signal segment into bits, and then stores the bits in a cache queue. When the bits stored in the cache queue need to be processed, the corresponding bits are extracted from the cache queue. The following is an exemplary illustration of a partial process of a signal processing device processing the second signal segment.

[0203] In a possible implementation, the bits BIT represented by the second signal segment are sequentially stored in a cache queue according to the level state of the second signal segment.

[0204] For easier understanding, see Fig. 9 , Fig. 9 A schematic diagram of a second signal segment provided in an embodiment of the present application. Fig. 9 As shown, from the third moment to the fourth moment, the bits represented by the level combination received by the controller are "1", "1", "0", "1", "0", "1", "1", "1", "0", "1", "0", "0". Then the signal processing device will store the bits into the cache queue in sequence, and the storage order is "1", "1", "0", "1", "0", "1", "1", "1", "0", "1", "0", "0".

[0205] Typically, when the signal processing device extracts data segment information, it extracts N bits from the cache queue in reverse order as information sent by the ultrasonic radar to the controller in the data segment, where N is a positive integer.

[0206] Combination Fig. 9 , when N is 10, the controller will send "1", "0", "1", "0", "1", "1", "1", "0", "1", "0" as the information sent by the ultrasonic radar to the signal processing device in the data segment.

[0207] When N is 5, the controller will send "1", "1", "0", "1", "0" as the information sent by the ultrasonic radar to the signal processing device.

[0208] Since the information sent by the ultrasonic radar to the signal processing device in the data segment may be the information that the ultrasonic radar sent to the controller last, after determining the number of bits contained in the data segment, extracting a specified number of bits from the cache queue in reverse order is the information sent by the ultrasonic radar to the signal processing device in the data segment. This method can increase the accuracy of the signal processing device in extracting the data segment information, thereby increasing the accuracy of the signal processing device in parsing the relevant attributes of the target object and improving the detection accuracy of the ultrasonic radar.

[0209] The following describes a device for implementing the aforementioned signal processing method.

[0210] It should be understood that the division of units in the device provided in the embodiments of the present application is only a division of logical functions, and in actual implementation, it can be fully or partially integrated into one physical entity, or it can be physically separated. In addition, the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of each unit of the device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory inside the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be realized by designing the hardware circuits, and the hardware circuits can be understood as one or more processors; for example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be realized by a programmable logic device (PLD), taking a field programmable gate array (FPGA) as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of some or all of the above units. All units of the above devices can be realized in the form of a processor calling software, or in the form of hardware circuits, or in part by a processor calling software, and the rest by hardware circuits.

[0211] It can be seen that each unit in the following device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0212] In addition, all or part of the units in the above device can be integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0213] Two possible arrangements are listed below.

[0214] See also Fig.10 , Fig.10 A schematic diagram of the structure of a signal processing device provided in an embodiment of the present application. The signal processing device 1000 includes a receiving unit 1001 and a shielding unit 1002. The receiving unit 1001 can participate in the signal receiving process, including but not limited to operations such as receiving, decoding and storing the signal. The shielding unit 1002 can also participate in the signal receiving process, including but not limited to operations such as controlling the signal line.

[0215] Optionally, the signal processing device 1000 may be an independent device, or a device included in an independent device (e.g., the controller 202). For example, a chip, a software module, or an integrated circuit. The signal processing device 1000 is used to implement the aforementioned signal processing method, for example Figure 5 The signal processing method shown.

[0216] As a possible implementation, the signal processing device 1000 is used to process signals from an ultrasonic radar.

[0217] a receiving unit, configured to receive a first signal segment from the ultrasonic radar from a first moment to a second moment, wherein the first signal segment is used to obtain an echo signal, and the echo signal is used to indicate distance information between the ultrasonic radar and a target object;

[0218] a shielding unit, used to shield the signal from the ultrasonic radar from the second moment to the third moment;

[0219] The receiving unit is also used to receive a second signal segment from the ultrasonic radar from the third moment to the fourth moment, where the second signal segment is used to carry the characteristics of the echo signal.

[0220] As a possible implementation, the working period of the ultrasonic radar includes an echo segment, a synchronization segment and a data segment, and the echo segment, the synchronization segment and the data segment are arranged sequentially in time; the first moment is the starting moment of the echo segment, and the second moment is located in the echo segment; the third moment is located in the synchronization segment; and the fourth moment is the end moment of the data segment.

[0221] Optionally, the characteristics of the echo signal include signal strength, frequency offset and noise information.

[0222] As a possible implementation manner, the shielding unit is specifically used to control the signal line to be in a first level state from the second moment to a third moment, and the signal line is used to receive the signal from the ultrasonic radar.

[0223] Optionally, the first level state is a high level or a low level.

[0224] As a possible implementation manner, the device further includes:

[0225] a storage unit, configured to sequentially store the bits BIT represented by the second signal segment into a cache queue according to the level state of the second signal segment;

[0226] The extraction unit is used to extract the N BITs last stored in the cache queue, where the N BITs are used to represent the characteristics of the echo signal, and N is a positive integer.

[0227] As a possible implementation manner, the duration between the second moment and the end moment of the echo segment is a transmission period of an integer number of bits;

[0228] The duration between the end time of the echo segment and the third time is an integer number of bit transmission periods.

[0229] As a possible implementation manner, the echo signal includes M echoes, the second moment is a moment after the M echoes are received, and M is a natural number.

[0230] See also Fig.11 , Fig.11 It is a structural diagram of another possible signal processing device 1100 provided in an embodiment of the present application. The signal processing device 1100 may include at least one processor 1101 and a communication interface 1103. Optionally, at least one memory 1102 may also be included. Further optionally, a connecting line 1104 may also be included, wherein the processor 1101, the communication interface 1103 and / or the memory 1102 are connected via the connecting line 1104, and communicate with each other via the connecting line 1104 to transmit control and / or data signals. Optionally, the signal processing device 1100 may be an independent device, such as an independent device such as an MCU or an ECU, or may be a device contained in an independent device, such as a chip, a software module, or an integrated circuit.

[0231] in:

[0232] (1) The processor 1101 is a module that performs arithmetic operations and / or logical operations, and may specifically include one or more of the following devices: CPU, MCU, GPU, MPU, ASIC, FPGA, CPLD, coprocessor (to assist the central processor in completing corresponding processing and applications), and / or NPU, etc.

[0233] (2) The communication interface 1103 may be used to provide information input or output for the at least one processor. In some possible scenarios, the communication interface 1103 may include an interface circuit. And / or, the communication interface 1103 may be used to receive data sent externally and / or send data to the outside. For example, the communication interface 1103 may include a wired link interface such as an Ethernet cable, or a wireless link (Wi-Fi, Bluetooth, general wireless transmission, vehicle-mounted short-range communication technology, and other short-range wireless communication technologies, etc.) interface. Optionally, the communication interface 1103 may also include a transmitter (such as a radio frequency transmitter, an antenna, etc.) coupled to the interface, or a receiver, etc.

[0234] Optionally, if the signal processing device 1100 is an independent device, the communication interface 1103 may include a receiver and a transmitter. The receiver and the transmitter may be the same component or different components. When the receiver and the transmitter are the same component, the component may be referred to as a transceiver.

[0235] Optionally, if the signal processing device 1100 is a chip or a circuit, the communication interface 1103 may include an input interface and an output interface, and the input interface and the output interface may be the same interface, or may be different interfaces.

[0236] Optionally, the function of the communication interface 1103 may be implemented by a transceiver circuit or a dedicated transceiver chip. The processor 1101 may be implemented by a dedicated processing chip, a processing circuit, a processor or a general-purpose chip.

[0237] (3) The memory 1102 is used to provide a storage space, in which data such as an operating system and a computer program can be stored. The memory 1102 can be a random access memory (RAM), a read-only memory (ROM), an erasable programmable read only memory (EPROM), or a portable read only memory (CD-ROM), etc., or a combination of multiple thereof.

[0238] The functions and actions of the modules or units in the signal processing device 110 listed above are only exemplary.

[0239] Each functional unit in the signal processing device 1100 can be used to implement the aforementioned signal processing method. To avoid redundancy, the detailed description thereof is omitted here.

[0240] Optionally, the processor 1101 may be a processor specifically used to execute the aforementioned method (for convenience of distinction, referred to as a dedicated processor), or may be a processor that executes the aforementioned method by calling a computer program (for convenience of distinction, referred to as a dedicated processor). Optionally, the at least one processor may include both a dedicated processor and a general-purpose processor.

[0241] Optionally, in the case where the computing device includes at least one memory 1102 , if the processor 1101 implements the aforementioned signal processing method by calling a computer program, the computer program may be stored in the memory 1102 .

[0242] The present application also provides a chip system, which includes a processor and a communication interface, wherein the communication interface is used to receive and / or send data, and / or the communication interface is used to provide input and / or output for the processor. The chip system is used to implement the aforementioned signal processing method, for example Figure 5 The signal processing method shown.

[0243] An embodiment of the present application further provides a terminal, which includes the aforementioned signal processing device, for example, includes the signal processing device 1000 .

[0244] As a possible implementation method, the terminal may be an intelligent terminal or a means of transportation such as a vehicle, a drone, or a robot.

[0245] The embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, and when the instructions are executed on at least one processor, the aforementioned signal processing method is implemented, for example Figure 5 The signal processing method shown.

[0246] The present application also provides a computer program product, which includes computer instructions, and when executed by a computing device, implements the above-mentioned signal processing method, for example Figure 5 The signal processing method shown.

[0247] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

Claims

1. A signal processing method, characterized in that: The method is used to process a signal from an ultrasonic radar; the method comprises: From the first moment to the second moment, receiving a first signal segment from the ultrasonic radar, the first signal segment being used to obtain an echo signal, the echo signal being used to indicate distance information between the ultrasonic radar and a target object; From the second moment to the third moment, shielding the signal segment from the ultrasonic radar; From the third moment to the fourth moment, a second signal segment from the ultrasonic radar is received, and the second signal segment carries the characteristics of the echo signal.

2. The method according to claim 1, characterized in that The working period of the ultrasonic radar includes an echo segment, a synchronization segment and a data segment, and the echo segment, the synchronization segment and the data segment are arranged sequentially in time; The first moment is the starting moment of the echo segment, and the second moment is located in the echo segment; The third moment is located in the synchronization segment; The fourth moment is the end moment of the data segment.

3. The method according to claim 1 or 2, characterized in that: The characteristics of the echo signal include signal strength, frequency offset and noise information.

4. The method according to any one of claims 1 to 3, characterized in that: The shielding of the signal from the ultrasonic radar from the second moment to the third moment includes: From the second moment to the third moment, the signal line is controlled to be in a first level state, and the signal line is used to receive a signal from the ultrasonic radar.

5. The method according to claim 4, characterized in that The first level state is a high level or a low level.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: According to the level state of the second signal segment, the bits BIT represented by the second signal segment are sequentially stored in a cache queue; The N bits last stored in the cache queue are extracted, where the N bits are used to represent the characteristics of the echo signal, and N is a positive integer.

7. The method according to any one of claims 1 to 6, characterized in that: The duration between the second moment and the end moment of the echo segment is a transmission period of an integer number of bits; The duration between the end time of the echo segment and the third time is an integer number of bit transmission periods.

8. The method according to any one of claims 1 to 7, characterized in that: The echo signal includes signals corresponding to M echoes, the second moment is a moment after the signals corresponding to the M echoes are received, and M is a natural number.

9. A signal processing device, characterized in that: The device is used to process a signal from an ultrasonic radar; the device comprises: a receiving unit, configured to receive a first signal segment from the ultrasonic radar from a first moment to a second moment, wherein the first signal segment is used to obtain an echo signal, and the echo signal is used to indicate distance information between the ultrasonic radar and a target object; a shielding unit, used to shield the signal from the ultrasonic radar from the second moment to the third moment; The receiving unit receives a second signal segment from the ultrasonic radar from the third moment to the fourth moment, where the second signal segment is used to carry the characteristics of the echo signal.

10. The device according to claim 9, characterized in that The working period of the ultrasonic radar includes an echo segment, a synchronization segment and a data segment, and the echo segment, the synchronization segment and the data segment are arranged sequentially in time; The first moment is the starting moment of the echo segment, and the second moment is located in the echo segment; The third moment is located in the synchronization segment; The fourth moment is the end moment of the data segment.

11. The device according to claim 9 or 10, characterized in that The characteristics of the echo signal include signal strength, frequency offset and noise information.

12. The device according to any one of claims 9 to 11, characterized in that: The shielding unit is specifically used to control the signal line to be in a first level state from the second moment to the third moment, and the signal line is used to receive the signal from the ultrasonic radar.

13. The device according to claim 12, characterized in that The first level state is a high level or a low level.

14. The device according to any one of claims 9 to 13, characterized in that: The device also includes: a storage unit, configured to sequentially store the bits BIT represented by the second signal segment into a cache queue according to the level state of the second signal segment; The extraction unit is used to extract the N BITs last stored in the cache queue, where the N BITs are used to represent the characteristics of the echo signal, and N is a positive integer.

15. The device according to any one of claims 9 to 14, characterized in that: The duration between the second moment and the end moment of the echo segment is a transmission period of an integer number of bits; The duration between the end time of the echo segment and the third time is an integer number of bit transmission periods.

16. The device according to any one of claims 9 to 15, characterized in that: The echo signal includes signals corresponding to M echoes, the second moment is a moment after the M echoes are received, and M is a natural number.

17. A controller, characterized in that: The controller includes a processor and a memory, wherein the memory stores instructions, and when the instructions are executed by the processor, the method according to any one of claims 1 to 8 is implemented.

18. A terminal, characterized in that: The terminal comprises the signal processing device according to any one of claims 9 to 17.

19. A computer-readable storage medium, characterized in that: The computer-readable storage medium comprises instructions, and when the instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

20. A computer program product, characterized in that The computer program product comprises instructions, which, when executed by a processor, enable the method according to any one of claims 1 to 8 to be implemented.

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