Motor vehicle cover covering detection method and device and computer readable storage medium

Abstract

The embodiment of the invention provides a motor vehicle cover coverage detection method and device and a computer readable storage medium. The method comprises the following steps that in the running process of a motor vehicle, all ultrasonic radars on a motor vehicle body are controlled to transmit waves at least once in a fixed frequency mode and a sweep frequency mode respectively and receive corresponding return waves; analyzing and calculating the return wave to obtain echo data, wherein the echo data comprises a minimum fixed frequency echo distance and an actual fixed frequency echo height in the fixed frequency mode and a minimum sweep frequency echo distance in the sweep frequency mode; and performing data judgment by combining the echo data of each ultrasonic radar and the actual moving distance of the motor vehicle in the ultrasonic radar wave sending detection period so as to output target prompt information aiming at the situation that the corresponding ultrasonic radar is covered by the vehicle cover when the echo data and the actual moving distance both meet preset conditions. According to the embodiment, whether the ultrasonic radar is covered by the car cover or not can be detected and judged through ultrasonic radar wave sending.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of ultrasonic target recognition for motor vehicles, and more particularly to a method and device for detecting vehicle cover coverage of a motor vehicle, and a computer-readable storage medium. Background Art

[0002] At present, in order to realize intelligent assisted driving, a large number of ultrasonic radars are usually arranged around the body of a motor vehicle; at the same time, some users who pursue personalization will also attach a layer of car cover of predetermined thickness on the surface of the motor vehicle body to beautify and protect the body. However, the car cover will cover the ultrasonic radar and affect the detection performance of the ultrasonic radar. Therefore, it is necessary to detect and judge whether the car cover covers the ultrasonic radar, and then remind the user to remove the car cover covering the outer surface of the ultrasonic radar.

[0003] An existing foreign object coverage detection method based on ultrasonic radar mainly uses the ultrasonic aftershock change curve to identify whether the radar probe is covered by foreign objects. However, in actual applications, it is found that the above method can effectively detect that the ultrasonic radar is covered by foreign objects such as ice, snow or mud. However, after the ultrasonic radar is covered by a car cover, the aftershock change is very small, and it is difficult to effectively determine whether the ultrasonic radar is covered by a car cover. There are problems such as low detection accuracy and poor practicality. Summary of the invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide a method for detecting vehicle cover coverage by a motor vehicle, which can effectively determine whether an ultrasonic radar is covered by a vehicle cover.

[0005] A further technical problem to be solved by the embodiments of the present invention is to provide a motor vehicle cover detection device that can effectively determine whether an ultrasonic radar is covered by a motor vehicle cover.

[0006] A further technical problem to be solved by an embodiment of the present invention is to provide a computer-readable storage medium for storing a computer program that can effectively determine whether an ultrasonic radar is covered by a car cover.

[0007] In order to solve the above technical problems, the embodiment of the present invention provides the following technical solutions: a method for detecting vehicle cover covering, comprising the following steps: During the driving process of the motor vehicle, each ultrasonic radar on the motor vehicle body is controlled to emit waves at least once in a fixed frequency mode and a sweep frequency mode and receive corresponding return waves; Analyzing and calculating the return wave to obtain echo data, the echo data including the minimum fixed-frequency echo distance and the actual fixed-frequency echo height in the fixed-frequency mode and the minimum swept-frequency echo distance in the swept-frequency mode; and Data judgment is performed in combination with the echo data of each ultrasonic radar and the actual moving distance of the motor vehicle during the ultrasonic radar wave detection to output target prompt information for the corresponding ultrasonic radar being covered by the car cover when both the echo data and the actual moving distance meet preset conditions, and the preset conditions include: Preset condition 1: the minimum fixed frequency echo distance is less than a preset fixed frequency echo distance threshold; Preset condition 2: the actual fixed-frequency echo height is greater than the preset fixed-frequency echo height threshold; Preset condition three: the minimum sweep frequency echo distance is zero or greater than a preset sweep frequency echo distance threshold; and Preset condition four: the actual moving distance is greater than the preset moving distance threshold.

[0008] Further, in the data judgment after each ultrasonic radar transmits once in the fixed frequency mode and the sweep frequency mode, if the preset condition 1, the preset condition 2 and the preset condition 3 are all satisfied but the preset condition 4 is not satisfied, the following steps are further performed: The ultrasonic radar is controlled to transmit once in a fixed frequency mode and a sweep frequency mode and receive corresponding return waves, and the data judgment is performed again after analyzing and calculating the return waves received again to obtain the corresponding echo data. Each time it is judged whether the preset condition four is met, the actual moving distance refers to the distance moved by the motor vehicle during the period from the time when the corresponding ultrasonic radar starts the first wave detection to the completion of the current sweep frequency mode wave detection.

[0009] Furthermore, when performing data judgment on the echo data of each ultrasonic radar, the judgment is performed in the order of preset condition one, preset condition two, preset condition three and preset condition four, and the next preset condition is judged only when the preset condition currently judged is met.

[0010] Furthermore, the frequency variation directions of the two frequency sweep modes are opposite.

[0011] Furthermore, during data judgment, when it is determined that any one of preset conditions one, preset conditions two and preset conditions three is not satisfied, a corresponding feedback information is sent out indicating that the ultrasonic radar is not covered by the car cover.

[0012] Furthermore, the number of waving pulses in the fixed frequency mode is less than the number of waving pulses in the sweep frequency mode.

[0013] On the other hand, in order to solve the above-mentioned further technical problems, an embodiment of the present invention also provides the following technical solutions: a motor vehicle cover coverage detection device, connected to each ultrasonic radar installed around the motor vehicle body, the device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, it implements the motor vehicle cover coverage detection method as described in any one of the above items.

[0014] On the other hand, in order to solve the above-mentioned further technical problems, an embodiment of the present invention also provides the following technical solutions: a computer-readable storage medium, the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the motor vehicle cover detection method as described in any one of the above-mentioned items.

[0015] After adopting the above technical scheme, the embodiment of the present invention has at least the following beneficial effects: the embodiment of the present invention controls each ultrasonic radar installed on the motor vehicle body to emit waves in a fixed-frequency mode and a sweeping-frequency mode, and calculates the minimum fixed-frequency echo distance and the actual fixed-frequency echo height in the fixed-frequency mode and the minimum sweeping-frequency echo distance in the sweeping-frequency mode by analyzing the return wave of each ultrasonic radar. Based on the principle that the car cover presents different echo characteristics under ultrasonic detection in the fixed-frequency mode and the sweeping-frequency mode, the echo data is analyzed and judged. Usually, in the fixed-frequency mode, when the ultrasonic radar detects the car cover, the minimum fixed-frequency echo height is The echo distance will be smaller than the preset fixed-frequency echo distance threshold, and the actual fixed-frequency echo height will be greater than the preset fixed-frequency echo height threshold. When the ultrasonic radar detects the car cover in the sweeping frequency mode, usually no echo will be generated or the echo distance will be greater than the preset sweeping frequency echo distance threshold. Based on this, it is first identified whether the ultrasonic radars around the car body are suspected to be covered by the car cover, and then it is judged whether the actual moving distance of the motor vehicle during the wave detection period is greater than the preset moving distance threshold, thereby eliminating the possibility that foreign objects are close to the ultrasonic radar and are mistakenly identified as car covers. Finally, it is determined whether the ultrasonic radar is covered by the car cover, thereby improving the accuracy of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a flowchart of the steps of an optional embodiment of the motor vehicle cover detection method of the present invention.

[0017] Figure 2 This is a flow chart of steps of another optional embodiment of the motor vehicle cover detection method of the present invention.

[0018] Figure 3 The present invention is a schematic diagram of an optional embodiment of the motor vehicle cover detection device.

[0019] Figure 4 This is a functional module diagram of an optional embodiment of the motor vehicle cover detection device of the present invention. DETAILED DESCRIPTION

[0020] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following illustrative embodiments and descriptions are only used to explain the present invention and are not intended to limit the present invention. In addition, the embodiments and features in the embodiments of the present application may be combined with each other without conflict.

[0021] like Figure 1 As shown, an optional embodiment of the present invention provides a method for detecting vehicle cover coverage, comprising the following steps: S1: During the driving process of the motor vehicle, each ultrasonic radar 1 on the motor vehicle body is controlled to transmit waves at least once in a fixed frequency mode and a sweep frequency mode and receive corresponding return waves; S2: analyzing and calculating the return wave to obtain echo data, wherein the echo data includes the minimum fixed-frequency echo distance and the actual fixed-frequency echo height in the fixed-frequency mode and the minimum swept-frequency echo distance in the swept-frequency mode; and S3: combining the echo data of each ultrasonic radar 1 and the actual moving distance of the motor vehicle during the detection of the ultrasonic radar 1, and performing data judgment to output target prompt information for the corresponding ultrasonic radar 1 being covered by the car cover when both the echo data and the actual moving distance meet preset conditions, wherein the preset conditions include: Preset condition 1: the minimum fixed frequency echo distance is less than a preset fixed frequency echo distance threshold; Preset condition 2: the actual fixed-frequency echo height is greater than the preset fixed-frequency echo height threshold; Preset condition three: the minimum sweep frequency echo distance is zero or greater than a preset sweep frequency echo distance threshold; and Preset condition four: the actual moving distance is greater than the preset moving distance threshold.

[0022] The embodiment of the present invention controls each ultrasonic radar 1 installed on the vehicle body to emit waves in a fixed frequency mode and a sweep frequency mode, and calculates and obtains the minimum fixed frequency echo distance and the actual fixed frequency echo height in the fixed frequency mode and the minimum sweep frequency echo distance in the sweep frequency mode by analyzing the return wave of each ultrasonic radar 1. Based on the principle that the car cover presents different echo characteristics under ultrasonic detection in the fixed frequency mode and the sweep frequency mode, it is determined by analyzing the echo data that, usually in the fixed frequency mode, when the ultrasonic radar 1 detects the car cover, the minimum fixed frequency echo distance will be less than the preset fixed frequency echo distance. The ultrasonic radar 1 detects the car cover in the sweeping frequency mode, and usually no echo is generated or the echo distance is greater than the preset sweeping frequency echo distance threshold. Based on this, it is first identified whether the ultrasonic radars 1 around the car body are suspected to be covered by the car cover, and then it is judged whether the actual moving distance of the motor vehicle during the wave detection period is greater than the preset moving distance threshold, thereby eliminating the possibility that foreign objects are close to the ultrasonic radar 1 and are mistakenly identified as car covers. Finally, it is determined whether the ultrasonic radar is covered by the car cover, thereby improving the accuracy of detection.

[0023] In the specific implementation, there is no strict restriction on the order of fixed-frequency mode and sweeping-frequency mode; in addition, through specific experimental measurements, the preset fixed-frequency echo distance threshold is preferably 20 cm, and the preset fixed-frequency echo height threshold is preferably 20000 dB; the preset sweeping-frequency echo distance threshold is preferably 40 cm; the preset moving distance threshold is preferably 1 m; in addition, it can be understood that since there may be multiple obstacles of different distances outside the ultrasonic radar 1, each obstacle will emit an echo, thereby generating a corresponding echo distance, and usually the car cover is the obstacle closest to the ultrasonic radar 1, and the echo distance generated by its reflected echo must be the smallest. Therefore, when analyzing and calculating the return wave, the minimum value of the echo distance in the fixed-frequency mode and the sweeping-frequency mode is directly extracted, that is: the minimum fixed-frequency echo distance and the minimum sweeping-frequency echo distance.

[0024] In another optional embodiment of the present invention, in the data judgment after each ultrasonic radar 1 transmits once in the fixed frequency mode and the sweep frequency mode, if the preset condition 1, the preset condition 2 and the preset condition 3 are all satisfied but the preset condition 4 is not satisfied, then Figure 2 As shown, the following steps are also performed: S4: Control the ultrasonic radar 1 to transmit once in the fixed frequency mode and the sweep frequency mode and receive the corresponding return wave, and perform the data judgment again after analyzing and calculating the return wave received again to obtain the corresponding echo data (the processing process of data judgment is substantially the same as the aforementioned step S3). Each time it is judged whether the preset condition four is met, the actual moving distance refers to the distance moved by the motor vehicle during the period from the time when the corresponding ultrasonic radar 1 starts the first wave detection to the completion of the current sweep frequency mode wave detection.

[0025] In this embodiment, when preset condition one, preset condition two and preset condition three are all met and preset condition four is not met, it indicates that there is suspected existence of a car cover, but it is still possible that there is a foreign object close to the ultrasonic radar. Therefore, by controlling the ultrasonic radar 1 to transmit wave detection and perform data judgment again, at this time, the actual moving distance of the motor vehicle will increase. When the data is judged again, all preset conditions are met and it can be determined that the ultrasonic radar is covered with a car cover, thereby effectively improving the detection accuracy. Moreover, through two wave detections, the interference of foreign objects can be basically eliminated, so there is no need to perform a third wave detection. While improving the detection accuracy, the detection efficiency can also be ensured.

[0026] In another optional embodiment of the present invention, when the echo data of each ultrasonic radar 1 is judged, the data is judged in the order of preset condition 1, preset condition 2, preset condition 3 and preset condition 4, and the next preset condition is judged only when the preset condition currently judged is met. In this embodiment, each preset condition is judged in a certain order, and when the condition judged first is not met, there is no need to judge the subsequent conditions, thereby reducing the amount of data processing and reducing the computing power cost.

[0027] In another optional embodiment of the present invention, the frequency of the two sweep modes is changed in opposite directions. In this embodiment, the frequency of the two sweep modes is changed in opposite directions, that is, the two sweep modes are an upper sweep mode and a lower sweep mode, and the two sweep modes are alternated to improve the accuracy of detection.

[0028] In another optional embodiment of the present invention, Figure 2 As shown, when judging the data, when it is determined that any one of the preset conditions 1, 2 and 3 is not satisfied, the corresponding feedback information that the ultrasonic radar 1 is not covered by the car cover is sent. In this embodiment, when it is determined that any one of the preset conditions 1 to 3 is not satisfied, it indicates that there is no car cover, and at this time, the feedback information that the ultrasonic radar 1 is not covered by the car cover can be sent to inform the user.

[0029] In another optional embodiment of the present invention, the number of wave pulses in the fixed frequency mode is less than the number of wave pulses in the sweep frequency mode. In specific applications, the number of wave pulses in the fixed frequency mode can be set to 15-18, preferably 16, and its wave frequency is usually fixed to the median of the wave frequency range; while the number of wave pulses in the sweep frequency mode can be set to 90-100, preferably 96, and the wave frequency of the upper sweep frequency mode is the lower limit of the wave frequency range to the upper limit, while the wave frequency of the lower sweep frequency mode is the upper limit of the wave frequency range to the lower limit. In a specific embodiment, the wave frequency range of the ultrasonic radar is 44kHz-52kHz, and accordingly, the wave frequency of the fixed frequency mode is set to 48kHz.

[0030] On the other hand, Figure 3 As shown, an embodiment of the present invention provides a motor vehicle cover coverage detection device 3, which is connected to an ultrasonic radar 1 installed around a motor vehicle body. The device 3 includes a processor 30, a memory 32, and a computer program stored in the memory 32 and configured to be executed by the processor 30. When the processor 30 executes the computer program, it implements the motor vehicle cover coverage detection method as described in any one of the above items.

[0031] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory 32 and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the motor vehicle cover detection device 3. For example, the computer program may be divided into: Figure 4 The functional modules in the motor vehicle cover detection device 3 shown in the figure, wherein the initial control module 41, the return wave analysis module 42, the data judgment module 43 and the secondary control module 44 respectively execute the above steps S1 to S4.

[0032] The motor vehicle cover detection device 3 can be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The motor vehicle cover detection device 3 can include, but is not limited to, a processor 30 and a memory 32. Those skilled in the art can understand that the schematic diagram is only an example of the motor vehicle cover detection device 3 and does not constitute a limitation on the motor vehicle cover detection device 3. It can include more or less components than shown in the figure, or combine certain components, or different components. For example, the motor vehicle cover detection device 3 can also include input and output devices, network access devices, buses, etc.

[0033] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 30 is the control center of the motor vehicle cover detection device 3, and uses various interfaces and lines to connect various parts of the entire motor vehicle cover detection device 3.

[0034] The memory 32 can be used to store the computer program and / or module. The processor 30 realizes various functions of the motor vehicle cover detection device 3 by running or executing the computer program and / or module stored in the memory 32 and calling the data stored in the memory 32. The memory 32 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a graphic recognition function, a graphic overlay function, etc.), etc.; the data storage area can store data (such as graphic data, etc.) created according to the use of the control device, etc. In addition, the memory 32 can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0035] If the functions described in the embodiments of the present invention are implemented in the form of software function modules or units and sold or used as independent products, they can be stored in a storage medium readable by a computing device. Based on this understanding, the embodiments of the present invention implement all or part of the processes in the above-mentioned embodiments, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor 30, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0036] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the motor vehicle cover detection method as described in the above embodiment.

[0037] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0038] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, which all belong to the protection scope of the present invention.

Claims

1. A method for detecting vehicle cover covering, characterized in that: The method comprises the following steps: During the driving process of the motor vehicle, each ultrasonic radar on the motor vehicle body is controlled to emit waves at least once in a fixed frequency mode and a sweep frequency mode and receive corresponding return waves; Analyzing and calculating the return wave to obtain echo data, the echo data including the minimum fixed-frequency echo distance and the actual fixed-frequency echo height in the fixed-frequency mode and the minimum swept-frequency echo distance in the swept-frequency mode; and Data judgment is performed in combination with the echo data of each ultrasonic radar and the actual moving distance of the motor vehicle during the ultrasonic radar wave detection to output target prompt information for the corresponding ultrasonic radar being covered by the car cover when both the echo data and the actual moving distance meet preset conditions, and the preset conditions include: Preset condition 1: the minimum fixed frequency echo distance is less than a preset fixed frequency echo distance threshold; Preset condition 2: the actual fixed-frequency echo height is greater than the preset fixed-frequency echo height threshold; Preset condition three: the minimum sweep frequency echo distance is zero or greater than a preset sweep frequency echo distance threshold; and Preset condition four: the actual moving distance is greater than the preset moving distance threshold.

2. The motor vehicle cover detection method according to claim 1, characterized in that: In the data judgment after each ultrasonic radar transmits once in the fixed frequency mode and the sweep frequency mode, if the preset condition 1, the preset condition 2 and the preset condition 3 are all satisfied but the preset condition 4 is not satisfied, the following steps are further performed: The ultrasonic radar is controlled to transmit once in a fixed frequency mode and a sweep frequency mode and receive corresponding return waves, and the data judgment is performed again after analyzing and calculating the return waves received again to obtain the corresponding echo data. Each time it is judged whether the preset condition four is met, the actual moving distance refers to the distance moved by the motor vehicle during the period from the time when the corresponding ultrasonic radar starts the first wave detection to the completion of the current sweep frequency mode wave detection.

3. The motor vehicle cover detection method according to claim 1 or 2, characterized in that: When performing data judgment on the echo data of each ultrasonic radar, it is performed in the order of preset condition one, preset condition two, preset condition three and preset condition four, and the next preset condition is judged only when the preset condition currently judged is met.

4. The motor vehicle cover detection method according to claim 2, characterized in that: The frequency variation directions of the two frequency sweep modes are opposite.

5. The motor vehicle cover detection method according to claim 2, characterized in that: During data judgment, when it is determined that any one of preset conditions one, preset condition two and preset condition three is not met, a corresponding feedback information is sent out indicating that the ultrasonic radar is not covered by the car cover.

6. The motor vehicle cover detection method according to claim 1 or 2, characterized in that: The number of waving pulses in the fixed frequency mode is less than the number of waving pulses in the sweep frequency mode.

7. A motor vehicle cover detection device, connected to various ultrasonic radars installed around the motor vehicle body, characterized in that: The device comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the motor vehicle cover detection method according to any one of claims 1 to 6 when executing the computer program.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the motor vehicle cover detection method according to any one of claims 1 to 6.

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