Motor vehicle clothing coverage detection method, device and computer readable storage medium

Abstract

This invention provides a method, apparatus, and computer-readable storage medium for detecting vehicle cover coverage. The method includes the following steps: during vehicle operation, controlling each ultrasonic radar on the vehicle body to emit waves at least once in both fixed-frequency and swept-frequency modes and receiving corresponding return waves; analyzing and calculating the return waves to obtain echo data, the echo data including the minimum fixed-frequency echo distance and actual fixed-frequency echo height in the fixed-frequency mode, and the minimum swept-frequency echo distance in the swept-frequency mode; and combining the echo data of each ultrasonic radar with the actual movement distance of the vehicle during the ultrasonic radar emission detection period to perform data judgment, and outputting a target prompt message indicating that the corresponding ultrasonic radar is covered by a vehicle cover when both the echo data and the actual movement distance meet preset conditions. This embodiment can use ultrasonic radar emission detection to determine whether the ultrasonic radar is covered by a vehicle cover.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic target recognition technology for motor vehicles, and in particular to a method, apparatus, and computer-readable storage medium for detecting motor vehicle cover coverage. Background Technology

[0002] Currently, to achieve intelligent assisted driving, a large number of ultrasonic radars are usually deployed around the vehicle body. At the same time, some users who pursue personalization will also attach a car cover of a predetermined thickness to the surface of the vehicle body to beautify and protect the vehicle 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 determine whether the car cover is covering the ultrasonic radar, and then remind the user to remove the car cover covering the outer surface of the ultrasonic radar.

[0003] An existing method for detecting foreign object coverage based on ultrasonic radar mainly uses the aftershock curve of ultrasonic waves to identify whether the radar probe is covered by foreign objects. However, in practical applications, it has been found that while the above method can effectively detect ultrasonic radar covered by foreign objects such as ice, snow, or mud, the aftershock changes are very small when the ultrasonic radar is covered by a car cover, making it difficult to effectively determine whether the ultrasonic radar is covered by a car cover. This results in low detection accuracy and limited 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, which can effectively determine whether the ultrasonic radar is covered by the vehicle cover.

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

[0006] A further technical problem to be solved by the embodiments 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] To address the aforementioned technical problems, embodiments of the present invention provide the following technical solution: a method for detecting vehicle cover coverage, comprising the following steps:

[0008] During the driving process, each ultrasonic radar on the vehicle body is controlled to emit waves at least once in both fixed-frequency and swept-frequency modes and receive the corresponding return waves.

[0009] The echo data is obtained by analyzing and calculating the returned waves. The echo data includes the minimum fixed-frequency echo distance and actual fixed-frequency echo height in the fixed-frequency mode, and the minimum sweep-frequency echo distance in the sweep-frequency mode; and

[0010] The system combines the echo data of each ultrasonic radar with the actual distance the vehicle moves during the ultrasonic radar's detection period to perform data analysis. When both the echo data and the actual distance move meet preset conditions, a target alert message is output for the corresponding ultrasonic radar being covered by the car cover. The preset conditions include:

[0011] Preset condition 1: The minimum fixed-frequency echo distance is less than the preset fixed-frequency echo distance threshold;

[0012] Preset condition 2: The actual fixed-frequency echo height is greater than the preset fixed-frequency echo height threshold;

[0013] Preset condition three: The minimum sweep frequency echo distance is zero or greater than the preset sweep frequency echo distance threshold; and

[0014] Preset condition four: The actual moving distance is greater than the preset moving distance threshold.

[0015] Furthermore, in the data analysis after each ultrasonic radar transmits waves once in fixed-frequency mode and sweep-frequency mode, if preset conditions one, two, and three are all satisfied but preset condition four is not satisfied, then the following steps are performed:

[0016] The ultrasonic radar is controlled to emit waves once in both fixed-frequency mode and frequency-sweeping mode and receive the corresponding return waves. After analyzing and calculating the returned waves received again to obtain the corresponding echo data, the data judgment is performed again. When judging whether the preset condition four is met each time, the actual moving distance refers to the distance moved by the motor vehicle from the time when the corresponding ultrasonic radar starts to emit waves for the first time to the completion of the current frequency-sweeping mode wave emission detection.

[0017] Furthermore, when judging 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 current preset condition is met.

[0018] Furthermore, the transmission frequency changes in the two frequency sweep modes are in opposite directions.

[0019] Furthermore, during data judgment, if any one of the preset conditions one, two, and three is not met, feedback information is issued indicating that the ultrasonic radar is not covered by the car cover.

[0020] Furthermore, the number of pulses transmitted in the fixed-frequency mode is less than the number of pulses transmitted in the swept-frequency mode.

[0021] On the other hand, in order to solve the above-mentioned further technical problems, the embodiments of the present invention also provide the following technical solutions: a motor vehicle cover coverage detection device, which is connected to various ultrasonic radars installed around the motor vehicle body, the device including a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements the motor vehicle cover coverage detection method as described in any of the above.

[0022] Furthermore, in order to solve the aforementioned technical problems, the embodiments of the present invention also provide the following technical solution: a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is running, it controls the device where the computer-readable storage medium is located to perform the vehicle cover coverage detection method as described in any of the above claims.

[0023] After adopting the above technical solution, the embodiments of the present invention have at least the following beneficial effects: The embodiments of the present invention control each ultrasonic radar installed on the vehicle body to emit waves in fixed-frequency mode and sweep-frequency mode. By analyzing the return waves of each ultrasonic radar, the minimum fixed-frequency echo distance and actual fixed-frequency echo height in the fixed-frequency mode and the minimum sweep-frequency echo distance in the sweep-frequency mode are calculated. Based on the principle that car covers exhibit different echo characteristics under ultrasonic detection in fixed-frequency mode and sweep-frequency mode, by performing data analysis and judgment on the echo data, it is generally found that in fixed-frequency mode, the minimum fixed-frequency echo distance when the ultrasonic radar detects the car cover is... The echo distance will be less than the preset frequency echo distance threshold, while the actual fixed-frequency echo height is greater than the preset frequency echo height threshold. However, when ultrasonic radar detects a car cover in frequency sweep mode, it usually does not generate an echo or the echo distance is greater than the preset frequency sweep echo distance threshold. Based on this, it first identifies whether each ultrasonic radar around the vehicle body is suspected of being covered by a car cover. Then, it judges whether the actual movement distance of the vehicle during the wave detection period is greater than the preset movement distance threshold, thereby eliminating the possibility that foreign objects are close to the ultrasonic radar and are mistakenly identified as a car cover. Finally, it determines whether the ultrasonic radar is covered by a car cover, thus improving the accuracy of detection. Attached Figure Description

[0024] Figure 1 This is a flowchart of an optional embodiment of the vehicle cover coverage detection method of the present invention.

[0025] Figure 2 This is a flowchart of another optional embodiment of the vehicle cover coverage detection method of the present invention.

[0026] Figure 3 This is a schematic diagram of an optional embodiment of the vehicle cover coverage detection device of the present invention.

[0027] Figure 4 This is a functional block diagram of an optional embodiment of the vehicle cover coverage detection device of the present invention. Detailed Implementation

[0028] The present application will now be described in further detail with reference to 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. Moreover, the embodiments and features in the embodiments of the present application can be combined with each other unless otherwise specified.

[0029] like Figure 1 As shown, an optional embodiment of the present invention provides a method for detecting vehicle cover coverage, comprising the following steps:

[0030] S1: During the driving process of the motor vehicle, control each ultrasonic radar 1 on the motor vehicle body to emit waves at least once in fixed frequency mode and sweep frequency mode and receive the corresponding return waves.

[0031] S2: Analyze and calculate the returned wave to obtain echo data, the echo data including the minimum fixed-frequency echo distance and actual fixed-frequency echo height in the fixed-frequency mode, and the minimum sweep-frequency echo distance in the sweep-frequency mode; and

[0032] S3: Combine the echo data of each ultrasonic radar 1 with the actual movement distance of the vehicle during the ultrasonic radar 1's wave detection period to perform data judgment, and output a target prompt message for the corresponding ultrasonic radar 1 being covered by the car cover when both the echo data and the actual movement distance meet preset conditions. The preset conditions include:

[0033] Preset condition 1: The minimum fixed-frequency echo distance is less than the preset fixed-frequency echo distance threshold;

[0034] Preset condition 2: The actual fixed-frequency echo height is greater than the preset fixed-frequency echo height threshold;

[0035] Preset condition three: The minimum sweep frequency echo distance is zero or greater than the preset sweep frequency echo distance threshold; and

[0036] Preset condition four: The actual moving distance is greater than the preset moving distance threshold.

[0037] This invention controls various ultrasonic radars 1 installed on the vehicle body to emit waves in fixed-frequency and swept-frequency modes. By analyzing the returned waves of each ultrasonic radar 1, the minimum fixed-frequency echo distance and actual fixed-frequency echo height in the fixed-frequency mode, as well as the minimum swept-frequency echo distance in the swept-frequency mode, are calculated. Based on the principle that car covers exhibit different echo characteristics under ultrasonic detection in fixed-frequency and swept-frequency modes, data analysis of the echo data reveals that, typically in fixed-frequency mode, the minimum fixed-frequency echo distance when the ultrasonic radar 1 detects a car cover will be less than the preset fixed-frequency echo distance. The actual fixed-frequency echo height is greater than the preset fixed-frequency echo height threshold. However, when the ultrasonic radar 1 detects the car cover in the frequency sweep mode, it usually does not generate an echo or the echo distance is greater than the preset frequency sweep echo distance threshold. Based on this, it first identifies whether each ultrasonic radar 1 around the vehicle body is suspected of being covered by the car cover. Then, it judges whether the actual moving distance of the 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 the car cover. Finally, it determines whether the ultrasonic radar is covered by the car cover, thus improving the accuracy of detection.

[0038] In specific implementation, there is no strict restriction on the order of the fixed-frequency mode and the sweep-frequency mode. In addition, through specific experiments, it was found that the preset fixed-frequency echo distance threshold is preferably 20cm, the preset fixed-frequency echo height threshold is preferably 20000dB, the preset sweep-frequency echo distance threshold is preferably 40cm, and the preset moving distance threshold is preferably 1m. Furthermore, it can be understood that since there may be multiple obstacles of varying distances outside the ultrasonic radar 1, each obstacle will emit an echo, thereby generating a corresponding echo distance. Usually, the car cover is the obstacle closest to the ultrasonic radar 1, and its reflected echo will inevitably generate the smallest echo distance. Therefore, when analyzing and calculating the returned wave, the minimum value of the echo distance in the fixed-frequency mode and the sweep-frequency mode is directly extracted, that is: the minimum fixed-frequency echo distance and the minimum sweep-frequency echo distance.

[0039] In another optional embodiment of the present invention, in the data judgment after each ultrasonic radar 1 emits waves once in fixed frequency mode and sweep frequency mode, if preset condition one, preset condition two, and preset condition three are all satisfied but preset condition four is not satisfied, then as follows: Figure 2 As shown, the following steps are also performed:

[0040] S4: Control the ultrasonic radar 1 to emit waves once each in fixed frequency mode and sweep frequency mode and receive the corresponding return waves. After analyzing and calculating the returned waves received again to obtain the corresponding echo data, perform the data judgment again (the data judgment process is essentially the same as the aforementioned step S3). When judging whether the preset condition four is met each time, the actual moving distance refers to the distance moved by the motor vehicle from the time when the corresponding ultrasonic radar 1 starts to emit waves for the first time to the completion of the current sweep frequency mode wave emission detection.

[0041] In this embodiment, when preset conditions one, two, and three are all met while preset condition four is not met, it indicates that a car cover is suspected to be present. However, it is still possible that the presence of a foreign object is close to the ultrasonic radar. Therefore, by controlling the ultrasonic radar 1 to emit waves again for detection and data judgment, the actual moving distance of the vehicle will increase. When the data is judged again, if all preset conditions are met, it can be determined that the ultrasonic radar is covered with a car cover, thereby effectively improving the detection accuracy. Moreover, the interference of foreign objects can be basically eliminated by emitting waves twice, so there is no need to perform a third wave detection. While improving the detection accuracy, the detection efficiency can also be ensured.

[0042] In another optional embodiment of the present invention, when judging the echo data of each ultrasonic radar 1, the judgment is performed sequentially according to preset condition one, preset condition two, preset condition three, and preset condition four, and the next preset condition is judged only when the current preset condition is met. In this embodiment, by judging the preset conditions in a certain order, there is no need to judge the subsequent conditions when the first condition is not met, thereby reducing the amount of data processing and reducing computing power costs.

[0043] In another optional embodiment of the present invention, the transmission frequency changes in the two frequency sweep modes are in opposite directions. In this embodiment, the transmission frequency changes in the two frequency sweep modes are in opposite directions, that is, the two frequency sweep modes are an upper frequency sweep mode and a lower frequency sweep mode, and the two frequency sweep modes alternate with each other to improve the accuracy of detection.

[0044] In another optional embodiment of the invention, such as Figure 2 As shown, during data judgment, if any one of preset conditions one, two, or three is not met, feedback information indicating that the ultrasonic radar 1 is not covered by the car cover is issued. In this embodiment, if any one of preset conditions one to three is not met, it indicates that there is no car cover, and feedback information indicating that the ultrasonic radar 1 is not covered by the car cover is issued to inform the user.

[0045] In another optional embodiment of the present invention, the number of pulses transmitted in the fixed-frequency mode is less than the number of pulses transmitted in the swept-frequency mode. In specific applications, the number of pulses transmitted in the fixed-frequency mode can be set to 15-18, preferably 16, and its transmission frequency is usually fixed at the midpoint of the transmittable frequency range; while the number of pulses transmitted in the swept-frequency mode can be set to 90-100, preferably 96. The transmission frequency in the upper swept-frequency mode increases from the lower limit to the upper limit of the transmittable frequency range, while the transmission frequency in the lower swept-frequency mode increases from the upper limit to the lower limit of the transmittable frequency range. In one specific embodiment, the transmittable frequency range of the ultrasonic radar is 44kHz-52kHz, and correspondingly, the transmission frequency of the fixed-frequency mode is set to 48kHz.

[0046] On the other hand, such as Figure 3 As shown, this embodiment of the invention provides a vehicle cover coverage detection device 3, which is connected to an ultrasonic radar 1 installed around the 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 vehicle cover coverage detection method as described in any of the above claims.

[0047] For example, the computer program can be divided into one or more modules / units, which are stored in the memory 32 and executed by the processor to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the vehicle cover coverage detection device 3. For example, the computer program can be divided into... Figure 4 The functional modules in the vehicle cover coverage detection device 3 shown above include the initial control module 41, the return wave analysis module 42, the data judgment module 43, and the re-control module 44, which respectively execute steps S1-S4.

[0048] The vehicle cover coverage detection device 3 can be a desktop computer, laptop, handheld computer, or cloud server, etc. The vehicle cover coverage detection device 3 may include, but is not limited to, a processor 30 and a memory 32. Those skilled in the art will understand that the schematic diagram is merely an example of the vehicle cover coverage detection device 3 and does not constitute a limitation on the vehicle cover coverage detection device 3. It may include more or fewer components than shown, or combine certain components, or different components. For example, the vehicle cover coverage detection device 3 may also include input / output devices, network access devices, buses, etc.

[0049] The processor 30 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 30 is the control center of the vehicle cover coverage detection device 3, connecting all parts of the device via various interfaces and lines.

[0050] The memory 32 can be used to store the computer program and / or modules. The processor 30 implements various functions of the vehicle cover coverage detection device 3 by running or executing the computer program and / or modules stored in the memory 32 and calling the data stored in the memory 32. The memory 32 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as image recognition function, image overlay function, etc.), etc.; the data storage area may store data created according to the use of the control device (such as image data, etc.). In addition, the memory 32 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0051] If the functions described in the embodiments of the present invention are implemented in the form of software functional modules or units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the embodiments of the present invention can implement all or part of the processes in the methods described above, or they can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by the processor 30, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed 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 electrical carrier signals and telecommunication signals.

[0052] In another aspect, embodiments of the present invention provide a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the vehicle cover coverage detection method as described in the above embodiments.

[0053] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0054] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the scope of protection of the present invention.

Claims

1. A method for detecting the coverage of a motor vehicle cover, characterized in that, The method includes the following steps: During the driving process, each ultrasonic radar on the vehicle body is controlled to emit waves at least once in both fixed-frequency and swept-frequency modes and receive the corresponding return waves. The echo data is obtained by analyzing and calculating the returned waves. The echo data includes the minimum fixed-frequency echo distance and actual fixed-frequency echo height in the fixed-frequency mode, and the minimum sweep-frequency echo distance in the sweep-frequency mode; and The system combines the echo data of each ultrasonic radar with the actual distance the vehicle moves during the ultrasonic radar's detection period to perform data analysis. When both the echo data and the actual distance move meet preset conditions, a target alert message is output for the corresponding ultrasonic radar being covered by the car cover. The preset conditions include: Preset condition 1: The minimum fixed-frequency echo distance is less than the 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 the preset sweep frequency echo distance threshold; and Preset condition four: The actual moving distance is greater than the preset moving distance threshold.

2. The method for detecting vehicle cover coverage as described in claim 1, characterized in that, In the data analysis after each ultrasonic radar transmits waves once in fixed-frequency mode and sweep-frequency mode, if preset conditions one, two, and three are all satisfied but preset condition four is not satisfied, then the following steps are performed: The ultrasonic radar is controlled to emit waves once in both fixed-frequency mode and frequency-sweeping mode and receive the corresponding return waves. After analyzing and calculating the returned waves received again to obtain the corresponding echo data, the data judgment is performed again. When judging whether the preset condition four is met each time, the actual moving distance refers to the distance moved by the motor vehicle from the time when the corresponding ultrasonic radar starts to emit waves for the first time to the completion of the current frequency-sweeping mode wave emission detection.

3. The method for detecting vehicle cover coverage as described in claim 1 or 2, characterized in that, When judging 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 current preset condition is met.

4. The method for detecting vehicle cover coverage as described in claim 2, characterized in that, The transmission frequency changes in the two frequency sweep modes are in opposite directions.

5. The method for detecting vehicle cover coverage as described in claim 2, characterized in that, When judging data, if any one of the preset conditions 1, 2, and 3 is not met, feedback information is sent indicating that the ultrasonic radar is not covered by the car cover.

6. The method for detecting vehicle cover coverage as described in claim 1 or 2, characterized in that, The number of pulses transmitted in the fixed-frequency mode is less than the number of pulses transmitted in the swept-frequency mode.

7. A vehicle cover coverage detection device, connected to various ultrasonic radars installed around the vehicle body, characterized in that, The apparatus includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the motor vehicle cover coverage detection method as described in any one of claims 1 to 6.

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, it controls the device on which the computer-readable storage medium is located to perform the vehicle cover coverage detection method as described in any one of claims 1 to 6.

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