Communication method and device between ultrasonic sensor module and actuator

Abstract

The invention relates to the technical field of input and output communication, and provides a communication method and device between an ultrasonic sensor module and an actuator. The method comprises the following steps: according to distance information of an obstacle determined by an ultrasonic signal, obtaining a logic state of each signal data bit in at least one group of signal data bits; each group of signal data bits comprises at least two first-class signal data bits and second-class signal data bits; for the single group of signal data bits, according to the logic state of the second type of signal data bits, determining whether the level waveform categories of the first type of signal data bits are consistent or not, and obtaining a level waveform category consistency result; according to a level waveform category consistency result and the logic state of the first-class signal data bit, determining a level waveform of the first-class signal data bit in a preset level waveform to obtain a target level oscillogram; and sending an electric signal to an actuator according to the target level oscillogram. By adopting the method, the data transmission rate can be improved.

Description

Technical Field

[0001] The present application relates to the field of input-output communication technology, and in particular to a communication method and device between an ultrasonic sensor module and an actuator, an ultrasonic sensor module, an actuator, and a computer-readable storage medium. Background Art

[0002] With the rapid development of smart car technology, the demand for in-vehicle data transmission is increasing. Ultrasonic sensor modules and actuators of smart cars are becoming more and more abundant and complex, thus meeting the integration and optimization of advanced driver assistance systems (ADAS), autonomous driving technology, real-time map updates, vehicle health monitoring and remote vehicle management.

[0003] Currently, most communication methods between ultrasonic sensor modules and actuators use input / output (IO) communication to transmit vehicle data. However, as ultrasonic sensor modules and actuators become more abundant and complex, the data transmission rate of the communication method between ultrasonic sensor modules and actuators is increasingly difficult to meet demand. Summary of the invention

[0004] Based on this, it is necessary to provide a communication method and device between an ultrasonic sensor module and an actuator, an ultrasonic sensor module, an actuator and a computer-readable storage medium to address the above technical problems.

[0005] In a first aspect, the present application provides a communication method between an ultrasonic sensor module and an actuator, which is applied to the ultrasonic sensor module, and the method includes:

[0006] Obtaining the logic state of each signal data bit in at least one group of signal data bits according to the distance information of the obstacle determined by the ultrasonic signal; each group of signal data bits includes at least two first-class signal data bits and two-class signal data bits;

[0007] For a single group of signal data bits, determining whether the level waveform categories of the first type of signal data bits are consistent according to the logic states of the second type of signal data bits, and obtaining a level waveform category consistency result;

[0008] According to the level waveform category consistency result and the logic state of the signal data bit of the first category, the level waveform of the signal data bit of the first category is determined in the preset level waveform to obtain a target level waveform diagram;

[0009] According to the target level waveform, an electrical signal is sent to the actuator.

[0010] In one embodiment, the distance information of the obstacle determined according to the ultrasonic signal is used to obtain the logic state of each signal data bit in at least one group of signal data bits, including:

[0011] Convert the distance information of the obstacle determined by the ultrasonic signal into a binary number;

[0012] The binary number is divided according to the number of signal data bits included in a single group of signal data bits to obtain the logic state of each signal data bit in at least one group of signal data bits.

[0013] In one embodiment, determining whether the level waveform categories of the first type of signal data bits are consistent according to the logic states of the second type of signal data bits to obtain the level waveform category consistency result includes:

[0014] When the logic state of the data bits of the second type of signals is the first logic state, determining that the level waveform categories of the data bits of the first type of signals are consistent, and obtaining a level waveform category consistency result;

[0015] When the logic state of the second-category signal data bit is the second logic state, it is determined that the level waveform categories of the first-category signal data bit are inconsistent, and a level waveform category consistency result is obtained.

[0016] In one embodiment, determining the level waveform of the data bit of the type of signal in a preset level waveform according to the level waveform category consistency result and the logic state of the data bit of the type of signal includes:

[0017] When the level waveform category consistency result indicates that the level waveform categories of the signal data bits of the first category are consistent, at least two level waveforms are selected from the preset level waveforms according to the logic states of at least two signal data bits of the first category, and the at least two level waveforms are respectively used as the level waveforms of the at least two signal data bits of the first category; the categories of the at least two level waveforms are the same;

[0018] When the level waveform category consistency result represents that the level waveform category of the signal data bits of the class is inconsistent, at least two level waveforms are selected from the preset level waveforms according to the logic states of at least two signal data bits of the class, and are respectively used as the level waveforms of at least two signal data bits of the class; the categories of the at least two level waveforms are different.

[0019] In a second aspect, the present application further provides a communication method between an ultrasonic sensor module and an actuator, which is applied to the actuator, and the method includes:

[0020] When an electrical signal is received, a target level waveform is obtained according to the electrical signal; the electrical signal is sent by the ultrasonic sensor module;

[0021] Separating at least one group of level waveforms from the target level waveform diagram;

[0022] For a single group of level waveforms, the logic state of each signal data bit in a group of signal data bits is obtained according to the correlation between the level waveform and the logic state of the first type of signal data bits, and the correlation between the consistency of the level waveform category of the first type of signal data bits and the logic state of the second type of signal data bits;

[0023] Obstacle distance information is obtained according to the logic state of each signal data bit in at least one group of signal data bits.

[0024] In a third aspect, the present application further provides a communication device between an ultrasonic sensor module and an actuator, which is applied to the ultrasonic sensor module, and the device includes:

[0025] A logic state acquisition module, used to obtain the logic state of each signal data bit in at least one group of signal data bits according to the distance information of the obstacle determined by the ultrasonic signal; each group of signal data bits includes at least two first-class signal data bits and second-class signal data bits;

[0026] A consistency result acquisition module, for determining, for a single group of signal data bits, whether the level waveform categories of the first type of signal data bits are consistent according to the logic states of the second type of signal data bits, and obtaining a level waveform category consistency result;

[0027] A level waveform acquisition module, used for determining the level waveform of the data bit of the first type of signal in a preset level waveform according to the consistency result of the level waveform category and the logic state of the data bit of the first type of signal, so as to obtain a target level waveform;

[0028] The electrical signal sending module is used to send an electrical signal to the actuator according to the target level waveform.

[0029] In a fourth aspect, the present application further provides a communication device between an ultrasonic sensor module and an actuator, which is applied to the actuator, and the device includes:

[0030] A level waveform acquisition module is used to obtain a target level waveform according to the electrical signal when receiving the electrical signal; the electrical signal is sent by the ultrasonic sensor module;

[0031] A level waveform separation module, used to separate at least one group of level waveforms from the target level waveform diagram;

[0032] A logic state acquisition module is used to obtain the logic state of each signal data bit in a group of signal data bits for a single group of level waveforms according to the correlation between the level waveform and the logic state of a type of signal data bit, and the correlation between the consistency of the level waveform category of the type of signal data bit and the logic state of the type of signal data bit;

[0033] The distance information acquisition module is used to obtain the distance information of the obstacle according to the logic state of each signal data bit in at least one group of signal data bits.

[0034] In a fifth aspect, the present application further provides an ultrasonic sensor module, wherein the ultrasonic sensor module comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the above method.

[0035] In a sixth aspect, the present application further provides an executor, wherein the executor comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the above method.

[0036] In a seventh aspect, the present application further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to execute the above method.

[0037] In an eighth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and the computer program is executed by a processor to execute the above method.

[0038] The communication method, device, ultrasonic sensor module, actuator and computer-readable storage medium between the ultrasonic sensor module and the actuator are as follows: the logic state of each signal data bit in at least one group of signal data bits is obtained according to the distance information of the obstacle determined by the ultrasonic signal; each group of signal data bits includes at least two first-class signal data bits and second-class signal data bits; for a single group of signal data bits, whether the level waveform category of the first-class signal data bits is consistent is determined according to the logic state of the second-class signal data bits, and the level waveform category consistency result is obtained; according to the level waveform category consistency result and the logic state of the first-class signal data bits, the level waveform of the first-class signal data bits is determined in the preset level waveform to obtain the target level waveform diagram; according to the target level waveform diagram, an electrical signal is sent to the actuator. The present application determines whether the level waveform category of the first-class signal data bits is consistent according to the logic state of the second-class signal data bits, and obtains the level waveform category consistency result; according to the level waveform category consistency result and the logic state of the first-class signal data bits, the level waveform of the first-class signal data bits is determined in the preset level waveform to obtain the target level waveform diagram. Although the target level waveform diagram only includes the level waveform of the first type of signal data bit, it can transmit the logical states of the first type of signal data bit and the second type of signal data bit. Therefore, the target level waveform diagram under the same communication time can transmit a larger amount of data; it can increase the communication capacity without changing the communication line topology and wiring harness cost, thereby increasing the data transmission rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A diagram of an application environment of a communication method between an ultrasonic sensor module and an actuator in one embodiment;

[0041] Figure 2 is a flow chart of a communication method between an ultrasonic sensor module and an actuator in one embodiment;

[0042] Figure 3 A schematic diagram of a preset level waveform in an embodiment;

[0043] Figure 4 A schematic diagram of level waveforms of four groups of signal data bits in one embodiment;

[0044] Figure 5Schematic diagram of level waveforms of another four groups of signal data bits in one embodiment;

[0045] Figure 6 Schematic diagram of level waveforms of another four groups of signal data bits in one embodiment;

[0046] Figure 7 Schematic diagram of level waveforms of another four groups of signal data bits in one embodiment;

[0047] Figure 8 A schematic diagram of a flow chart of the communication steps between an ultrasonic sensor module and an actuator in another embodiment;

[0048] Fig. 9 is a structural block diagram of a communication device between an ultrasonic sensor module and an actuator in one embodiment;

[0049] Fig.10 FIG. 4 is a structural block diagram of a communication device between an ultrasonic sensor module and an actuator in another embodiment. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0051] The embodiment of the present application provides a communication method between an ultrasonic sensor module and an actuator. The embodiment can be executed by the ultrasonic sensor module, such as Figure 1 As shown, the ultrasonic sensor module can obtain the logical state of each signal data bit in at least one group of signal data bits according to the distance information of the obstacle determined by the ultrasonic signal, and then obtain the target level waveform diagram to send an electrical signal to the actuator. In this embodiment, the method includes Figure 2 The steps shown are:

[0052] Step S201, obtaining the logic state of each signal data bit in at least one group of signal data bits according to the distance information of the obstacle determined by the ultrasonic signal; each group of signal data bits includes at least two type I signal data bits and two type II signal data bits.

[0053] The ultrasonic sensor module can determine the distance information of the obstacle based on the time it transmits the ultrasonic signal and the time it receives the reflected ultrasonic signal.

[0054] The ultrasonic sensor module can convert the distance information of the obstacle into binary numbers, divide the binary numbers according to the number of signal data bits included in a single group of signal data bits, and obtain the logical state of each signal data bit in at least one group of signal data bits. Each group of signal data bits includes at least two first-class signal data bits and two-class signal data bits.

[0055] Step S202, for a single group of signal data bits, determining whether the level waveform categories of the first type of signal data bits are consistent according to the logic states of the second type of signal data bits, and obtaining a level waveform category consistency result.

[0056] The logic state of the second type signal data bit may include a first logic state and a second logic state, wherein the first logic state may be set to binary number 0, the second logic state may be set to binary number 1, or the first logic state may be set to binary number 1, the second logic state may also be set to binary number 0.

[0057] The level waveform of a type of signal data bit may include a low level and a high level, and the low level and the high level each have a corresponding duration, and the specific duration can be set according to actual conditions; according to the order of the low level and the high level, the level waveform of a type of signal data bit can be divided into a type one level waveform and a type two level waveform; in the type one level waveform, the low level comes first and the high level comes later; in the type two level waveform, the high level comes first and the low level comes later.

[0058] The preset level waveform is as follows Figure 3 As shown, BIT1_A1 represents the level waveform of 50us low level and 100us high level, corresponding to Class I level waveform; BIT1_A2 represents the level waveform of 100us high level and 50us low level, corresponding to Class II level waveform; BIT0_A1 represents the level waveform of 100us low level and 50us high level, corresponding to Class I level waveform; BIT0_A2 represents the level waveform of 50us high level and 100us low level, corresponding to Class II level waveform.

[0059] A single group of signal data bits may include two Class I signal data bits and one Class II signal data bit. For the single group of signal data bits, the ultrasonic sensor module can determine whether the level waveform category of the first Class I signal data bit belongs to Class I level waveform or Class II level waveform, and whether the level waveform category of the second Class I signal data bit belongs to Class I level waveform or Class II level waveform according to whether the Class II signal data bit is in the first logic state or the second logic state, and obtain the level waveform category consistency result according to whether the level waveform category of the first Class I signal data bit is consistent with the level waveform category of the second Class I signal data bit.

[0060] Step S203, according to the level waveform category consistency result and the logic state of the signal data bit of a type, the level waveform of the signal data bit of a type is determined in the preset level waveform to obtain a target level waveform diagram.

[0061] The level waveform category consistency result can indicate whether the level waveform category of a type of signal data bits is consistent or whether the level waveform category of a type of signal data bits is inconsistent.

[0062] The logic state of a type of signal data bit may include a first logic state and a second logic state, wherein the first logic state may be set to binary 0, the second logic state may be set to binary 1, or the first logic state may be set to binary 1, the second logic state may be set to binary 0.

[0063] Each preset level waveform is used to represent the corresponding logic state, such as Figure 3 In the figure, BIT0_A1 and BIT0_A2 belong to the level waveform matching the logic state 1, and BIT1_A1 and BIT1_A2 belong to the level waveform matching the logic state 0.

[0064] If a single group of signal data bits includes two Class I signal data bits and one Class II signal data bit, the ultrasonic sensor module can determine whether the level waveform categories of the two Class I signal data bits are consistent based on the level waveform category consistency result; if the level waveform categories of the two Class I signal data bits are consistent, then according to the logic states of the two Class I signal data bits and the logic states represented by the preset level waveforms, two level waveforms are selected from the preset level waveforms, and the categories of the two level waveforms are the same, that is, the sequence of the high level and the low level in the two level waveforms is the same; if the level waveform categories of the two Class I signal data bits are inconsistent, then according to the logic states of the two Class I signal data bits and the logic states represented by the preset level waveforms, two level waveforms are selected from the preset level waveforms, and the categories of the two level waveforms are different, that is, the sequence of the high level and the low level in the two level waveforms is different.

[0065] When there is a group of signal data bits, the level waveform of this group of signal data bits is used as the target level waveform diagram; when there are two or more groups of signal data bits, the level waveforms of each group of signal data bits are combined in sequence according to the order of the logical states corresponding to each group of signal data bits as the target level waveform diagram.

[0066] Step S204: sending an electrical signal to the actuator according to the target level waveform.

[0067] The ultrasonic sensor module can send electrical signals to the actuator according to the target level waveform.

[0068] In the communication method between the ultrasonic sensor module and the actuator, the level waveform category of the first signal data bit is determined to be consistent according to the logic state of the second signal data bit, and the consistency result of the level waveform category is obtained; according to the consistency result of the level waveform category and the logic state of the first signal data bit, the level waveform of the first signal data bit is determined in the preset level waveform to obtain the target level waveform diagram. Although the target level waveform diagram only includes the level waveform of the first signal data bit, the logic state of the first signal data bit and the second signal data bit can be transmitted. Therefore, the target level waveform diagram under the same communication time can transmit a larger amount of data; the communication capacity can be increased without changing the communication line topology and wiring harness cost, thereby increasing the data transmission rate.

[0069] In one of the embodiments, the logical state of each signal data bit in at least one group of signal data bits is obtained based on the distance information of the obstacle determined by the ultrasonic signal, and the specific steps are as follows: the distance information of the obstacle determined by the ultrasonic signal is converted into a binary number; the binary number is divided according to the number of signal data bits included in a single group of signal data bits to obtain the logical state of each signal data bit in at least one group of signal data bits.

[0070] The ultrasonic sensor module can convert the distance information of the obstacle determined according to the ultrasonic signal into a binary number, for example, into the binary number 110111100; the binary number 110111100 can be divided according to the number of signal data bits 3 included in a single group of signal data bits, to obtain three groups of signal data bits, which are 110, 111 and 100 respectively, and then the logical state of each signal data bit in the three groups of signal data bits can be obtained.

[0071] In this embodiment, the distance information of the obstacle is converted into a binary number; the binary number is divided according to the number of signal data bits included in a single group of signal data bits, and the logical state of each signal data bit in at least one group of signal data bits can be obtained.

[0072] In one of the embodiments, whether the level waveform categories of the first type of signal data bits are consistent is determined according to the logic states of the second type of signal data bits, and a level waveform category consistency result is obtained. The specific steps are as follows: when the logic state of the second type of signal data bits is a first logic state, the level waveform categories of the first type of signal data bits are determined to be consistent, and a level waveform category consistency result is obtained; when the logic state of the second type of signal data bits is a second logic state, the level waveform categories of the first type of signal data bits are determined to be inconsistent, and a level waveform category consistency result is obtained.

[0073] The logic state of the second-type signal data bit may include a first logic state and a second logic state.

[0074] When the logic state of the second type signal data bit is the first logic state, it is determined that the level waveform category of the first type signal data bit is consistent, and the obtained level waveform category consistency result indicates that the level waveform category of the first type signal data bit is consistent.

[0075] When the logic state of the second type signal data bit is the second logic state, it is determined that the level waveform categories of the first type signal data bit are inconsistent, and the obtained level waveform category consistency result represents that the level waveform categories of the first type signal data bit are inconsistent.

[0076] In this embodiment, whether the level waveform categories of the first type of signal data bits are consistent is determined according to the logic states of the second type of signal data bits, and a level waveform category consistency result is obtained to determine the level waveform of the first type of signal data bits.

[0077] In one of the embodiments, a level waveform of a type of signal data bit is determined in a preset level waveform according to a level waveform category consistency result and a logic state of a type of signal data bit, and the specific steps are as follows: when the level waveform category consistency result indicates that the level waveform category of a type of signal data bit is consistent, at least two level waveforms are selected from the preset level waveform according to the logic states of at least two type of signal data bits, and the levels are respectively used as the level waveforms of at least two type of signal data bits; the categories of at least two level waveforms are the same; when the level waveform category consistency result indicates that the level waveform category of a type of signal data bit is inconsistent, at least two level waveforms are selected from the preset level waveform according to the logic states of at least two type of signal data bits, and the levels are respectively used as the level waveforms of at least two type of signal data bits; the categories of at least two level waveforms are different.

[0078] Exemplarily, a single group of signal data bits may include two first-class signal data bits and one second-class signal data bit, which may be based on Figure 3 The four level waveforms shown are combined into 16 groups of signal data bit level waveforms, such as Figure 4 , Figure 5 , Figure 6 and Figure 7 The first column in the figure is the logic state corresponding to the level waveform of each group of signal data bits, and the second column is the level waveform of each group of signal data bits.

[0079] Assume that a binary number 0 represents a first logic state and a binary number 1 represents a second logic state.

[0080] When a group of signal data bits is 110, and assuming that the first signal data bit and the second signal data bit belong to category one signal data bit, and the third signal data bit belongs to category two signal data bit, in this group of signal data bits 110, the logic states of the first signal data bit, the second signal data bit, and the third signal data bit are 1, 1, and 0, respectively.

[0081] Figure 3 In the preset level waveforms BIT1_A1, BIT1_A2, BIT0_A1 and BIT0_A2 shown, the logic state matched by the level waveforms BIT1_A1 and BIT1_A2 is 1. If the logic state of the third signal data bit is 0, then the third signal data bit is in the first logic state, indicating that the level waveform categories of the first signal data bit and the second signal data bit are consistent, then based on the fact that the logic state of the first signal data bit and the logic state of the second signal data bit are both 1, any one of the level waveforms from BIT1_A1 and BIT1_A2 can be selected as the level waveform of the first signal data bit and the level waveform of the second signal data bit. If BIT1_A1 is selected as the level waveform of the first signal data bit and the level waveform of the second signal data bit, then the level waveform corresponding to this group of signal data bits is as shown in the figure. Figure 4 If BIT1_A2 is selected as the level waveform of the first signal data bit and the level waveform of the second signal data bit, the target level waveform corresponding to the group of signal data bits is as follows: Figure 5 The first row is shown.

[0082] When a group of signal data bits is 011, and assuming that the first signal data bit and the second signal data bit belong to category one signal data bit, and the third signal data bit belongs to category two signal data bit, in this group of signal data bits 011, the logic states of the first signal data bit, the second signal data bit, and the third signal data bit are 0, 1, and 1, respectively.

[0083] Figure 3 In the preset level waveforms BIT1_A1, BIT1_A2, BIT0_A1 and BIT0_A2 shown, the logic state matched by the level waveforms BIT1_A1 and BIT1_A2 is 1, and the logic state matched by the level waveforms BIT0_A1 and BIT0_A2 is 0. The level waveforms BIT1_A1 and BIT0_A1 belong to the first type of level waveforms, and the level waveforms BIT1_A2 and BIT0_A2 belong to the second type of level waveforms.

[0084] If the logic state of the third signal data bit is 1, the third signal data bit is in the second logic state, indicating that the level waveform categories of the first signal data bit and the second signal data bit are inconsistent, then according to the logic state 0 of the first signal data bit, any one of the level waveforms between BIT0_A1 and BIT0_A2 can be selected as the level waveform of the first signal data bit; if BIT0_A1 is selected as the level waveform of the first signal data bit, the level waveform of the first signal data bit belongs to a type of level waveform. After determining the level waveform of the first signal data bit, the level waveform of the second signal data bit can be determined to be BIT1_A2 according to the logic state 1 of the second signal data bit and the level waveform category of the first signal data bit. At this time, the level waveform corresponding to this group of signal data bits is as shown in the figure below: Figure 6 As shown in the second row; if BIT0_A2 is selected as the level waveform of the first signal data bit, the level waveform of the first signal data bit belongs to the second type of level waveform. After determining the level waveform of the first signal data bit, the level waveform of the second signal data bit can be determined to be BIT1_A1 according to the logic state 1 of the second signal data bit and the level waveform category of the first signal data bit. At this time, the level waveform corresponding to this group of signal data bits is as shown in Figure 7 The second row is shown.

[0085] In this embodiment, based on the level waveform category consistency result and the logical state of a type of signal data bit, a level waveform with the same logical state as a type of signal data bit and the same level waveform category consistency result is selected from the preset level waveform as the level waveform of the type of signal data bit.

[0086] The embodiment of the present application also provides a communication method between an ultrasonic sensor module and an actuator. This embodiment can be executed by the actuator, such as Figure 1 As shown, the actuator can obtain the target level waveform according to the received electrical signal, and then obtain the distance information of the obstacle. In this embodiment, the method includes Figure 8 The steps shown are:

[0087] Step S801, when an electrical signal is received, a target level waveform is obtained according to the electrical signal; the electrical signal is sent by the ultrasonic sensor module.

[0088] When the actuator receives an electrical signal, a target level waveform can be obtained according to the electrical signal, wherein the electrical signal is sent by the ultrasonic sensor module.

[0089] Step S802, separating at least one group of level waveforms from the target level waveform diagram.

[0090] The actuator may separate at least one group of level waveforms from the target level waveform diagram according to the number of level waveforms included in a single group of signal data bits.

[0091] Step S803, for a single group of level waveforms, according to the correlation between the level waveform and the logic state of a type of signal data bit, and the correlation between the consistency of the level waveform category of a type of signal data bit and the logic state of a type of signal data bit, the logic state of each signal data bit in a group of signal data bits is obtained.

[0092] The correlation between the level waveform and the logic state of a type of signal data bit specifically includes: the level waveform of 50us low level and 100us high level corresponds to the second logic state and the first type of level waveform, called BIT1_A1; the level waveform of 100us high level and 50us low level corresponds to the second logic state and the second type of level waveform, called BIT1_A2; the level waveform of 100us low level and 50us high level corresponds to the first logic state and the first type of level waveform, called BIT0_A1; the level waveform of 50us high level and 100us low level corresponds to the first logic state and the second type of level waveform, called BIT0_A2.

[0093] The association relationship between the consistency of the level waveform category of the first-class signal data bit and the logical state of the second-class signal data bit specifically includes: when the level waveform category of the first-class signal data bit is consistent, the logical state of the second-class signal data bit is the first logical state, and when the level waveform category of the first-class signal data bit is inconsistent, the logical state of the second-class signal data bit is the second logical state; wherein the first logical state can be set to binary number 0, and the second logical state can be set to binary number 1, and the first logical state can also be set to binary number 1, and the second logical state can also be set to binary number 0.

[0094] For a single group of level waveforms, the actuator can obtain the logical state of each signal data bit in a group of signal data bits based on the correlation between the level waveform and the logical state of a type of signal data bit, and the correlation between the level waveform category consistency of a type of signal data bit and the logical state of a type of signal data bit.

[0095] Step S804, obtaining distance information of the obstacle according to the logic state of each signal data bit in at least one group of signal data bits.

[0096] The actuator can analyze the logic state of each signal data bit in at least one group of signal data bits to obtain the distance information of the obstacle.

[0097] In the communication method between the ultrasonic sensor module and the actuator, the level waveform category of the first signal data bit is determined to be consistent according to the logic state of the second signal data bit, and the consistency result of the level waveform category is obtained; according to the consistency result of the level waveform category and the logic state of the first signal data bit, the level waveform of the first signal data bit is determined in the preset level waveform to obtain the target level waveform diagram. Although the target level waveform diagram only includes the level waveform of the first signal data bit, the logic state of the first signal data bit and the second signal data bit can be transmitted. Therefore, the target level waveform diagram under the same communication time can transmit a larger amount of data; the communication capacity can be increased without changing the communication line topology and wiring harness cost, thereby increasing the data transmission rate.

[0098] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0099] Based on the same inventive concept, the embodiment of the present application also provides a communication device between an ultrasonic sensor module and an actuator for implementing the communication method between an ultrasonic sensor module and an actuator involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the communication device between one or more ultrasonic sensor modules and actuators provided below can refer to the limitations of the communication method between an ultrasonic sensor module and an actuator above, and will not be repeated here.

[0100] In an exemplary embodiment, Fig. 9 As shown, a communication device between an ultrasonic sensor module and an actuator is provided, which is applied to the ultrasonic sensor module, wherein:

[0101] The logic state acquisition module 901 is used to obtain the logic state of each signal data bit in at least one group of signal data bits according to the distance information of the obstacle determined by the ultrasonic signal; each group of signal data bits includes at least two first-class signal data bits and second-class signal data bits;

[0102] The consistency result acquisition module 902 is used to determine whether the level waveform categories of the first type of signal data bits are consistent according to the logic states of the second type of signal data bits for a single group of signal data bits, and obtain a level waveform category consistency result;

[0103] A level waveform acquisition module 903 is used to determine the level waveform of the data bit of the first type of signal in a preset level waveform according to the level waveform category consistency result and the logic state of the data bit of the first type of signal, so as to obtain a target level waveform;

[0104] The electrical signal sending module 904 is used to send an electrical signal to the actuator according to the target level waveform.

[0105] In one of the embodiments, the logic state acquisition module 901 is also used to: convert the distance information of the obstacle determined according to the ultrasonic signal into a binary number; divide the binary number according to the number of signal data bits included in a single group of signal data bits, and obtain the logic state of each signal data bit in at least one group of signal data bits.

[0106] In one embodiment, the consistency result acquisition module 902 is also used to: when the logic state of the second type of signal data bit is a first logic state, determine that the level waveform category of the first type of signal data bit is consistent, and obtain a level waveform category consistency result; when the logic state of the second type of signal data bit is a second logic state, determine that the level waveform category of the first type of signal data bit is inconsistent, and obtain a level waveform category consistency result.

[0107] In one of the embodiments, the level waveform diagram acquisition module 903 is further used for: when the level waveform category consistency result represents that the level waveform category of the signal data bits of the class is consistent, at least two level waveforms are selected from the preset level waveforms according to the logic states of at least two signal data bits of the class, and they are respectively used as the level waveforms of at least two signal data bits of the class; the categories of the at least two level waveforms are the same; when the level waveform category consistency result represents that the level waveform category of the signal data bits of the class is inconsistent, at least two level waveforms are selected from the preset level waveforms according to the logic states of at least two signal data bits of the class, and they are respectively used as the level waveforms of at least two signal data bits of the class; the categories of the at least two level waveforms are different.

[0108] Each module in the communication device between the ultrasonic sensor module and the actuator can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0109] Based on the same inventive concept, the embodiment of the present application also provides another ultrasonic sensor module and actuator communication device for implementing the above-mentioned another ultrasonic sensor module and actuator communication method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in the embodiments of the communication device between one or more ultrasonic sensor modules and actuators provided below can refer to the above-mentioned limitations on the communication method between the ultrasonic sensor module and the actuator, and will not be repeated here.

[0110] In an exemplary embodiment, Fig.10 As shown, another communication device between an ultrasonic sensor module and an actuator is provided, which is applied to the actuator, wherein:

[0111] The level waveform acquisition module 1001 is used to obtain a target level waveform according to the electrical signal when receiving the electrical signal; the electrical signal is sent by the ultrasonic sensor module;

[0112] A level waveform separation module 1002 is used to separate at least one group of level waveforms from the target level waveform diagram;

[0113] The logic state acquisition module 1003 is used to obtain the logic state of each signal data bit in a group of signal data bits according to the correlation between the level waveform and the logic state of the first type of signal data bits, and the correlation between the consistency of the level waveform category of the first type of signal data bits and the logic state of the second type of signal data bits for a single group of level waveforms;

[0114] The distance information acquisition module 1004 is used to obtain the distance information of the obstacle according to the logic state of each signal data bit in at least one group of signal data bits.

[0115] Each module in the communication device between the ultrasonic sensor module and the actuator can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0116] In one embodiment, an ultrasonic sensor module is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0117] In one embodiment, an executor is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0118] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0119] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0120] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0121] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0122] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0123] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A communication method between an ultrasonic sensor module and an actuator, characterized in that: Applied to the ultrasonic sensor module, the method comprises: Obtaining the logic state of each signal data bit in at least one group of signal data bits according to the distance information of the obstacle determined by the ultrasonic signal; each group of signal data bits includes at least two first-class signal data bits and two-class signal data bits; For a single group of signal data bits, determining whether the level waveform categories of the first type of signal data bits are consistent according to the logic states of the second type of signal data bits, and obtaining a level waveform category consistency result; According to the level waveform category consistency result and the logic state of the signal data bit of the first category, the level waveform of the signal data bit of the first category is determined in the preset level waveform to obtain a target level waveform diagram; According to the target level waveform, an electrical signal is sent to the actuator.

2. The method according to claim 1, characterized in that The step of obtaining the logic state of each signal data bit in at least one group of signal data bits according to the distance information of the obstacle determined by the ultrasonic signal includes: Convert the distance information of the obstacle determined by the ultrasonic signal into a binary number; The binary number is divided according to the number of signal data bits included in a single group of signal data bits to obtain the logic state of each signal data bit in at least one group of signal data bits.

3. The method according to claim 1, characterized in that The determining, according to the logic states of the data bits of the second type of signals, whether the level waveform categories of the data bits of the first type of signals are consistent, and obtaining the level waveform category consistency result, comprises: When the logic state of the data bits of the second type of signals is the first logic state, determining that the level waveform categories of the data bits of the first type of signals are consistent, and obtaining a level waveform category consistency result; When the logic state of the second-category signal data bit is the second logic state, it is determined that the level waveform categories of the first-category signal data bit are inconsistent, and a level waveform category consistency result is obtained.

4. The method according to claim 3, characterized in that The step of determining the level waveform of the data bit of the type of signal in a preset level waveform according to the level waveform category consistency result and the logic state of the data bit of the type of signal comprises: When the level waveform category consistency result indicates that the level waveform categories of the signal data bits of the first category are consistent, at least two level waveforms are selected from the preset level waveforms according to the logic states of at least two signal data bits of the first category, and the at least two level waveforms are respectively used as the level waveforms of the at least two signal data bits of the first category; the categories of the at least two level waveforms are the same; When the level waveform category consistency result represents that the level waveform category of the signal data bits of the class is inconsistent, at least two level waveforms are selected from the preset level waveforms according to the logic states of at least two signal data bits of the class, and are respectively used as the level waveforms of at least two signal data bits of the class; the categories of the at least two level waveforms are different.

5. A communication method between an ultrasonic sensor module and an actuator, characterized in that: Applied to the actuator, the method comprises: When an electrical signal is received, a target level waveform is obtained according to the electrical signal; the electrical signal is sent by the ultrasonic sensor module; Separating at least one group of level waveforms from the target level waveform diagram; For a single group of level waveforms, the logic state of each signal data bit in a group of signal data bits is obtained according to the correlation between the level waveform and the logic state of the first type of signal data bits, and the correlation between the consistency of the level waveform category of the first type of signal data bits and the logic state of the second type of signal data bits; Obstacle distance information is obtained according to the logic state of each signal data bit in at least one group of signal data bits.

6. A communication device between an ultrasonic sensor module and an actuator, characterized in that: Applied to the ultrasonic sensor module, the device comprises: A logic state acquisition module, used to obtain the logic state of each signal data bit in at least one group of signal data bits according to the distance information of the obstacle determined by the ultrasonic signal; each group of signal data bits includes at least two first-class signal data bits and second-class signal data bits; A consistency result acquisition module, for determining, for a single group of signal data bits, whether the level waveform categories of the first type of signal data bits are consistent according to the logic states of the second type of signal data bits, and obtaining a level waveform category consistency result; A level waveform acquisition module, used for determining the level waveform of the data bit of the first type of signal in a preset level waveform according to the consistency result of the level waveform category and the logic state of the data bit of the first type of signal, so as to obtain a target level waveform; The electrical signal sending module is used to send an electrical signal to the actuator according to the target level waveform.

7. A communication device between an ultrasonic sensor module and an actuator, characterized in that: Applied to the actuator, the device comprises: A level waveform acquisition module is used to obtain a target level waveform according to the electrical signal when receiving the electrical signal; the electrical signal is sent by the ultrasonic sensor module; A level waveform separation module, used to separate at least one group of level waveforms from the target level waveform diagram; A logic state acquisition module is used to obtain the logic state of each signal data bit in a group of signal data bits for a single group of level waveforms according to the correlation between the level waveform and the logic state of a type of signal data bit, and the correlation between the consistency of the level waveform category of the type of signal data bit and the logic state of the type of signal data bit; The distance information acquisition module is used to obtain the distance information of the obstacle according to the logic state of each signal data bit in at least one group of signal data bits.

8. An ultrasonic sensor module, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

9. An executor, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to claim 5 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

Images