Vehicle peripheral safety area identification system and method based on distributed ultrasonic waves

Abstract

The invention relates to the technical field of intelligent automobiles, and provides a vehicle peripheral safe area identification system based on distributed ultrasonic waves, an ultrasonic transmitter and an ultrasonic receiver of a vehicle are rearranged, the transmitter converts electric energy into an ultrasonic signal and sends the ultrasonic signal, and the receiver receives an ultrasonic reflection signal and converts the ultrasonic reflection signal into an electric signal. The control unit sends a first control instruction to the emitter to send an ultrasonic signal regularly and sends a second control instruction to the receiver to receive the ultrasonic signal synchronously, so that distance and / or speed data are / is calculated, and a result is output to determine a final vehicle peripheral safety zone boundary. According to the system, by arranging the ultrasonic transmitters and the ultrasonic receivers in a distributed mode, when a large vehicle runs at a low speed, the view blind area is effectively solved, and the recognition efficiency and precision are improved. The structure is simple, arrangement is easy, the reliability of the whole ultrasonic detection system is improved, and then the safety of the vehicle in the low-speed running process is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent automobile technology, and in particular to a vehicle peripheral safety zone recognition system and method based on distributed ultrasonic waves. Background Art

[0002] Ultrasonic sensors (USS, Ultrasonic Sensor System) are used in smart cars to measure distance by emitting ultrasonic waves and receiving reflected echoes. The distance between the vehicle and the obstacle is calculated based on the propagation speed of ultrasonic waves in the air and the round-trip time. In the parking assistance system (PAS), ultrasonic sensors are used to detect obstacles around the vehicle to help the driver avoid collisions when parking. In the adaptive cruise control ACC system, ultrasonic sensors are used to monitor the distance to the vehicle in front and automatically adjust the speed to maintain a safe distance. The application of ultrasonic sensors in smart cars in the future has far-reaching development potential.

[0003] CN113050099B discloses an automatic parking obstacle distance detection method and its system and detection equipment. It includes: every set time period, determine the transceiver sensor and the receiving sensor of the current period according to the preset transceiver strategy, generate the transceiver instruction and the receiving instruction of the current period, and send them to the transceiver sensor and the receiving sensor of the current period respectively; wherein the transceiver instruction is used to control the transceiver sensor to transmit and receive, and the receiving instruction is used to control the receiving sensor to receive; receive the timestamp information of multiple echoes returned by the transceiver sensor and the receiving sensor; the multiple echoes are the echoes received by the transceiver sensor and the receiving sensor within the preset time after the transceiver sensor emits ultrasonic waves; calculate the echo time of each echo according to the timestamp information of the multiple echoes, and determine the obstacle distance according to the echo time of each echo; wherein the multiple ultrasonic sensors include a sensor disposed at the head of the vehicle. multiple short-range ultrasonic sensors, two long-range ultrasonic sensors respectively arranged on both sides of the front of the vehicle, multiple short-range ultrasonic sensors at the rear of the vehicle, and two long-range ultrasonic sensors respectively arranged on both sides of the rear of the vehicle; the said determining the transceiver sensor and the receiving sensor of the current cycle according to the preset transceiver strategy includes: in each cycle, there is and only one short-range ultrasonic sensor as the transceiver sensor, and the short-range ultrasonic sensor or long-range ultrasonic sensor adjacent to the one short-range ultrasonic sensor is the receiving sensor; if the one short-range ultrasonic sensor is arranged at the front of the vehicle, the two long-range ultrasonic sensors arranged on both sides of the rear of the vehicle are the transceiver sensors; and if the one short-range ultrasonic sensor is arranged at the rear of the vehicle, the two long-range ultrasonic sensors arranged on both sides of the front of the vehicle are the transceiver sensors.

[0004] US12072415B2 discloses a method for determining obstacles on and around a parking path on which a vehicle is to move, the method comprising: determining whether there is ultrasonic noise in the time of flight (TOF) of an ultrasonic wave reflected and received by an object; when there is no ultrasonic noise, generating a virtual object on the contour of the parking path based on the received ultrasonic time of flight (TOF); generating a virtual indirect wave TOF using the virtual object; and determining whether the object is a vehicle by comparing a real indirect wave TOF, which is an indirect wave TOF in the received ultrasonic TOFs, with the virtual indirect wave TOF. Located inside or outside the contour of the parking path, wherein, when determining whether there is ultrasonic noise, when both direct wave TOF and indirect wave TOF exist in the received ultrasonic TOF and there is neither dynamic noise nor static noise, it is determined that there is no ultrasonic noise; wherein, the dynamic noise is determined to be generated under the following circumstances: d(direct wave hTOF)>Vdt, wherein: direct wave hTOF=direct wave TOF / 2, d(direct wave hTOF)=direct wave hTOFt=n-direct wave hTOFt=n-1[m], V: vehicle speed, and dt: ultrasonic update period [ms].

[0005] CN117075115A discloses a vehicle ultrasonic sensor detection method, receiving range data from multiple ultrasonic sensors on a vehicle, the ultrasonic sensors having corresponding fields of view, the fields of view overlapping, the range data including distances traveled by pulses emitted by the ultrasonic sensors and received by the ultrasonic sensors; determining a first ellipse based on a first pulse of the range data, the first pulse being emitted by an ultrasonic sensor among the ultrasonic sensors that is different from the ultrasonic sensor that receives the first pulse; determining a second ellipse based on a second pulse of the range data, the second pulse being emitted by an ultrasonic sensor among the ultrasonic sensors that is different from the ultrasonic sensor that receives the second pulse; determining multiple intersection points of the first ellipse and the second ellipse; excluding a subset of the intersection points based on the field of view; and actuating components of the vehicle based on the intersection points that are not excluded.

[0006] Since the propagation speed of ultrasound in the air is much lower than the speed of light, when driving at high speeds, ultrasonic radar cannot reflect the rapid changes in vehicle distance in real time, resulting in increased measurement errors. The scanning cycle of a single ultrasonic transducer is long, especially when changing lanes sideways or warning of lateral obstacles, the missed detection rate is very high, and the vibration and wind noise of the vehicle will affect the reliability of the measurement results. Summary of the invention

[0007] Long-term practice has found that ultrasonic radar is more suitable for low-speed scenarios, such as parking assistance, but not suitable for use under high-speed driving conditions. Large vehicles such as buses, trucks and engineering vehicles are equipped with ultrasonic radars, but due to their large size and heavy mass, when turning, due to the existence of inner wheel difference, there is a large blind spot and a high missed detection rate. These blind spots can cause serious traffic accidents and other technical problems.

[0008] In view of this, the present invention aims to propose a vehicle peripheral safety zone identification method based on distributed ultrasonic wave, comprising a transmitter, a receiver, a control unit, and a power supply;

[0009] The transmitter is used to convert electrical energy to generate and send ultrasonic signals;

[0010] The receiver is used to receive the ultrasonic reflection signal and can convert the ultrasonic reflection signal into an electrical signal;

[0011] The control unit is used to send a first control instruction to the transmitter to periodically send an ultrasonic signal, and send a second control instruction to the receiver to synchronously receive the ultrasonic signal, and calculate distance and / or speed data for the vehicle to identify the boundary of the outer safety zone;

[0012] The power supply is electrically connected to the transmitter, the receiver and the control unit, and is used to provide electrical energy to the transmitter, the receiver and the control unit.

[0013] Preferably, the system further comprises a transmitting circuit and a signal processing circuit.

[0014] The transmitting circuit is used to drive the transmitter to transmit ultrasonic signals and modulate the ultrasonic signals;

[0015] The signal processing circuit is used to amplify, filter and perform A / D conversion on the ultrasonic reflection signal received by the receiver.

[0016] Preferably, the transmitter and the receiver can be fixedly mounted on a vehicle frame, and the straight-line distance between the transmitter and the receiver is H, where H satisfies:

[0017] 0 <H≤R 2 -4d 2

[0018] Wherein, R is the maximum detection distance of the ultrasonic wave generated by the transmitter, and d is the maximum safety zone distance measured.

[0019] Preferably, the transmitter includes at least one, and the receiver includes at least one.

[0020] Preferably, the straight-line distance between the ith transmitter and the jth receiver for receiving the ultrasonic reflection signal of the ith transmitter is H ij ,

[0021] min{H ij}>0,max{H ij}≤R 2 -4d 2

[0022] Among them, R is the maximum detection distance of the ultrasonic wave generated by the i-th transmitter, and d is the maximum safe area distance measured by the i-th transmitter and the j-th receiver.

[0023] Preferably, the receiver generates a synchronous ultrasonic signal in a manner that includes at least hardware triggering, a global clock signal, a network time protocol, a synchronous pulse sequence, and software synchronization, and the synchronization error between the synchronous ultrasonic signal and the ultrasonic signal generated by the transmitter is less than 0.1 milliseconds.

[0024] The present invention also discloses a method for the vehicle peripheral safety zone recognition system based on the above-mentioned distributed ultrasonic wave, the method comprising:

[0025] Step S1, the control unit sends a first control instruction to the transmitter, the transmitter converts electrical energy to generate an ultrasonic signal, and according to the first control instruction, the transmitting circuit modulates the ultrasonic signal, and at least one of the transmitters sends the ultrasonic signal; at least one of the receivers generates a synchronous ultrasonic signal and receives an ultrasonic reflection signal;

[0026] Step S2, according to the ultrasonic reflection signal and the synchronous ultrasonic signal, the ultrasonic reflection signal is amplified, filtered and A / D converted, and then output to the control unit, and the control unit calculates and obtains the distance and / or speed data;

[0027] Step S3: Outputting the distance and / or speed data for the vehicle to identify the boundary of the outer safety zone.

[0028] Preferably, the distance and / or speed data obtained by calculating the i-th ultrasonic reflection signal received by the same receiver and the j-th synchronous ultrasonic signal generated is P ij , the P generated by the multiple receivers ij Used to input the neural network model and perform multi-source information fusion to determine the final boundary of the vehicle's peripheral safety zone.

[0029] The present invention provides an electronic device, at least one processor; and

[0030] a memory communicatively connected to the at least one processor; wherein,

[0031] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the above method.

[0032] The present invention provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the method of the present application as described above.

[0033] The vehicle peripheral safety zone identification system based on distributed ultrasound disclosed in the present invention is achieved by rearranging the ultrasonic transmitter and receiver of the vehicle. The transmitter converts electrical energy into ultrasonic signals and sends them, and the receiver receives ultrasonic reflection signals and converts them into electrical signals. The control unit sends a first control instruction to the transmitter to send ultrasonic signals at a fixed time, and sends a second control instruction to the receiver to synchronously receive ultrasonic signals, thereby calculating distance and / or speed data, and outputting the results to determine the final boundary of the vehicle peripheral safety zone. The present invention also discloses a method for the above-mentioned vehicle peripheral safety zone identification system based on distributed ultrasound. The system and method can effectively solve the blind spots of vision and improve the recognition efficiency and accuracy when large vehicles are traveling at low speeds by distributing the ultrasonic transmitters and receivers. The structure is simple and easy to set up, which improves the reliability of the entire ultrasonic detection system, thereby improving the safety of the vehicle during low-speed driving.

[0034] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and the description thereof are used to explain the present invention and do not constitute improper limitations on the present invention.

[0036] In the attached picture:

[0037] Figure 1 A schematic diagram of a vehicle peripheral safety zone recognition system based on distributed ultrasound according to an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of the straight-line distance between a transmitter and a receiver according to an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of multi-object distribution measurement according to an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of single object distribution measurement according to an embodiment of the present invention;

[0041] Figure 5Schematic diagram of multi-object distribution measurement in the prior art. DETAILED DESCRIPTION

[0042] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0043] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0044] It should be noted that the terms "first", "second", "third", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0045] In order to solve the technical problems existing in the prior art, namely, ultrasonic radar is more suitable for low-speed scenarios, such as parking assistance, but not suitable for use under high-speed driving conditions. Large vehicles such as buses, trucks and engineering vehicles are equipped with ultrasonic radars, but due to their large size and heavy mass, when turning, due to the existence of inner wheel difference, there is a large blind area of ​​vision, and the missed detection rate is high. These blind areas of vision will cause serious traffic accidents and other technical problems. The present invention provides a vehicle peripheral safety zone recognition method based on distributed ultrasonic waves, such as Figure 1-5 As shown, a schematic diagram of a vehicle peripheral safety zone recognition system based on distributed ultrasonic waves according to an embodiment of the present invention, the vehicle peripheral safety zone recognition system based on distributed ultrasonic waves includes a transmitter, a receiver, a control unit, and a power supply;

[0046] The transmitter is used to convert electrical energy to generate and send ultrasonic signals;

[0047] The receiver is used to receive the ultrasonic reflection signal and can convert the ultrasonic reflection signal into an electrical signal;

[0048] The control unit is used to send a first control instruction to the transmitter to periodically send an ultrasonic signal, and send a second control instruction to the receiver to synchronously receive the ultrasonic signal, and calculate distance and / or speed data for the vehicle to identify the boundary of the outer safety zone;

[0049] The power supply is electrically connected to the transmitter, the receiver and the control unit, and is used to provide electrical energy to the transmitter, the receiver and the control unit.

[0050] The vehicle peripheral safety zone recognition system based on distributed ultrasonic waves disclosed in the present invention is a system that re-arranges the ultrasonic transmitter and receiver of the vehicle, wherein the transmitter converts electrical energy into ultrasonic signals and sends them, and the receiver receives ultrasonic reflection signals and converts them into electrical signals. The control unit sends a first control instruction to the transmitter to send ultrasonic signals at a fixed time, and sends a second control instruction to the receiver to synchronously receive ultrasonic signals, thereby calculating distance and / or speed data, and outputting the result to determine the final boundary of the vehicle peripheral safety zone. The system can effectively solve the blind spots of vision and improve the recognition efficiency and accuracy when large vehicles are traveling at low speeds by distributing the ultrasonic transmitter and receiver. After the receiver and transmitter of the ultrasonic sensor are separated, the data analysis is performed in combination with the elliptic equation, which not only reduces the blind spots caused by vehicle vibration, but also solves the problem of uncertainty in the safety zone caused by measuring multiple different objects at the same time. At the same time, the driving safety zone monitoring and determination of large vehicles such as buses, trucks, and engineering vehicles under low-speed driving conditions is realized, and the negative impact caused by blind spots and inner wheel differences is reduced. While meeting the monitoring needs of covering the area surrounding the vehicle, the system complexity is reduced by coordinating the work between multiple transducers (transmitters or receivers) in the ultrasonic sensor. The structure is simple and easy to set up, which improves the reliability of the entire ultrasonic detection system and thus improves the safety of the vehicle during low-speed driving.

[0051] The vehicle peripheral safety zone recognition system based on distributed ultrasonic wave can be composed of multiple transmitters and multiple receivers, or a single transmitter and multiple receivers; or a single transmitter and a single receiver; or multiple transmitters and a single receiver.

[0052] When it consists of a single transmitter and a single receiver, the receiver and the transmitter must be separated, that is, there is a certain distance H between the receiver and the transmitter; when there are multiple receivers or multiple transmitters, the relative position distance between the receiver and the transmitter is H; the receiver and the receiver must be separated, and the transmitter and the transmitter must be separated.

[0053] In order to amplify the received electrical signal, the amplified signal is filtered to remove noise and interference. In the preferred case of the present invention, the system also includes a transmitting circuit and a signal processing circuit, the transmitting circuit is used to drive the transmitter to transmit an ultrasonic signal and modulate the ultrasonic signal; the signal processing circuit is used to amplify, filter and A / D convert the ultrasonic reflection signal received by the receiver. The transmitting circuit flexibly adjusts the driving signal and modulation method according to different application requirements. The modulated signal passes through the driving circuit, converts the electrical energy into a modulated ultrasonic signal, and transmits it outward. A / D conversion is to convert the filtered analog signal into a digital signal.

[0054] In order to ensure that the system can effectively transmit and receive ultrasonic signals, thereby achieving accurate distance and speed measurement. The size of H affects the measurement range and accuracy of the system, and needs to be reasonably designed according to the specific application. In the preferred embodiment of the present invention, the transmitter and the receiver can be fixedly arranged on the vehicle frame, and the straight-line distance between the transmitter and the receiver is H, and H satisfies,

[0055] 0 <H≤R 2 -4d 2

[0056] Where R is the maximum detection distance of the ultrasonic wave generated by the transmitter, and d is the maximum safe area distance measured. According to the time difference between the transmission and reception of the ultrasonic signal, the distance D between the target object and the system is calculated:

[0057]

[0058] Among them, v is the propagation speed of ultrasound in the air, and t is the round-trip time of the signal.

[0059] like Figure 2 As shown, point A is the transmitter and point B is the receiver; or point A is the receiver and point B is the transmitter. The distance between point A and point B is H, and point P is the target point. If point A is the transmitter, the distance between it and point P is R. Point A and point B are generally fixed on the same horizontal plane of the frame, then the vertical distance from point P to the line connecting AB is the maximum measured safety area distance d. Two ultrasonic sensors A and B are arranged front and back on one side of the vehicle 101. If there is an object a1 located on one side of the vehicle at this time, then the detected safety area is the superposition of the safety area 201 detected by the ultrasonic sensor A and the safety area 202 detected by the ultrasonic sensor B, as shown in FIG. Figure 4As shown. If there are multiple different objects on one side of the vehicle, the situation will change. At this time, when there are three objects a1, b1, and c1 on one side of the vehicle, the safety area 201 detected by the ultrasonic radar A and the safety area 202 detected by the ultrasonic radar B are reduced, and the two areas cannot completely cover one side of the vehicle when superimposed, and a safety uncertainty area 301 appears, as shown Figure 5 shown.

[0060] In order to enable the system to stably and accurately transmit and receive ultrasonic signals, and realize high-precision distance and speed measurement. In the preferred case of the present invention, the transmitter includes at least one, and the receiver includes at least one. In a complex environment, the redundant design of multiple sensors can improve the reliability and anti-interference ability of the system and ensure the accuracy of safety monitoring. Multiple transmitters and receivers can work at different frequencies or timings to reduce signal interference and improve the anti-interference ability of the system.

[0061] By arranging multiple transmitters around the vehicle, a larger area is covered, blind spots are avoided, and the comprehensiveness of environmental perception is improved. Multiple receivers can receive reflected signals from different angles, improving the strength and stability of received signals. In a preferred embodiment of the present invention, the straight-line distance between the i-th transmitter and the j-th receiver for receiving the ultrasonic reflected signal of the i-th transmitter is H ij ,

[0062] min{H ij}>0,max{H ij}≤R 2 -4d 2

[0063] Among them, R is the maximum detection distance of the ultrasonic wave generated by the i-th transmitter, and d is the maximum safe area distance measured by the i-th transmitter and the j-th receiver.

[0064] like Figure 3 As shown, in the low-latency state of the vehicle, it is considered that the time taken for the earliest received echo signal in the signal received by the receiver at point A after the ultrasonic sensor at point B transmits ultrasonic waves scattered by multiple objects is the same as the time taken for the earliest received echo signal in the signal received by the receiver at point B after the ultrasonic sensor at point A transmits ultrasonic waves scattered by multiple objects. Therefore, the determined elliptical area overlaps with area 203. Area 203, after excluding the area outside the detection range of the ultrasonic sensor, together with areas 201 and 202, constitutes a safe area.

[0065] In the preferred case of the present invention, the receiver generates a synchronous ultrasonic signal in a manner that includes at least hardware triggering, a global clock signal, a network time protocol, a synchronous pulse sequence, and software synchronization, and the synchronization error between the synchronous ultrasonic signal and the ultrasonic signal generated by the transmitter is less than 0.1 milliseconds. Hardware triggering is a synchronization signal that directly triggers the receiver and the transmitter through a hardware circuit. When the transmitter generates an ultrasonic signal, the hardware trigger signal is sent to the receiver to ensure that the two are synchronized. It has extremely low delay and jitter and can achieve high-precision synchronization. A special trigger circuit, such as a TTL (transistor-transistor logic) circuit, is used to directly connect the transmitter and the receiver. In the global clock signal, the transmitter and the receiver share the same high-precision clock source (such as a GPS clock), and the global clock signal is distributed to all transmitters and receivers so that they operate based on the same clock. It can achieve accurate synchronization over a large range and is suitable for coordinated work of multiple devices. The signal is transmitted to all related devices through a high-precision clock source (such as a GPS clock) and a clock distribution network. Time synchronization is performed using an NTP server to keep the system clocks of the transmitter and the receiver consistent. Time information is obtained regularly from the NTP server through the network time protocol to calibrate the internal clock of the device. It can achieve high-precision time synchronization in the wide area network, facilitate large-scale system integration, configure NTP client software, and enable the transmitter and receiver to synchronize time with the NTP server regularly. Use the synchronization signal generator to generate a periodic synchronization pulse sequence and distribute it to the transmitter and receiver. When the transmitter and receiver receive the synchronization pulse, they adjust their own clock to keep it consistent with the synchronization signal. The synchronization pulse can accurately control the synchronization moment and is suitable for scenarios that require high-precision synchronization.

[0066] The present invention also discloses a method for the vehicle peripheral safety zone recognition system based on the distributed ultrasonic wave, the method comprising:

[0067] Step S1, the control unit sends a first control instruction to the transmitter, the transmitter converts electrical energy to generate an ultrasonic signal, and according to the first control instruction, the transmitting circuit modulates the ultrasonic signal, and at least one of the transmitters sends the ultrasonic signal; at least one of the receivers generates a synchronous ultrasonic signal and receives an ultrasonic reflection signal;

[0068] Step S2, according to the ultrasonic reflection signal and the synchronous ultrasonic signal, the ultrasonic reflection signal is amplified, filtered and A / D converted, and then output to the control unit, and the control unit calculates and obtains the distance and / or speed data;

[0069] Step S3: Outputting the distance and / or speed data for the vehicle to identify the boundary of the outer safety zone.

[0070] The present invention discloses a method for executing a vehicle peripheral safety zone recognition system based on distributed ultrasound. The ultrasonic transmitter and receiver of the vehicle are rearranged, the transmitter converts electrical energy into an ultrasonic signal and sends it, and the receiver receives the ultrasonic reflection signal and converts it into an electrical signal. The control unit sends a first control instruction to the transmitter to send the ultrasonic signal at a fixed time, and sends a second control instruction to the receiver to synchronously receive the ultrasonic signal, thereby calculating the distance and / or speed data, and outputting the result to determine the final boundary of the vehicle peripheral safety zone. The method can effectively solve the blind spot of vision when large vehicles are traveling at low speeds by distributing the ultrasonic transmitter and receiver, and improve the recognition efficiency and accuracy. After the receiver and transmitter of the ultrasonic sensor are separated, the data analysis is combined with the elliptic equation, which not only reduces the blind spot caused by vehicle vibration, but also solves the problem of uncertainty in the safety zone caused by measuring multiple different objects at the same time. At the same time, the driving safety zone monitoring and determination of large vehicles such as buses, trucks, and engineering vehicles under low-speed driving conditions is realized, and the negative impact caused by blind spots and inner wheel differences is reduced. While meeting the monitoring needs of covering the area surrounding the vehicle, the system complexity is reduced by coordinating the work between multiple transducers (transmitters or receivers) in the ultrasonic sensor. The structure is simple and easy to set up, which improves the reliability of the entire ultrasonic detection system and thus improves the safety of the vehicle during low-speed driving.

[0071] In order to use the multi-source information fusion model to significantly improve the accuracy and robustness of data processing, a neural network is used for multi-source information fusion. For example, convolutional neural network (CNN), recursive neural network (RNN), long short-term memory network (LSTM), etc., depending on the application scenario. The distance and / or speed data of different sensors are fused together to generate a comprehensive feature representation. The comprehensive feature representation is passed to the decision layer, and the final distance and / or speed data is calculated through the fully connected layer or other decision algorithms. In the preferred case of the present invention, the i-th ultrasonic reflection signal received by the same receiver and the j-th synchronous ultrasonic signal generated are used to calculate the distance and / or speed data as P ij , the P generated by the multiple receivers ij Used to input the neural network model and perform multi-source information fusion to determine the final boundary of the vehicle's peripheral safety zone.

[0072] The present invention provides an electronic device, at least one processor; and

[0073] a memory communicatively connected to the at least one processor; wherein,

[0074] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned vehicle peripheral safety zone identification method based on distributed ultrasonic waves.

[0075] The present invention provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the vehicle peripheral safety zone identification method based on distributed ultrasonic waves as described above in the present application.

[0076] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0077] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0078] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle peripheral safety zone recognition system based on distributed ultrasonic wave, characterized in that: The vehicle peripheral safety zone identification system based on distributed ultrasonic wave comprises: a transmitter, a receiver, a control unit, and a power supply; The transmitter is used to convert electrical energy to generate and send ultrasonic signals; The receiver is used to receive the ultrasonic reflection signal and can convert the ultrasonic reflection signal into an electrical signal; The control unit is used to send a first control instruction to the transmitter to periodically send an ultrasonic signal, and send a second control instruction to the receiver to synchronously receive the ultrasonic signal, and calculate distance and / or speed data for the vehicle to identify the boundary of the outer safety zone; The power supply is electrically connected to the transmitter, the receiver and the control unit, and is used to provide electrical energy to the transmitter, the receiver and the control unit.

2. The vehicle peripheral safety zone recognition system based on distributed ultrasonic wave according to claim 1 is characterized in that: The system also includes a transmitting circuit and a signal processing circuit. The transmitting circuit is used to drive the transmitter to transmit ultrasonic signals and modulate the ultrasonic signals; The signal processing circuit is used to amplify, filter and perform A / D conversion on the ultrasonic reflection signal received by the receiver.

3. The vehicle peripheral safety zone recognition system based on distributed ultrasonic wave according to claim 2, characterized in that: The transmitter and the receiver can be fixedly mounted on a vehicle frame, and the straight-line distance between the transmitter and the receiver is H, where H satisfies: 0 <H≤R 2 -4d 2 Wherein, R is the maximum detection distance of the ultrasonic wave generated by the transmitter, and d is the maximum safety zone distance measured.

4. The vehicle peripheral safety zone recognition system based on distributed ultrasonic wave according to claim 1, characterized in that: The transmitter includes at least one, and the receiver includes at least one.

5. The vehicle peripheral safety zone recognition system based on distributed ultrasonic wave according to claim 4 is characterized in that: The straight-line distance between the ith transmitter and the jth receiver for receiving the ultrasonic reflection signal of the ith transmitter is H. ij , min{H ij }>0,max{H ij }≤R 2 -4d 2 Among them, R is the maximum detection distance of the ultrasonic wave generated by the i-th transmitter, and d is the maximum safe area distance measured by the i-th transmitter and the j-th receiver.

6. The vehicle peripheral safety zone recognition system based on distributed ultrasonic wave according to any one of claims 1 to 5, characterized in that: The receiver generates a synchronous ultrasonic signal in a manner that includes at least hardware triggering, a global clock signal, a network time protocol, a synchronous pulse sequence, and software synchronization. The synchronization error between the synchronous ultrasonic signal and the ultrasonic signal generated by the transmitter is less than 0.1 milliseconds.

7. A method for a vehicle peripheral safety zone recognition system based on distributed ultrasonic waves according to any one of claims 1 to 6, characterized in that: The method comprises, Step S1, the control unit sends a first control instruction to the transmitter, the transmitter converts electrical energy to generate an ultrasonic signal, and according to the first control instruction, the transmitting circuit modulates the ultrasonic signal, and at least one of the transmitters sends the ultrasonic signal; at least one of the receivers generates a synchronous ultrasonic signal and receives an ultrasonic reflection signal; Step S2, according to the ultrasonic reflection signal and the synchronous ultrasonic signal, the ultrasonic reflection signal is amplified, filtered and A / D converted, and then output to the control unit, and the control unit calculates and obtains the distance and / or speed data; Step S3: Outputting the distance and / or speed data for the vehicle to identify the boundary of the outer safety zone.

8. The method according to claim 7, characterized in that The distance and / or speed data obtained by calculating the i-th ultrasonic reflection signal received by the same receiver and the j-th synchronous ultrasonic signal generated is P ij , the P generated by the multiple receivers ij Used to input the neural network model and perform multi-source information fusion to determine the final boundary of the vehicle's peripheral safety zone.

9. An electronic device, characterized in that: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 7 or 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the method according to any one of claims 7 or 8 of the present invention.

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