Foreign matter coverage detection method and device, vehicle and computer readable storage medium

Abstract

The invention discloses a foreign matter coverage detection method and device, a vehicle and a computer readable storage medium. According to the method, the first detection area where the obstacle is located is determined by collecting the images of the detection areas of the multiple ultrasonic radars, and whether the first ultrasonic radar in the first detection area is covered by the foreign matter or not is judged based on the first detection area and the second detection area adjacent to the first detection area. By comparing the positioning result of the obstacle by the two adjacent ultrasonic radars with the positioning result of the obstacle by the image, the accuracy of ultrasonic radar foreign matter coverage detection can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle detection, and in particular to a foreign object cover detection method, device, vehicle and computer-readable storage medium. Background Art

[0002] At present, in the technology of using ultrasound for obstacle recognition, it is usually based on aftershock parameters to determine whether the ultrasound is covered. By calculating the absolute value between the aftershock value that matches the aftershock change curve and the aftershock value corresponding to when the ultrasonic radar is not covered by foreign objects, it is determined whether the ultrasonic radar is covered by foreign objects. However, considering that the aftershock value of the ultrasonic radar will change within a certain range due to the influence of probe parameter configuration, temperature changes, hardware matching, etc., it is easy to cause inaccurate aftershock value settings, resulting in the problem of false alarms of foreign object coverage. Summary of the invention

[0003] The embodiments of the present application provide a foreign object coverage detection method, device, vehicle and computer-readable storage medium, which improve the accuracy of ultrasonic radar foreign object coverage detection 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 foreign body coverage detection method is provided, comprising:

[0005] Determine a first detection area where the obstacle is located by collecting images from detection areas of multiple ultrasonic radars;

[0006] Based on the first ultrasonic radar corresponding to the first detection area and the second ultrasonic radar corresponding to the second detection area, detecting whether the first ultrasonic radar is covered by foreign objects;

[0007] The first detection area and the second detection area are parts of the detection area, and the second detection area is an adjacent area of ​​the first detection area.

[0008] Optionally, determining a first detection area where an obstacle is located by collecting images from detection areas of multiple ultrasonic radars includes:

[0009] Obtain an image containing obstacles collected in the detection area;

[0010] Determining second position information of the obstacle in the detection area based on first position information of the obstacle in the image;

[0011] A pre-stored mapping table is searched based on the second position information, and an area corresponding to the second position information is determined as the first detection area.

[0012] Optionally, based on a first ultrasonic radar corresponding to the first detection area and a second ultrasonic radar corresponding to the second detection area, detecting whether the first ultrasonic radar is covered by a foreign object includes:

[0013] In response to a first alarm signal of the first ultrasonic radar and a second alarm signal of the second ultrasonic radar, a first echo height signal received by the first ultrasonic radar and a second echo height signal received by the second ultrasonic radar are collected, the first echo height signal and the second echo height signal corresponding to a first transmission signal transmitted by the first ultrasonic radar;

[0014] Whether the first ultrasonic radar is covered by foreign objects is detected according to the first echo height signal and the second echo height signal.

[0015] Optionally, detecting whether the first ultrasonic radar is covered by a foreign object according to the first echo height signal and the second echo height signal includes:

[0016] If the first echo height signal exceeds a first set threshold value and the second echo height signal exceeds a second set threshold value, the obstacle is located based on the first echo height signal and the second echo height signal to obtain third position information;

[0017] Based on the third position information, it is determined whether the first ultrasonic radar is covered by foreign objects.

[0018] Optionally, judging whether the first ultrasonic radar is covered by a foreign object based on the third position information includes:

[0019] If the third position information matches the second position information, it is determined that the first ultrasonic radar is not covered by foreign objects.

[0020] Optionally, judging whether the first ultrasonic radar is covered by a foreign object based on the third position information includes:

[0021] If the third position information does not match the second position information, collecting a third echo height signal received by the second ultrasonic radar and a fourth echo height signal received by the first ultrasonic radar, the third echo height signal and the fourth echo height signal corresponding to the second transmission signal sent by the second ultrasonic radar;

[0022] If the third echo height signal is greater than a third set threshold value, and the fourth echo height signal is greater than a fourth set threshold value, obtaining fourth position information based on the third echo height signal and the fourth echo height signal;

[0023] If the fourth position information does not match the second position information, it is determined that the first ultrasonic radar is covered by a foreign object.

[0024] Optionally, judging whether the first ultrasonic radar is covered by a foreign object based on the third position information further includes:

[0025] If the third echo height signal is greater than the third set threshold and the fourth echo height signal is less than or equal to the fourth set threshold, it is determined that the first ultrasonic radar is covered by a foreign object.

[0026] Optionally, based on a first ultrasonic radar corresponding to the first detection area and a second ultrasonic radar corresponding to the second detection area, detecting whether the first ultrasonic radar is covered by a foreign object includes:

[0027] If the first ultrasonic radar does not generate an alarm signal, in response to a second alarm signal of the second ultrasonic radar, a third echo height signal received by the second ultrasonic radar and a fourth echo height signal received by the first ultrasonic radar are collected, the third echo height signal and the fourth echo height signal corresponding to the second transmission signal transmitted by the second ultrasonic radar;

[0028] If the third echo height signal is greater than a third set threshold value, and the fourth echo height signal is greater than a fourth set threshold value, obtaining fourth position information based on the third echo height signal and the fourth echo height signal;

[0029] If the fourth position information does not match the second position information, it is determined that the first ultrasonic radar is covered by a foreign object.

[0030] Optionally, based on the first ultrasonic radar corresponding to the first detection area and the second ultrasonic radar corresponding to the second detection area, detecting whether the first ultrasonic radar is covered by a foreign object further includes:

[0031] If the third echo height signal is greater than the third set threshold and the fourth echo height signal is less than or equal to the fourth set threshold, it is determined that the first ultrasonic radar is covered by a foreign object.

[0032] Optionally, the first ultrasonic radar is installed on the vehicle, and the foreign object coverage detection method further includes:

[0033] When it is determined that the first ultrasonic radar is covered by a foreign object, obtaining a working state of the vehicle;

[0034] performing a flushing operation on the first ultrasonic radar based on a working state, and detecting whether the first ultrasonic radar is covered by foreign matter;

[0035] When it is detected that the first ultrasonic radar is not covered by foreign matter, the flushing operation is stopped.

[0036] Optionally, the foreign matter coverage detection method further includes:

[0037] When it is determined that the first ultrasonic radar is covered by foreign matter, a fault prompt is generated;

[0038] In response to an instruction to stop the flushing operation, the fault prompt is turned off.

[0039] According to a second aspect of the present application, a foreign matter covering detection device is provided, comprising:

[0040] A determination module, used to determine a first detection area where an obstacle is located by collecting images from detection areas of multiple ultrasonic radars;

[0041] A detection module, used to detect whether the first ultrasonic radar is covered by a foreign object based on the first ultrasonic radar corresponding to the first detection area and the second ultrasonic radar corresponding to the second detection area;

[0042] The first detection area and the second detection area are parts of the detection area, and the second detection area is an adjacent area of ​​the first detection area.

[0043] According to a third aspect of the present application, a vehicle is provided, comprising:

[0044] Multiple ultrasonic radars are arranged on the surface of the vehicle;

[0045] a memory configured to store instructions; and

[0046] The processor is configured to call instructions from the memory and implement the above-mentioned foreign matter coverage detection method when executing the instructions.

[0047] According to a fourth aspect of the present application, a computer-readable storage medium is provided, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned foreign matter coverage detection method.

[0048] In summary, the present application determines the first detection area where the obstacle is located by collecting images of the detection areas of multiple ultrasonic radars, and judges whether the first ultrasonic radar in the first detection area is covered by foreign objects based on the first detection area and the second detection area adjacent to the first detection area. By comparing the obstacle positioning results of two adjacent ultrasonic radars with the obstacle positioning results obtained through images, it is possible to reduce the false alarms caused by different parameter configurations of a single radar for foreign object coverage detection, thereby improving the accuracy of foreign object coverage detection by ultrasonic radars.

[0049] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] 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.

[0051] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0052] Figure 1 A schematic diagram of an application environment of a foreign body coverage detection method provided in an embodiment of the present application;

[0053] Figure 2 It is a flow chart of a foreign body coverage detection method provided in an embodiment of the present application;

[0054] Figure 3 A schematic flow chart of a method for processing foreign matter coverage provided in an embodiment of the present application;

[0055] Figure 4 A schematic diagram of the structure of a foreign matter cover detection device provided in an embodiment of the present application;

[0056] Figure 5 A structural block diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] 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.

[0058] 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.

[0059] In order to improve the accuracy of ultrasonic radar's foreign object coverage detection, the embodiment of the present application is based on the image acquisition device and the ultrasonic radar's echo height signal, combined with algorithm recognition to determine whether the ultrasonic radar is covered by foreign objects. In this way, it can reduce the problem of obstacle detection alarm failure caused by foreign objects covering the ultrasonic radar, and reduce the probability of vehicle safety accidents.

[0060] In the embodiment of the present application, multiple ultrasonic radars can be set on the surface of the vehicle, and the detection area of ​​each ultrasonic radar is used as a part of the detection area covered by all ultrasonic radars. In the foreign object coverage detection, the detection area where the obstacle is located is used as the first detection area, and the detection area adjacent to the first detection area and sending out an alarm signal is used as the second detection area. In this way, not only can the foreign object coverage be determined based on the detection results of the ultrasonic radar in the first detection area where the obstacle is located, but also the foreign object coverage can be determined based on the detection results of the ultrasonic radar in the second detection area adjacent to the first detection area, thereby improving the accuracy of foreign object coverage detection.

[0061] Figure 1 Schematic diagram of the application environment of a foreign body coverage detection method provided in an embodiment of the present application. Figure 1 As shown, as an optional embodiment, the ultrasonic radar can be arranged on the rear bumper 101 of the vehicle. A plurality of ultrasonic radars are arranged at different positions of the rear bumper, and each ultrasonic radar corresponds to a detection area.

[0062] As an example, the detection area 102 of multiple ultrasonic radars can be divided into four detection areas, namely, a left corner area, a left middle area, a right middle area, and a right corner area. Each detection area corresponds to an ultrasonic radar. Among them, the left corner area corresponds to ultrasonic radar 1, the left middle area corresponds to ultrasonic radar 2, the right middle area corresponds to ultrasonic radar 3, and the right corner area corresponds to ultrasonic radar 4.

[0063] In the embodiment of the present application, an image acquisition device (not shown in the figure) may also be provided. The image acquisition device may be a device for acquiring images, such as a camera or a still camera. The image acquisition device may acquire images of the detection area 102 of multiple ultrasonic radars. When the image acquisition device identifies that there is an obstacle 103 in the detection area 102, the detection area where the obstacle 103 is located may be located based on the image containing the obstacle 103. For example, Figure 1 The obstacle 102 is located in the middle left area.

[0064] It should be noted that the above application scenario is only used as an example. In actual applications, the detection area can be divided according to needs. In addition, the setting method of the ultrasonic radar can also be installed according to actual detection needs, which is not limited here. Based on the above application scenario, the foreign body coverage detection method in the embodiment of the present application is described in detail below.

[0065] Figure 2 Schematic diagram of a foreign body coverage detection method provided in an embodiment of the present application. Figure 2 As shown, the foreign matter coverage detection method may include steps 201-202, etc., which are described in detail below.

[0066] Step 201: Determine a first detection area where an obstacle is located by collecting images from detection areas of multiple ultrasonic radars.

[0067] Step 202: Based on the first ultrasonic radar corresponding to the first detection area and the second ultrasonic radar corresponding to the second detection area, detect whether the first ultrasonic radar is covered by foreign objects.

[0068] In the embodiment of the present application, firstly, obstacles in the detection area can be identified by an image acquisition device. If obstacles are identified in the detection area, the obstacles are located by an image recognition algorithm, and the detection area where the obstacles are located is determined. In this way, a reference basis for the location of obstacles can be provided, thereby improving the accuracy of ultrasonic radar foreign body coverage detection.

[0069] In the embodiment of the present application, the detection area where the obstacle is located is the first detection area. The detection area adjacent to the first detection area and also having an alarm signal is the second detection area. The first detection area and the second detection area are both parts of the detection area. The ultrasonic radar corresponding to the first detection area is the first ultrasonic radar, and the ultrasonic radar corresponding to the second detection area is the second ultrasonic radar. In other words, the first ultrasonic radar and the second ultrasonic radar are two adjacent ultrasonic radars.

[0070] Therefore, it is possible to determine whether the first ultrasonic radar is covered by foreign objects based on the first ultrasonic radar corresponding to the first detection area and the second ultrasonic radar corresponding to the second detection area. In this way, the detection results of the ultrasonic radars in the two adjacent detection areas can more accurately determine whether the ultrasonic radar in the first detection area is covered by foreign objects.

[0071] In summary, the embodiment of the present application determines the first detection area where the obstacle is located by collecting images of the detection areas of multiple ultrasonic radars, and judges whether the first ultrasonic radar in the first detection area is covered by foreign objects based on the first detection area and the second detection area adjacent to the first detection area. By comparing the obstacle positioning results of two adjacent ultrasonic radars with the obstacle positioning results obtained through images, it is possible to reduce the false alarms caused by different parameter configurations of a single radar for foreign object coverage detection, thereby improving the accuracy of foreign object coverage detection by ultrasonic radars.

[0072] In step 201, a first detection area where an obstacle is located can be determined based on the collected image containing the obstacle through an image recognition detection algorithm. As an example, an image containing the obstacle collected for the detection area can be first obtained. The position of the obstacle in the image is identified to obtain first position information. The first position information is the position information of the obstacle in the image, for example, the first position information of the obstacle can be represented by coordinates in a camera coordinate system.

[0073] Then, based on the first position information of the obstacle in the image, the second position information of the obstacle in the detection area is determined. The second position information is the position information of the obstacle in the actual detection area. Similarly, the second position information of the obstacle can also be represented by the coordinates in the detection area coordinate system. The conversion from the first position information to the second position information can be performed based on the established coordinate conversion relationship. For example, the coordinate point of the camera coordinate system is converted to the coordinate point of the detection area coordinate system, so as to obtain the actual position of the obstacle in the detection area.

[0074] Finally, based on the second location information, a pre-stored mapping table is searched to determine the area corresponding to the second location information as the first detection area. The mapping table is a pre-established mapping relationship including location information and detection area classification. For example, Figure 1 The second position information of the obstacle in the actual detection area collected is used to determine that the second position information of the obstacle belongs to the left-center detection area, and then the left-center detection area is used as the first detection area where the obstacle is located.

[0075] It is understood that the first detection area where the obstacle is located is determined based on the image is not limited to the above method. It can also be determined through other corresponding relationships. For example, the coordinates in the mapping table after the actual detection area is divided are converted into coordinates in the camera coordinate system. In this way, the detection area where the obstacle is located can be directly determined based on the obstacle coordinates detected by the camera coordinate system. This is not limited here.

[0076] In the embodiment of the present application, if the first ultrasonic radar detects an obstacle, it will generate a first alarm signal, and then the alarm signal generated by the adjacent second ultrasonic radar will be used as the second alarm signal. After an image with an obstacle is detected and the detection area where the obstacle is located is determined based on the image, if the first ultrasonic radar is covered by foreign objects, the following situations may occur.

[0077] The first case is that the first ultrasonic radar generates a first alarm signal, the first ultrasonic radar locates that the obstacle is not in the first detection area, and the second ultrasonic radar also locates that the obstacle is not in the first detection area. At this time, it can be determined that the first ultrasonic radar is covered by a foreign object.

[0078] The second situation is that the first ultrasonic radar generates the first alarm signal, and the first ultrasonic radar locates that the obstacle is not in the first detection area, but the second ultrasonic radar cannot locate the obstacle. In this case, it can be determined that the first ultrasonic radar is covered by a foreign object.

[0079] The third situation is that the first ultrasonic radar does not generate the first alarm signal, and the second ultrasonic radar locates that the obstacle is not in the first detection area. In this case, it can be determined that the first ultrasonic radar is covered by a foreign object.

[0080] The fourth situation is that the first ultrasonic radar does not generate the first alarm signal, and the second ultrasonic radar cannot locate the obstacle. In this case, it can be determined that the first ultrasonic radar is covered by a foreign object.

[0081] Based on the above four situations where the first ultrasonic radar is covered by foreign objects, the following describes in detail how to determine whether the first ultrasonic radar is covered by foreign objects, taking each situation as an example.

[0082] For ease of understanding, the signal sent by the first ultrasonic radar is taken as the first transmission signal, and the signal sent by the second ultrasonic radar is taken as the second transmission signal. The echo height signal corresponding to the first transmission signal received by the first ultrasonic radar is taken as the first echo height signal. The echo height signal corresponding to the first transmission signal received by the second ultrasonic radar is taken as the second echo height signal. The echo height signal corresponding to the second transmission signal received by the second ultrasonic radar is taken as the third echo height signal. The echo height signal corresponding to the second transmission signal received by the first ultrasonic radar is taken as the fourth echo height signal.

[0083] In step 202, in response to a first alarm signal from a first ultrasonic radar and a second alarm signal from a second ultrasonic radar, the obstacle may be located by the first ultrasonic radar.

[0084] Specifically, the first echo height signal received by the first ultrasonic radar and the second echo height signal received by the second ultrasonic radar may be collected, and then, based on the first echo height signal and the second echo height signal, it is detected whether the first ultrasonic radar is covered by foreign objects.

[0085] First, it is determined whether the first echo height signal exceeds a first set threshold value, and whether the second echo height signal exceeds a second set threshold value. The first set threshold value is a threshold value for determining that the first echo height signal is a valid echo signal, and the second set threshold value is a threshold value for determining that the second echo height signal is a valid echo signal.

[0086] If the first echo height signal exceeds the first set threshold, and the second echo height signal exceeds the second set threshold, it can be determined that both the first ultrasonic radar and the second ultrasonic radar have received valid echo signals. Therefore, the obstacle can be located based on the first echo height signal and the second echo height signal to obtain the third position information. Among them, the third position information is the position information of the obstacle located by the first ultrasonic radar. Then, based on the third position information, it is determined whether the first ultrasonic radar is covered by foreign objects. As an example, the third position information can be obtained by triangulating the first echo height signal and the second echo height signal.

[0087] If the third position information matches the second position information, it can be determined that the first ultrasonic radar is not covered by foreign objects. For example, if the obstacle located by the image is in the left middle detection area, and the obstacle located by the first ultrasonic radar is also in the left middle detection area, it can be determined that the first ultrasonic radar is not covered by foreign objects.

[0088] If the third position information does not match the second position information, it can be determined that the detection result of the first ultrasonic radar is abnormal. However, the abnormality of the detection result may be due to other reasons such as the environment, and is not necessarily due to foreign object coverage. In order to improve the accuracy of foreign object coverage detection by the first ultrasonic radar, the obstacle can be further located by the adjacent second ultrasonic radar.

[0089] Specifically, the third echo height signal received by the second ultrasonic radar and the fourth echo height signal received by the first ultrasonic radar may be collected, and then, based on the third echo height signal and the fourth echo height signal, it is detected whether the first ultrasonic radar is covered by foreign objects.

[0090] First, it is determined whether the third echo height signal exceeds the third set threshold value, and whether the fourth echo height signal exceeds the fourth set threshold value. The third set threshold value is a threshold value for determining that the third echo height signal is a valid echo signal, and the fourth set threshold value is a threshold value for determining that the fourth echo height signal is a valid echo signal.

[0091] If the third echo height signal is greater than the third set threshold, and the fourth echo height signal is greater than the fourth set threshold, it can be determined that both the first ultrasonic radar and the second ultrasonic radar have received valid echo signals. Therefore, the fourth position information can be obtained based on the third echo height signal and the fourth echo height signal. Among them, the fourth position information is the position information of the obstacle located by the second ultrasonic radar. Then, based on the fourth position information, it is determined whether the first ultrasonic radar is covered by foreign objects. As an example, the fourth position information can be obtained by triangulating the third echo height signal and the fourth echo height signal. If the fourth position information does not match the second position information, it can be further determined that the first ultrasonic radar is covered by foreign objects.

[0092] If the third echo height signal is greater than the third set threshold, and the fourth echo height signal is less than or equal to the fourth set threshold, it means that the second ultrasonic radar cannot locate the position information of the obstacle. Therefore, it can be further determined that the first ultrasonic radar is covered by foreign objects.

[0093] When the first ultrasonic radar generates an alarm signal, the position information of the obstacle detected by the ultrasonic radar can be obtained based on the dual positioning of the first ultrasonic radar and the second ultrasonic radar. Compared with the foreign object coverage judgment based only on the detected ultrasonic radar, the foreign object coverage detection accuracy of the ultrasonic radar can be improved.

[0094] If the first ultrasonic radar does not generate an alarm signal, the obstacle cannot be located by the first ultrasonic radar. Therefore, the obstacle needs to be located based on the second ultrasonic radar.

[0095] Specifically, in response to the second alarm signal of the second ultrasonic radar, the third echo height signal received by the second ultrasonic radar and the fourth echo height signal received by the first ultrasonic radar are collected. If the third echo height signal is greater than the third set threshold, and the fourth echo height signal is greater than the fourth set threshold, it can be determined that both the first ultrasonic radar and the second ultrasonic radar have received valid echo signals. Therefore, the fourth position information can be obtained based on the third echo height signal and the fourth echo height signal. If the fourth position information does not match the second position information, it is determined that the first ultrasonic radar is covered by foreign matter.

[0096] If the third echo height signal is greater than the third set threshold, and the fourth echo height signal is less than or equal to the fourth set threshold, it means that the second ultrasonic radar cannot locate the position information of the obstacle. Therefore, it can be determined that the first ultrasonic radar is covered by foreign objects.

[0097] The first ultrasonic radar Figure 1 The second ultrasonic radar is Figure 1 Taking the ultrasonic radar 3 in the example, the obstacle detection area is the left middle area. The foreign body coverage detection method may include the following steps.

[0098] S1. The camera identifies obstacles.

[0099] S2, the camera locates the obstacle in the middle left area.

[0100] S3, determine whether the ultrasonic radar 2 alarms. If the ultrasonic radar 2 alarms, enter S4, first locate the obstacle through the ultrasonic radar 2. If the ultrasonic radar 2 does not alarm, enter S5, directly locate the obstacle through the ultrasonic radar 3.

[0101] S4, determine whether ultrasonic radar 2 receives a spontaneous echo signal (i.e., the first echo height signal), and whether ultrasonic radar 3 receives an echo signal of ultrasonic radar 2 (i.e., the second echo height signal), and if so, perform positioning through ultrasonic radar 2. If the positioning result shows that the obstacle is not in the left middle area, proceed to S5.

[0102] S5. Determine whether the ultrasonic radar 3 receives the spontaneous echo signal (i.e., the third echo height signal), and whether the ultrasonic radar 2 receives the echo signal of the ultrasonic radar 3 (i.e., the fourth echo height signal). If so, and the obstacle located by the ultrasonic radar 3 is not in the left middle area, determine that the ultrasonic radar 2 is covered by a foreign object. If the ultrasonic radar 3 receives the spontaneous echo signal, but the ultrasonic radar 2 does not receive the echo signal of the ultrasonic radar 3, that is, the ultrasonic radar 3 cannot locate the obstacle, determine that the ultrasonic radar 2 is covered by a foreign object.

[0103] The embodiment of the present application collects obstacle images and locates them through a camera, and performs foreign object coverage judgment on ultrasonic radar 2 based on ultrasonic radar 2 and ultrasonic radar 3, thereby improving the foreign object coverage detection accuracy of ultrasonic radar 2.

[0104] In order to promptly deal with the situation of foreign object coverage, in an embodiment of the present application, the vehicle may also be provided with a flushing device, which can be used to flush the ultrasonic radar. Figure 3 Schematic diagram of a method for handling foreign matter coverage provided in an embodiment of the present application. Figure 3 As shown, the method for processing foreign matter coverage may include steps 301-303.

[0105] Step 301: When it is determined that the first ultrasonic radar is covered by foreign matter, the working state of the vehicle is obtained, wherein the working state of the vehicle may include but is not limited to the speed, gear position and temperature of the vehicle.

[0106] Step 302: Perform a flushing operation on the first ultrasonic radar based on the working state. For example, a flushing device may be started to flush the probe of the ultrasonic radar. As an example, the starting device may include but is not limited to a transmission mechanism such as a gear and a rack to fully flush the probe of the ultrasonic radar.

[0107] Specifically, the embodiment of the present application can set the flushing operation to flush the first ultrasonic radar for a set time each time, and perform a foreign object cover detection on the first ultrasonic radar each time it is flushed. For example, the set time for flushing the ultrasonic radar for the first time each time can be set to 5 seconds. Every 5 seconds of flushing, detect whether the first ultrasonic radar is still covered by foreign objects. Among them, the foreign object cover detection of the first ultrasonic radar can be implemented by the embodiment of the foreign object cover detection method mentioned above. It can be understood that the flushing operation of the embodiment of the present application can also be other methods. For example, the flushing operation can also be a continuous flushing, which is not limited here.

[0108] Step 303: When it is detected that the first ultrasonic radar is not covered by foreign matter, it indicates that the flushing of the first ultrasonic radar is completed and the flushing operation can be stopped.

[0109] In the embodiment of the present application, during the flushing operation, when it is detected that the first ultrasonic radar is covered by foreign objects, a fault prompt may be given to let the driver know the current processing status of the foreign object covering. Therefore, the method for processing foreign object covering may also include steps 304-305.

[0110] Step 304: When it is determined that the first ultrasonic radar is covered by foreign matter, a fault prompt is generated, wherein the fault prompt may include but is not limited to a prompt sound, a prompt light, and a prompt character.

[0111] Step 305, in response to the instruction to stop the flushing operation, it indicates that the foreign matter covering the ultrasonic radar has been processed and the fault prompt can be turned off.

[0112] It should be noted that the flushing operation in the implementation of this application refers to the process from detecting that the first ultrasonic radar is covered by foreign objects until detecting that the first ultrasonic radar is not covered by foreign objects after flushing. The flushing operation may include multiple flushings or continuous flushing. For example, taking multiple flushings as an example, when it is detected that the first ultrasonic radar is covered by foreign objects, the flushing device is turned on. Then, a foreign object coverage detection is performed on the first ultrasonic radar once for each flushing, until it is detected that there is no foreign object coverage, and then the flushing device is turned off.

[0113] As an optional implementation, the terminal for the foreign object coverage processing fault prompt based on the ultrasonic radar can be an instrument, a large control screen, a speaker, etc.

[0114] Figure 4 Schematic diagram of the structure of a foreign body covering detection device 400 provided in an embodiment of the present application. Figure 4 As shown, the foreign body cover detection device 400 may include a determination module 401 and a detection module 402. The determination module 401 is used to determine the first detection area where the obstacle is located by collecting images of the detection areas of multiple ultrasonic radars. The detection module 402 is used to detect whether the first ultrasonic radar is covered by foreign objects based on the first ultrasonic radar corresponding to the first detection area and the second ultrasonic radar corresponding to the second detection area. The first detection area and the second detection area are part of the detection area, and the second detection area is an adjacent area of ​​the first detection area.

[0115] The determination module 401 and the detection module 402 can be respectively used to execute steps 201-202 in the embodiment corresponding to the above-mentioned foreign body cover detection method. For the specific implementation methods of these modules and more details, please refer to the corresponding method part, which will not be repeated here.

[0116] Figure 5 FIG. 5 is a structural block diagram of a vehicle 500 provided in an embodiment of the present application. Figure 5 As shown, the vehicle 500 may include multiple ultrasonic radars 501, a memory 502 and a processor 503. Multiple ultrasonic radars 501 are arranged on the surface of the vehicle. The memory 502 is configured to store instructions. The processor 503 is configured to call instructions from the memory and implement the above-mentioned foreign body cover detection method when executing the instructions. The vehicle in the embodiment of the present application may be a fuel vehicle, a plug-in hybrid vehicle or a new energy vehicle, etc., and the present application does not make specific limitations on this.

[0117] An embodiment of the present application also provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned foreign matter coverage detection method.

[0118] Since the instructions stored in the vehicle and the computer-readable storage medium can execute the steps in any foreign object cover detection method provided in the embodiments of the present application, the beneficial effects that can be achieved by any foreign object cover 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.

[0119] 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.

[0120] 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 1 A device that provides the functions specified in a block or multiple blocks.

[0121] 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.

[0122] 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 1The steps for the functions specified in one or more boxes.

[0123] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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 method for detecting foreign matter coverage, characterized in that: include: Determine a first detection area where the obstacle is located by collecting images from detection areas of multiple ultrasonic radars; Based on a first ultrasonic radar corresponding to the first detection area and a second ultrasonic radar corresponding to the second detection area, detecting whether the first ultrasonic radar is covered by a foreign object; The first detection area and the second detection area are part of the detection area, and the second detection area is an adjacent area of ​​the first detection area.

2. The foreign matter coverage detection method according to claim 1, characterized in that: The determining of a first detection area where an obstacle is located by collecting images from detection areas of a plurality of ultrasonic radars includes: Acquire an image containing the obstacle collected for the detection area; Determining second position information of the obstacle in the detection area based on first position information of the obstacle in the image; A pre-stored mapping table is searched based on the second location information to determine an area corresponding to the second location information as the first detection area.

3. The foreign matter coverage detection method according to claim 1, characterized in that: The detecting whether the first ultrasonic radar is covered by foreign objects based on the first ultrasonic radar corresponding to the first detection area and the second ultrasonic radar corresponding to the second detection area includes: In response to a first alarm signal of the first ultrasonic radar and a second alarm signal of the second ultrasonic radar, collecting a first echo height signal received by the first ultrasonic radar and a second echo height signal received by the second ultrasonic radar, wherein the first echo height signal and the second echo height signal correspond to a first transmission signal transmitted by the first ultrasonic radar; Whether the first ultrasonic radar is covered by foreign objects is detected according to the first echo height signal and the second echo height signal.

4. The foreign matter coverage detection method according to claim 3, characterized in that: The detecting, according to the first echo height signal and the second echo height signal, whether the first ultrasonic radar is covered by a foreign object comprises: If the first echo height signal exceeds a first set threshold and the second echo height signal exceeds a second set threshold, locating the obstacle based on the first echo height signal and the second echo height signal to obtain third position information; Based on the third position information, it is determined whether the first ultrasonic radar is covered by foreign objects.

5. The foreign matter coverage detection method according to claim 4, characterized in that: The determining, based on the third position information, whether the first ultrasonic radar is covered by a foreign object includes: If the third position information matches the second position information, it is determined that the first ultrasonic radar is not covered by foreign objects.

6. The foreign matter coverage detection method according to claim 4, characterized in that: Determining whether the first ultrasonic radar is covered by a foreign object based on the third position information includes: If the third position information does not match the second position information, collecting a third echo height signal received by the second ultrasonic radar and a fourth echo height signal received by the first ultrasonic radar, wherein the third echo height signal and the fourth echo height signal correspond to the second transmission signal sent by the second ultrasonic radar; If the third echo height signal is greater than a third set threshold, and the fourth echo height signal is greater than a fourth set threshold, obtaining fourth position information based on the third echo height signal and the fourth echo height signal; If the fourth position information does not match the second position information, it is determined that the first ultrasonic radar is covered by a foreign object.

7. The foreign matter coverage detection method according to claim 6, characterized in that: Judging whether the first ultrasonic radar is covered by foreign objects based on the third position information also includes: If the third echo height signal is greater than the third set threshold and the fourth echo height signal is less than or equal to the fourth set threshold, it is determined that the first ultrasonic radar is covered by foreign objects.

8. The foreign matter coverage detection method according to claim 1, characterized in that: The detecting whether the first ultrasonic radar is covered by foreign objects based on the first ultrasonic radar corresponding to the first detection area and the second ultrasonic radar corresponding to the second detection area includes: If the first ultrasonic radar does not generate an alarm signal, in response to the second alarm signal of the second ultrasonic radar, collecting a third echo height signal received by the second ultrasonic radar and a fourth echo height signal received by the first ultrasonic radar, the third echo height signal and the fourth echo height signal corresponding to the second transmission signal sent by the second ultrasonic radar; If the third echo height signal is greater than a third set threshold, and the fourth echo height signal is greater than a fourth set threshold, obtaining fourth position information based on the third echo height signal and the fourth echo height signal; If the fourth position information does not match the second position information, it is determined that the first ultrasonic radar is covered by a foreign object.

9. The foreign matter coverage detection method according to claim 8, characterized in that: The detecting whether the first ultrasonic radar is covered by a foreign object based on the first ultrasonic radar corresponding to the first detection area and the second ultrasonic radar corresponding to the second detection area also includes: If the third echo height signal is greater than the third set threshold and the fourth echo height signal is less than or equal to the fourth set threshold, it is determined that the first ultrasonic radar is covered by a foreign object.

10. The foreign matter coverage detection method according to any one of claims 1 to 9, characterized in that: The first ultrasonic radar is installed on a vehicle, and the coverage detection method further includes: When it is determined that the first ultrasonic radar is covered by a foreign object, obtaining the working state of the vehicle; performing a flushing operation on the first ultrasonic radar based on the working state, and detecting whether the first ultrasonic radar is covered by foreign matter; When it is detected that the first ultrasonic radar is not covered by foreign matter, the flushing operation is stopped.

11. The foreign matter coverage detection method according to claim 10, characterized in that: Also includes: When it is determined that the first ultrasonic radar is covered by foreign matter, a fault prompt is generated; In response to an instruction to stop the flushing operation, the fault prompt is turned off.

12. A foreign matter covering detection device, characterized in that: include: A determination module, used to determine a first detection area where an obstacle is located by collecting images from detection areas of multiple ultrasonic radars; A detection module, configured to detect whether the first ultrasonic radar is covered by a foreign object based on a first ultrasonic radar corresponding to the first detection area and a second ultrasonic radar corresponding to the second detection area; The first detection area and the second detection area are part of the detection area, and the second detection area is an adjacent area of ​​the first detection area.

13. A vehicle, characterized in that: include: A plurality of ultrasonic radars are arranged on the surface of the vehicle; a memory configured to store instructions; as well as A processor is configured to call the instruction from the memory and implement the foreign matter coverage detection method according to any one of claims 1 to 11 when executing the instruction.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, which, when executed by a processor, enable the processor to be configured to execute the foreign matter cover detection method according to any one of claims 1 to 11.

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