Tire detection method, device and system, vehicle and machine readable storage medium

Abstract

The invention discloses a tire detection method, device and system, a vehicle and a machine readable storage medium. The multi-antenna system is arranged on the tire of the vehicle, and the tire is detected based on the detection signal of the multi-antenna system. The multi-antenna system can process multi-path propagation and signal interference, is not limited by factors such as the driving state of a vehicle and the pattern of the tire, can timely and accurately detect the tire with the foreign matter, and improves the precision and efficiency of foreign matter detection on the tire.

Description

Technical Field

[0001] The present application relates to the field of detection, and in particular to a tire detection method, device, system, vehicle and machine-readable storage medium. Background Art

[0002] In vehicle detection technology, a tire pressure monitoring system (TPMS) is usually used to detect the tires of a vehicle. It is used to detect changes in tire pressure or differences in tire diameter to determine whether the tire is ruptured or leaking. However, when a foreign object is inserted into a tire, the gas leaks slowly or is not punctured. The tire pressure monitoring system is usually unable to provide timely feedback, which can cause safety hazards to the vehicle. Summary of the invention

[0003] The embodiments of the present application provide a tire detection method, device, system, vehicle, and machine-readable storage medium, which improve the accuracy of foreign object detection on tires to at least partially solve the above-mentioned technical problems.

[0004] In order to achieve the above object, according to a first aspect of the present application, a tire detection method is provided, comprising:

[0005] Acquire a detection signal of a multi-antenna system provided on a tire;

[0006] The tire detection result is determined based on the detection signal.

[0007] Optionally, the multi-antenna system includes a multi-input multi-output antenna array formed by multiple transmitting antennas and multiple receiving antennas, and obtaining a detection signal of the multi-antenna system set on the tire includes:

[0008] Sending electromagnetic wave signals through multiple transmitting antennas;

[0009] Receiving multiple echo signals generated by the electromagnetic wave signal reflected by the object through multiple receiving antennas;

[0010] The multiple echo signals are processed to obtain a detection signal.

[0011] Optionally, the electromagnetic wave signals transmitted by the multiple transmitting antennas are mutually orthogonal electromagnetic wave signals, and the echo signals and the electromagnetic wave signals received by the multiple receiving antennas are mutually prime signals.

[0012] Optionally, receiving multiple echo signals generated by an object reflecting an electromagnetic wave signal through multiple receiving antennas includes:

[0013] Acquire multiple initial echo signals from different directions received by multiple receiving antennas;

[0014] By performing signal weighting and phase adjustment on multiple initial echo signals, the radiation pattern of each receiving antenna is obtained;

[0015] The receiving antenna is controlled to receive a plurality of echo signals based on the radiation pattern.

[0016] Optionally, receiving multiple echo signals generated by an object reflecting an electromagnetic wave signal through multiple receiving antennas includes:

[0017] Acquire multiple initial echo signals reflected at the same time and received by multiple receiving antennas;

[0018] The multiple initial echo signals are separated and demodulated according to the differences in space, time domain and frequency domain between the multiple initial echo signals to obtain multiple echo signals.

[0019] Optionally, receiving multiple echo signals generated by an object reflecting an electromagnetic wave signal through multiple receiving antennas includes:

[0020] Acquire initial echo signals received by multiple receiving antennas corresponding to electromagnetic wave signals of multiple transmitting antennas;

[0021] Perform time delay estimation, channel estimation and feature extraction on multiple initial echo signals to obtain the time delay, amplitude, phase and features of the initial echo signals on different channel paths;

[0022] Perform multipath compensation on delay, amplitude and phase so that multiple initial echo signals are aligned at the receiving antenna signal;

[0023] Multiple initial echo signals on different channel paths are separated to obtain multiple echo signals.

[0024] Optionally, the multi-antenna system further includes a control unit, which obtains a detection signal of the multi-antenna system set on the tire, and further includes:

[0025] The transmission parameters of the multiple transmission antennas and the reception parameters of the multiple reception antennas are adjusted by the control unit.

[0026] Optionally, each transmitting antenna forms a channel with a corresponding receiving antenna, and a tire detection result is determined according to the detection signal, including:

[0027] Compare and analyze the detection signal with the set threshold;

[0028] If a detection signal exceeding a set threshold is detected, the state information of the channel corresponding to the detection signal is marked as abnormal information;

[0029] When the abnormal information exceeds the set time, the tire state is determined to be abnormal.

[0030] Optionally, the tire detection method is applied to a vehicle, each tire of the vehicle is provided with a multi-antenna system, and the address of the channel of each multi-antenna system is different. The tire detection method further includes:

[0031] The position of the tire where the abnormality occurs is determined according to the channel address.

[0032] Optionally, the tire detection method further includes:

[0033] Acquire image information sent by an image acquisition device disposed on the surface of the tire;

[0034] Foreign object detection is performed based on image information, and the abnormal position of the tire is determined according to the foreign object detection results.

[0035] Optionally, the tire detection method further includes:

[0036] When the tire is detected to be in an abnormal state, an alarm signal is issued.

[0037] Optionally, the alarm signal includes location information of the abnormal tire and corresponding abnormal image information.

[0038] According to a second aspect of the present application, a multi-antenna system is provided, where the multi-antenna system is applied to the above tire detection method.

[0039] In an embodiment of the present application, the multi-antenna system includes:

[0040] A multiple-input multiple-output antenna array, including multiple transmitting antennas and multiple receiving antennas;

[0041] The control unit is connected to the MIMO antenna array and is used to adjust the transmission parameters of the multiple transmission antennas and the reception parameters of the multiple reception antennas.

[0042] According to a third aspect of the present application, a tire detection device is provided, comprising:

[0043] An acquisition module, used to acquire a detection signal of a multi-antenna system arranged on a tire;

[0044] The determination module is used to determine the detection result of the tire according to the detection signal.

[0045] According to a fourth aspect of the present application, a vehicle is provided, comprising:

[0046] The multi-antenna system as above; and / or

[0047] The tire detection device mentioned above.

[0048] According to a fifth aspect of the present application, a tire detection system is provided, comprising:

[0049] a memory configured to store instructions; and

[0050] The processor is configured to call instructions from the memory and implement the above tire detection method when executing the instructions.

[0051] According to a sixth aspect of the present application, a machine-readable storage medium is provided, on which instructions are stored, and when the instructions are executed by a processor, the processor is configured to execute the above-mentioned tire detection method.

[0052] In summary, the present application sets a multi-antenna system on the tire of the vehicle, and detects the tire based on the detection signal of the multi-antenna system. The multi-antenna system can handle multipath propagation and signal interference, and can detect tires with foreign objects in a timely and accurate manner without being limited by factors such as the driving state of the vehicle and the pattern of the tire, thereby improving the accuracy and efficiency of foreign object detection on the tire.

[0053] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0055] Figure 1 A schematic diagram of the structure of a multi-antenna system provided in an embodiment of the present application;

[0056] Figure 2 A schematic diagram of an application scenario of a tire detection method provided in an embodiment of the present application;

[0057] Figure 3 A schematic diagram of a tire detection method provided in an embodiment of the present application;

[0058] Figure 4 A schematic diagram of the structure of a tire detection device provided in an embodiment of the present application;

[0059] Figure 5 A structural block diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0061] In the description of the present application, it should be understood that the terms "first" and "second" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. In the present application, the word "exemplary" is used to mean "used as an example, illustration or description". Any embodiment described as "exemplary" in the present application is not necessarily interpreted as being more preferred or more advantageous than other embodiments. In order to enable any technician in the field to implement and use the present application, the following description is given. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present application can also be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid unnecessary details that make the description of the present application obscure. Therefore, the present application is not intended to be limited to the embodiments shown, but is consistent with the widest range of principles and features disclosed in the present application.

[0062] In order to improve the driving safety of the car, the air leakage condition of the tire is usually monitored in real time. When a possible air leakage condition is detected in the tire, the driver needs to be reminded in time. Since TPMS may not be able to give timely feedback for the situation where the gas leakage is slow or there is no puncture. Therefore, in the related technology, a frequency-modulated continuous wave radar is usually used to obtain a super-resolution three-dimensional image of the tread to detect foreign objects in real time, but this method can only scan the tread when the tire pattern is fixed. When encountering a tire change or tire repair situation, it will hinder the monitoring, and the scanning image that distinguishes the punctured foreign objects can only be obtained when the car is driving at a low speed, which has more stringent requirements on the driving conditions of the vehicle.

[0063] Based on this, an embodiment of the present application provides a method for detecting a tire using a multi-antenna system. A multi-antenna system is a system that uses multiple antennas for communication and signal processing. Multiple antennas can be used to improve communication performance, enhance signal coverage, and reduce signal interference. The multi-antenna system can be applied to the tire detection method implemented in the present application.

[0064] The embodiment of the present application takes a multiple-input multiple-output (MIMO) antenna system as an example of a multi-antenna system. The MIMO antenna system may include multiple transmitting antennas and multiple receiving antennas, and the multiple transmitting antennas and multiple receiving antennas may form a MIMO antenna array. In the embodiment of the present application, the electromagnetic wave signals transmitted by the multiple transmitting antennas are mutually orthogonal electromagnetic wave signals, and the echo signals received by the multiple receiving antennas are mutually prime signals with the electromagnetic wave signals. In this way, the MIMO antenna array utilizes the independent transmission paths and spatial diversity of multiple antennas to improve channel capacity, system performance, signal quality and reliability. Compared with the single-transmit and single-receive communication mode of the radar, the MIMO antenna system can effectively increase the virtual aperture of the antenna, thereby obtaining a higher resolution.

[0065] In order to improve the accuracy of the MIMO antenna system, the MIMO antenna system can be applied to the millimeter wave radar system. Millimeter wave radar is often used in the field of vehicle autonomous driving because it can quickly and accurately measure the distance between vehicles and the relative speed without being restricted by the weather environment. In addition, the millimeter wave radar transmits a continuous wave signal to the area that may contain the target object, receives the reflected signal, and mixes it with the transmitted radar signal to process it into a radar target echo, which is then transmitted to the host computer by wire or wireless means. The host computer processes the received radar target echo to detect whether the target object exists. Therefore, millimeter wave radar can also be used in the field of target detection technology because it shows a keen response to foreign objects made of metal. In an example, the millimeter wave radar can select a millimeter wave radar band window near 24GHz, or a more accurate 76-81GHz band window, etc. This is not limited here.

[0066] Optionally, the MIMO antenna system can also use code reuse technology to achieve code reuse of the same code set for modulating different data sub-streams, thereby increasing the transmission rate of the original data without increasing code resources. It is suitable for collecting discrete signals of the tires of a moving vehicle responding under abnormal conditions.

[0067] See also Figure 1 , Figure 1Taking the MIMO antenna system as an example, the setting method of the multi-antenna system is explained. In one example, a MIMO antenna system can be set on the surface of each tire of the vehicle to collect the status information of the tire corresponding to each MIMO antenna system. For example, the MIMO antenna system can be set to the inner wall of the wheel arch of the corresponding tire. Taking one of the tires as an example, the collection scene of the tire may include MIMO antenna system 1, foreign matter 2, wheel hub 3 and tire 4. Among them, MIMO antenna system 1 can be arranged at a position directly opposite to the wheel arch and wheel hub of the tire. The MIMO antenna system may include a set of multiple transmitting antennas TX and multiple receiving antennas RX. Foreign matter 2 is mostly made of metal, for example, it can be a metal object such as a nail that can easily penetrate into the tire.

[0068] based on Figure 1 MIMO antennas, Figure 2 A schematic diagram of an application scenario of a tire detection method is provided. Figure 2 As shown, the application scenario may include a MIMO antenna system 1, a control system 5 and a display system 6. The MIMO antenna system 1 may include a MIMO antenna array 11 and a control unit 12. The control system 5 may include a microcontroller unit (MCU) 51 and a central domain control 52. The display system 6 may include a dashboard 61 and a vehicle computer 62.

[0069] The MIMO antenna array 11 can be integrated into Figure 1 The inner wall of the wheel arch shown is used to collect tire status information, for example, to collect nail puncture information. The transmitting antenna TX of the MIMO antenna system 1 sends electromagnetic wave signals through the vehicle-mounted signal processing unit, and these electromagnetic wave signals are reflected when encountering foreign objects. Then the receiving antenna RX captures the reflected echo signals and transmits these echo signals back to the signal processing unit. Since the multiple transmitting antennas TX are mutually orthogonal electromagnetic wave signals, and the echo signals that are coprime with the multiple electromagnetic wave signals are extracted. Then, m transmitting antennas TX and n receiving antennas RX are used to construct an m×n virtual antenna array to improve the detection accuracy of discrete signals. Placing the MIMO antenna array above the tread of the tire can maximize the range of radar detection and make the detection results more accurate.

[0070] The control unit 12 is connected to the MIMO antenna array 11, and the control unit 12 can adjust the transmission parameters of the multiple transmitting antennas and the receiving parameters of the multiple receiving antennas. Specifically, the control unit 12 can control the multiple transmitting antennas TX in the MIMO system 1 to transmit electromagnetic wave signals in a preset order, and control the multiple receiving antennas RX to receive echo signals corresponding to the electromagnetic wave signals.

[0071] The MCU 51 is connected to the MIMO antenna system 1. There may be multiple MCUs 51, which are arranged on the tires of the vehicle, and each tire corresponds to one MCU 51. Each MCU 51 is used to analyze and process the channel of the MIMO antenna system 1 of the tire to determine whether the tire is in an abnormal state.

[0072] The central domain control 52 is connected to multiple MCUs 51, and can receive the detection results sent by multiple MCUs 51, so as to obtain the position of the tire with abnormality. At the same time, the central domain control 52 is also connected to the devices in the display system 6 such as the instrument panel 61 and the vehicle computer 62. In this way, when a tire with abnormal state is detected, an alarm signal can be sent to the display system 6 in time.

[0073] The display system 6 can receive the alarm signal transmitted by the central domain control 52 and perform corresponding alarm operations. For example, the central domain control 52 sends the information received that there is a foreign object in the left front tire to the instrument panel 61, and the instrument panel 61 displays the alarm signal. At the same time, the alarm signal can also instruct the multimedia device to remind in the form of voice or picture through the vehicle computer 62, for example, by broadcasting the prompt information such as "Attention! There is a metal nail stuck in the left front tire!", so that the driver can obtain the current abnormal status information in time.

[0074] Understandably, Figure 1 and Figure 2 It is only an example of a multi-antenna system and an application scenario, which is used to describe the principle of the application scenario of the multi-antenna system and the tire detection method in the implementation of this application. In actual applications, the configuration of the multi-antenna system can be changed based on needs.

[0075] Based on the principle of the above-mentioned multi-antenna system for detecting foreign objects in tires, the tire detection method applied to the above-mentioned application scenario is described in detail below.

[0076] Figure 3 FIG. 1 is a flow chart of a tire detection method provided in an embodiment of the present application. Figure 3 As shown, the tire detection method may include steps 301-302, which are described in detail below.

[0077] Step 301: Acquire a detection signal of a multi-antenna system arranged on a tire.

[0078] Step 302: Determine the tire detection result according to the detection signal.

[0079] In an embodiment of the present application, the detection signal of the multi-antenna system may refer to a signal for detecting foreign matter based on the multi-antenna system. If there is a foreign matter, such as a metal foreign matter, on the tire of the vehicle, the foreign matter will reflect the electromagnetic wave signal emitted by the multi-antenna system to generate an echo signal. The multi-antenna system processes the echo signal to obtain a detection signal of the foreign matter. The detection result of the tire is then determined based on the detection signal. In one example, a set threshold may be set in advance. The set threshold refers to the maximum threshold of the signal collected when the state of the tire is normal. Then, the detection signal is compared with the set threshold to determine whether there is a foreign matter in the tire. If the difference between the detection signal and the set threshold is too large, it can be determined that the current state of the tire deviates from the normal state and there may be foreign matter. At this time, the state of the tire can be determined as an abnormal state.

[0080] The embodiment of the present application sets a multi-antenna system on the tire of the vehicle, and detects the tire based on the detection signal of the multi-antenna system. The multi-antenna system can handle multipath propagation and signal interference, and can detect tires with foreign objects in a timely and accurate manner without being limited by factors such as the driving state of the vehicle and the pattern of the tire, thereby improving the accuracy and efficiency of foreign object detection on the tire.

[0081] In step 301 of the embodiment of the present application, electromagnetic wave signals may be first transmitted through multiple transmitting antennas, and then multiple echo signals generated by reflection of the electromagnetic wave signals by objects may be received through multiple receiving antennas, and finally, the multiple echo signals may be processed to obtain a detection signal.

[0082] In an embodiment of the present application, multiple transmitting antennas can send multiple electromagnetic wave signals. After these electromagnetic wave signals are amplified and filtered, multiple receiving antennas can also receive electromagnetic wave signals from different transmission paths, generate reflection signals corresponding to the electromagnetic wave signals, and these reflection signals can be used as initial echo signals. Each receiving antenna can be sampled independently. Then, the collected initial echo signal is preprocessed, for example, signal demodulation, equalization, and noise removal operations can be performed. Then, the algorithm is used to analyze the received initial echo signal to obtain the final echo signal.

[0083] The algorithms for generating echo signals in the embodiments of the present application may include multiple algorithms, such as beamforming, signal separation, and multipath analysis, etc. The following provides examples to illustrate each of them.

[0084] In one example, an echo signal can be generated by beamforming, and beamforming is used to enhance the signal in a specific target direction. Specifically, multiple initial echo signals from different directions received by multiple receiving antennas can be obtained first. The transmission direction of the electromagnetic wave signal can be initially set according to the design requirements. Then, the radiation pattern of each receiving antenna is obtained by performing signal weighting and phase adjustment on the multiple initial echo signals. Among them, the signal weighting and phase adjustment can be adjusted based on requirements such as beam width and target direction to obtain the radiation pattern of each receiving antenna. The radiation pattern refers to making the received echo signal concentrated in a specific target direction. Finally, the receiving antenna is controlled to receive multiple echo signals based on the radiation pattern, thereby enhancing the signal strength of the echo signal and improving the effect of signal sampling.

[0085] In another example, an echo signal can be generated by signal separation. Signal separation refers to separating independent echo signals from multiple received reflection signals corresponding to multiple electromagnetic wave signals sent simultaneously. Specifically, multiple initial echo signals reflected at the same time and received by multiple receiving antennas can be first obtained. Then, based on the differences in space, time domain and frequency domain between the multiple initial echo signals, the multiple initial echo signals are separated and demodulated to obtain multiple echo signals. In this way, the capacity of the multi-antenna system can be increased, so that the multi-antenna system transmits multiple data streams simultaneously, and the anti-interference ability and reliability of the system can be improved, while the signal quality is improved and the ability of position estimation is improved.

[0086] In another example, the same receiving antenna may receive multiple electromagnetic wave signals, so echo signals can also be generated by multipath analysis. Specifically, the initial echo signals corresponding to the electromagnetic wave signals of multiple transmitting antennas received by multiple receiving antennas can be obtained first. Since the electromagnetic wave signal will propagate through multiple paths, the electromagnetic wave signal on each path may be affected by different fading. Therefore, delay estimation, channel estimation and feature extraction can be performed on multiple initial echo signals to obtain the delay, amplitude, phase and characteristics of the initial echo signals on different channel paths. Then, multipath compensation is performed on the delay, amplitude and phase so that the multiple initial echo signals are aligned at the receiving antenna signal. Finally, the multiple initial echo signals on different channel paths are separated to obtain multiple echo signals. In this way, more accurate and detailed channel information can be obtained, the utilization of channel resources and system capacity can be improved, and multipath interference can be suppressed.

[0087] It can be understood that the above-mentioned method of generating the echo signal is only an example, and the initial echo signal can also be processed by other algorithms to obtain the echo signal.

[0088] In an embodiment of the present application, each transmitting antenna can form a channel with a corresponding receiving antenna. In step 302, the detection signal can be compared and analyzed with a set threshold. If a detection signal exceeding the set threshold is detected, it indicates that an abnormal detection signal currently exists. Therefore, the state information of the channel corresponding to the detection signal can be marked as abnormal information. In order to reduce the situation of false alarms, in an embodiment of the present application, when the abnormal information exceeds the set time, the state of the tire is determined to be abnormal.

[0089] In the embodiment of the present application, as an alternative example, a multi-antenna system may be provided on each tire of the vehicle, and the address of the channel of each multi-antenna system is different. When a tire with abnormal information is determined, the position of the tire with the abnormality may be determined according to the address of the channel, such as the left front tire, the right rear tire, etc. Here, it is not necessary to obtain the precise position of the abnormality, and it is only necessary to let the driver know that the tire has an abnormality to serve as a warning.

[0090] In order to improve the accuracy of the warning, the embodiment of the present application can also add a visual sensing system to obtain image information sent by an image acquisition device set on the surface of the tire. Then, foreign object detection is performed based on the image information, and the abnormal position of the tire is determined according to the foreign object detection result. In this way, the false alarm rate can be further reduced and the accuracy of tire detection can be improved.

[0091] In addition, when the tire is detected to be in an abnormal state, an alarm signal can be issued to promptly remind the driver that there is abnormal information about the current tire. In one example, the alarm signal can be sent to display systems such as the dashboard and the vehicle computer. For smart driving vehicles, in addition to being sent to the display system, the alarm signal can also be sent to terminal devices associated with the vehicle, such as the user's mobile phone APP.

[0092] In the embodiment of the present application, the alarm signal may include the position information of the abnormal tire and the corresponding abnormal image information. In this way, the tire detection result can be presented more intuitively and the driver can be reminded to deal with the abnormal state of the tire in a more timely manner.

[0093] Figure 4 Schematic diagram of the structure of a tire detection device 400 provided in an embodiment of the present application. Figure 4 The tire detection device 400 may include an acquisition module 401 and a determination module 402. The acquisition module 401 is used to acquire a detection signal of a multi-antenna system arranged on a tire. The determination module 402 is used to determine a detection result of the tire according to the detection signal.

[0094] The acquisition module 401 and the determination module 402 can be respectively used to execute steps 301-302 in the embodiment corresponding to the above tire detection method. For specific implementations of these modules and more details, please refer to the corresponding method part, which will not be described here one by one.

[0095] An embodiment of the present application also provides a vehicle, comprising the above-mentioned multi-antenna system and / or tire detection device.

[0096] Figure 5 FIG. 5 is a structural block diagram of a tire detection system 500 provided in an embodiment of the present application. Figure 5 As shown, the tire detection system 500 includes a memory 501 and a processor 502. The memory 501 is configured to store instructions. The processor 502 is configured to call instructions from the memory and implement the above tire detection method when executing the instructions.

[0097] An embodiment of the present application further provides a machine-readable storage medium, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to execute the steps of the above tire detection method.

[0098] Since the instructions stored in the tire detection system and the machine-readable storage medium can execute the steps in any tire detection method provided in the embodiments of the present application, the beneficial effects that can be achieved by any tire detection method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0099] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0100] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0101] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0102] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0103] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0104] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0105] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated communication signals and carrier waves.

[0106] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0107] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A tire detection method, characterized in that: include: Acquire a detection signal of a multi-antenna system provided on a tire; The tire detection result is determined according to the detection signal.

2. The tire detection method according to claim 1, characterized in that: The multi-antenna system includes a multi-input multi-output antenna array formed by multiple transmitting antennas and multiple receiving antennas, and the step of obtaining a detection signal of the multi-antenna system arranged on the tire includes: Sending electromagnetic wave signals through the plurality of transmitting antennas; Receiving, by means of the plurality of receiving antennas, a plurality of echo signals generated by reflection of the electromagnetic wave signal by an object; The plurality of echo signals are processed to obtain the detection signal.

3. The tire detection method according to claim 2, characterized in that: The electromagnetic wave signals transmitted by the multiple transmitting antennas are mutually orthogonal electromagnetic wave signals, and the echo signals received by the multiple receiving antennas are mutually prime signals with the electromagnetic wave signals.

4. The tire detection method according to claim 2, characterized in that: The receiving, by the multiple receiving antennas, multiple echo signals generated by the electromagnetic wave signal reflected by an object, comprises: Acquire a plurality of initial echo signals received by a plurality of receiving antennas from different directions; Obtaining a radiation pattern of each receiving antenna by performing signal weighting and phase adjustment on a plurality of the initial echo signals; The receiving antenna is controlled to receive a plurality of the echo signals based on the radiation pattern.

5. The tire detection method according to claim 2, characterized in that: The receiving, by the multiple receiving antennas, multiple echo signals generated by the electromagnetic wave signal reflected by an object, comprises: Acquire multiple initial echo signals reflected at the same time and received by multiple receiving antennas; The multiple initial echo signals are separated and demodulated according to the differences in space, time domain and frequency domain among the multiple initial echo signals to obtain the multiple echo signals.

6. The tire detection method according to claim 2, characterized in that: The receiving, by the multiple receiving antennas, multiple echo signals generated by the electromagnetic wave signal reflected by an object, comprises: Acquire initial echo signals received by the plurality of receiving antennas corresponding to the electromagnetic wave signals of the plurality of transmitting antennas; Performing time delay estimation, channel estimation and feature extraction on the multiple initial echo signals to obtain time delay, amplitude phase and features of the initial echo signals on different channel paths; Perform multipath compensation on the time delay, the amplitude and the phase so that the multiple initial echo signals are aligned at the receiving antenna signal; The multiple initial echo signals on different channel paths are separated to obtain multiple echo signals.

7. The tire detection method according to claim 2, characterized in that: The multi-antenna system further includes a control unit, and the step of obtaining a detection signal of the multi-antenna system provided on the tire further includes: The control unit adjusts the transmission parameters of the plurality of transmission antennas and the reception parameters of the plurality of reception antennas.

8. The tire detection method according to claim 2, characterized in that: Each of the transmitting antennas forms a channel with the corresponding receiving antenna, and determining the detection result of the tire according to the detection signal includes: Comparing and analyzing the detection signal with a set threshold value; If a detection signal exceeding the set threshold is detected, the state information of the channel corresponding to the detection signal is marked as abnormal information; When the abnormal information exceeds a set time, the state of the tire is determined to be an abnormal state.

9. The tire detection method according to claim 8, characterized in that: Applied to a vehicle, each tire of the vehicle is provided with a multi-antenna system, and the address of the channel of each multi-antenna system is different. The tire detection method further includes: The position of the tire where the abnormality occurs is determined according to the address of the channel.

10. The tire detection method according to claim 9, characterized in that: The tire detection method further comprises: Acquiring image information sent by an image acquisition device disposed on the surface of the tire; Foreign matter detection is performed based on the image information, and the abnormal position of the tire is determined according to the foreign matter detection result.

11. The tire detection method according to claim 10, characterized in that: The tire detection method further comprises: When it is detected that the state of the tire is abnormal, an alarm signal is issued.

12. The tire detection method according to claim 11, characterized in that: The alarm signal includes the position information of the abnormal tire and the corresponding abnormal image information.

13. A multi-antenna system, characterized in that: The multi-antenna system is applied to the tire detection method according to any one of claims 1 to 12.

14. A multi-antenna system according to claim 13, characterized in that: The multi-antenna system comprises: A multiple-input multiple-output antenna array, including multiple transmitting antennas and multiple receiving antennas; A control unit is connected to the multiple-input multiple-output antenna array and is used to adjust the transmission parameters of the multiple transmitting antennas and the receiving parameters of the multiple receiving antennas.

15. A tire detection device, characterized in that: include: An acquisition module, used to acquire a detection signal of a multi-antenna system arranged on a tire; A determination module is used to determine the detection result of the tire according to the detection signal.

16. A vehicle, characterized in that: include: The multi-antenna system according to claim 13 or 14; and / or The tire testing device according to claim 15.

17. A tire detection system, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the tire detection method according to any one of claims 1 to 12 when executing the instructions.

18. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which, when executed by a processor, enable the processor to be configured to execute the tire detection method according to any one of claims 1 to 12.

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