Vehicle-mounted ultrasonic radar detection method and device and vehicle

Abstract

The embodiment of the invention provides a vehicle-mounted ultrasonic radar detection method and device and a vehicle, and relates to the technical field of vehicle perception, and the main design concept is that after the radar detection condition is normal and meets the expectation, the current background environment sound is collected, the background environment sound is subjected to acoustic analysis, a noise segment is locked, and the noise segment is determined; secondly, with small noise interference as a target, selecting a relatively optimal frequency range from background environment sound as a target working frequency of the ultrasonic radar, and then performing targeted modulation on ultrasonic waves according to the target working frequency; therefore, the ultrasonic waves emitted by the radar, especially the received echoes, can avoid the influence of environmental noise as much as possible. According to the adaptive ground frequency modulation mechanism provided by the invention, the emission frequency is dynamically adjusted by real-time monitored environmental noise, noise interference is effectively avoided, and thus the detection accuracy of the vehicle-mounted ultrasonic radar can be remarkably improved.

Description

[Technical field]

[0001] The embodiments of the present application relate to the field of vehicle perception technology, and in particular, to a vehicle-mounted ultrasonic radar detection method, device and vehicle. [Background technology]

[0002] At present, ultrasonic radar is an important component of the vehicle perception system, which is used to detect obstacles around the vehicle and provide data support for the safe driving of the vehicle. However, when facing complex road environments and interference from multiple noise sources, the detection accuracy and stability of existing ultrasonic radar systems are often affected, which may cause problems such as false alarms or no alarms. [Summary of the invention]

[0003] The embodiments of the present application propose a vehicle-mounted ultrasonic radar detection method, device and vehicle, which relate to the field of vehicle perception technology and can specifically modulate the output signal of the ultrasonic radar based on the sound signal in the background environment to reduce the interference of environmental noise.

[0004] In a first aspect, an embodiment of the present application provides a vehicle-mounted ultrasonic radar detection method, the method comprising:

[0005] After the radar starts detecting, determine whether there are any approaching obstacles;

[0006] When it is determined that there are no approaching obstacles and the static aftershock of the radar transmission signal is normal, the current background ambient sound is picked up;

[0007] Analyzing the preset frequency band of the background ambient sound;

[0008] According to the analysis result, filtering noise spectrum information from the background ambient sound, and determining the target operating frequency of the radar based on the selected noise spectrum information;

[0009] The target operating frequency is utilized to dynamically adjust the ultrasonic output frequency of the radar and perform obstacle detection.

[0010] The technical role of this solution can be referred to as follows: after ensuring that the radar detection conditions are normal and meet expectations, the current background environmental sound is collected, and the background environmental sound is acoustically analyzed to lock the noise segment, and then the relatively optimal frequency range is selected from the background environmental sound with the goal of less noise interference as the target operating frequency of the ultrasonic radar, and then the ultrasonic wave is modulated in a targeted manner according to this target frequency, so that the ultrasonic wave emitted by the radar at this time, especially the received echo, can avoid the influence of environmental noise as much as possible, thereby ensuring the accuracy of detection. This application uses an adaptive frequency modulation mechanism to dynamically adjust the transmission frequency based on the real-time monitored environmental noise, effectively avoiding noise interference, thereby significantly improving the detection accuracy.

[0011] In at least one possible implementation manner, the obstacle detection includes: removing noise in the echo in a targeted manner according to the adjusted ultrasonic frequency range.

[0012] The technical effects of this solution can be referenced as follows: Due to the prior acoustic analysis based on the background environment, the frequency range with less impact on the current situation is screened and locked as the radar wave frequency. Therefore, when performing echo detection, the noise in the echo is suppressed, which can not only reflect the targetedness, but also save noise reduction computing power.

[0013] In at least one possible implementation, the determining whether there is an approaching obstacle includes: detecting the distance between the obstacle and the radar based on a distance detection signal; or, the radar emits at least one ultrasonic wave, and determining whether there is an approaching obstacle based on the residual vibration of the ultrasonic signal.

[0014] In this embodiment, in order to reliably complete the subsequent environmental sound pickup, noise filtering analysis, and modulate the output frequency and perform actual detection, it is preferred to first impose certain constraints on the current detection scene of the radar. The constraints mentioned here are based on the relative position relationship between the obstacle and the radar, thereby ensuring the realization of the concept of this application.

[0015] In at least one possible implementation, a method for determining whether the static aftershock of the radar transmission signal is normal includes:

[0016] The radar continuously emits multiple ultrasonic waves, and the average value of the residual vibration of the multiple ultrasonic signals is obtained;

[0017] If the aftershock mean value is within a preset standard range, it is considered normal, and the aftershock mean value is used as the static aftershock of the radar transmission signal.

[0018] As mentioned above, the normal operation of the radar is also a prerequisite for ensuring the execution of subsequent links, so the radar static residual vibration can be used as an optional consideration.

[0019] In at least one possible implementation, the radar detection method further includes:

[0020] After radar detection begins and before approaching an obstacle, at least the current ambient temperature is acquired through environmental sensing;

[0021] Determine whether the current ambient temperature is within a preset temperature range and meets a predetermined radar operating temperature.

[0022] As mentioned above, in order to ensure the reliable implementation of the method of the present application, the radar working condition considerations may also include the dimension of the ambient temperature of the system and the radar itself.

[0023] In at least one possible implementation manner, the analyzing the preset frequency band of the background ambient sound further includes: performing acoustic analysis in combination with sound velocity data corresponding to the current ambient temperature.

[0024] In this embodiment, the corresponding sound propagation speed is further obtained based on the current temperature. This data can play an auxiliary role in the acoustic analysis of the background environment sound and locking to the target operating frequency segment with relatively minimal interference.

[0025] In a second aspect, an embodiment of the present application provides a vehicle-mounted ultrasonic radar detection device, the device comprising:

[0026] The detection condition detection module is used to determine whether there are approaching obstacles after the radar starts detecting;

[0027] The sound pickup module is used to pick up the current background ambient sound when it is determined that there are no approaching obstacles and the static residual vibration of the radar transmission signal is normal;

[0028] An acoustic analysis module, used for analyzing a preset frequency band of the background ambient sound;

[0029] A modulation target determination module is used to filter noise spectrum information from the background ambient sound according to the analysis result, and determine the target operating frequency of the radar based on the selected noise spectrum information;

[0030] In the detection module, the user utilizes the target operating frequency to dynamically adjust the ultrasonic output frequency of the radar and perform obstacle detection.

[0031] In a third aspect, an embodiment of the present application provides an electronic device, comprising: one or more processors, a memory, and one or more computer programs, wherein the memory may adopt a non-volatile storage medium, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, and when the instructions are executed by the device, the electronic device performs the method as described in the first aspect or any possible implementation manner of the first aspect.

[0032] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer-readable storage medium is run on a computer, the computer executes the method as described in the first aspect or any possible implementation of the first aspect.

[0033] In a fifth aspect, an embodiment of the present application provides a vehicle, comprising the electronic device in the embodiment of the third aspect and the computer-readable storage medium in the embodiment of the fourth aspect.

[0034] It should be understood that the second to fifth aspects of the embodiments of the present application are consistent with the technical solutions of the first aspect of the embodiments of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here.

Brief Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 A schematic diagram of a process flow of a vehicle-mounted ultrasonic radar detection method provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of the structure of a vehicle-mounted ultrasonic radar detection device provided in an embodiment of the present application. [Specific implementation method]

[0038] In order to better understand the technical solution of this specification, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0039] It should be clear that the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0040] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit this specification. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0041] In view of the problem mentioned above that the vehicle-mounted ultrasonic radar may cause abnormal detection or even no alarm when interfered by the background environment, the embodiment of the present application provides a vehicle-mounted ultrasonic radar detection method. The main design concept of the method is to collect the current background environment sound after ensuring that the radar detection conditions are normal and meet expectations, and perform acoustic analysis on the background environment sound to lock the noise segment therefrom, and then select the relatively optimal frequency range from the background environment sound as the target operating frequency of the ultrasonic radar with the goal of less noise interference, and then modulate the ultrasonic wave in a targeted manner according to the target frequency, so that the ultrasonic wave emitted by the radar at this time, especially the received echo, can avoid the influence of environmental noise as much as possible, thereby ensuring the accuracy of detection. The present application uses an adaptive frequency modulation mechanism to dynamically adjust the transmission frequency by the real-time monitored environmental noise, effectively avoiding noise interference, thereby significantly improving the detection accuracy.

[0042] The technical solution protected by the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0043] See also Figure 1 , is a flow chart of a vehicle-mounted ultrasonic radar detection method provided in an embodiment of the present application. The flow of the method is described as follows:

[0044] Step 101: After the radar starts detecting, determine whether there is an approaching obstacle.

[0045] Those skilled in the art can understand that the approach mentioned here is to define the distance between the obstacle and the radar. In other words, one of the main purposes of this embodiment is to exclude special working conditions before modulating the ultrasonic frequency according to the ambient sound. That is, the detected obstacle is not recommended to be too close to the radar. This can be defined by presetting the distance threshold. Of course, it can also be determined by sending a test sound wave as proposed below, which will not be repeated here. And it can be expanded from this concept that, in other embodiments, after starting radar detection and before trying to approach the obstacle, the ultrasonic radar working environment can be detected, and after detecting that it does not meet the established requirements of the working environment, the radar detection is terminated. The method of detecting the working environment mentioned here can be, but is not limited to, referring to the following: through environmental perception, at least the current ambient temperature is obtained, and it is determined whether the current ambient temperature is in a preset temperature range (such as -40℃~80℃) and whether it meets the established radar working temperature. In this preferred embodiment, a decision is made whether to continue the subsequent detection process by considering at least two temperature parameters. One is to detect whether the overall working environment requirements of the system are met, and the other is to detect whether the current ultrasonic radar itself meets its specific working environment requirements. Once any of the conditions are not met, the detection is exited.

[0046] Step 102: When it is determined that there is no approaching obstacle and the static aftervibration of the radar transmission signal is normal, the current background ambient sound is picked up.

[0047] Specifically, at least one test wave can be sent out first to determine whether there is an approaching obstacle at the rear. Since the residual vibration will be infinite when approaching an obstacle, if the infinite residual vibration determines that there is an approaching obstacle, the preset default value can be selected as the static residual vibration (such as 1.2ms); otherwise, continuous waves can be sent (at least twice) and the average value of the residual vibration of multiple transmitted signals can be taken as the current static residual vibration; if the current static residual vibration is within a predetermined range (such as 0.9-1.6ms), it is normal and the average value can be used as the static residual vibration value; if it is not within the predetermined range, a fault code indicating abnormal residual vibration and other information can be output, and this embodiment does not limit this.

[0048] Step 103: Analyze the preset frequency band of the background ambient sound.

[0049] The background environment audio signals collected by microphones and other sound pickup devices are Fourier transformed and analyzed in the frequency domain, especially the audio signals in the frequency band of 44kHz to 58kHz can be analyzed in detail; it can be added here that in the aforementioned preferred embodiment, it is mentioned that the current ambient temperature is obtained in advance, and it can also be proposed from this concept that for the background noise pickup and acoustic analysis link here, the corresponding sound speed data can be read based on the obtained current ambient temperature (a temperature-sound speed mapping table can be constructed in advance through calibration) to assist the analysis process of this link.

[0050] Step 104: According to the analysis result, filter the noise spectrum information from the background ambient sound, and determine the target operating frequency of the radar based on the selected noise spectrum information.

[0051] It is worth noting that the purpose of this link is to find the sound wave frequency with less noise interference from the current background environment sound, which is used to dynamically modulate the output sound wave frequency of the ultrasonic radar sensor to reduce the interference effect of the current surrounding environment noise. Therefore, in actual operation, the frequency band with relatively sparse noise in the current environment can be considered as the ultrasonic modulation target. In addition, if after screening and searching, no suitable frequency that can reduce the impact of noise is found, the ultrasonic wave can be output according to the established default frequency value (such as 48kHz), and this application does not limit this.

[0052] Step 105: Utilize the target operating frequency to dynamically adjust the ultrasonic output frequency of the radar to detect obstacles.

[0053] Finally, the obstacle detection method can be mainly referred to as follows: after emitting the modulated ultrasonic wave, the echo signal is received and amplified, and the amplitude, width, phase and other information of the original echo signal are extracted; then, according to the extracted echo features, and before calculating the obstacle distance information according to the mature TOF (Time-of-Flight) formula, combined with the background noise screening mentioned in the previous text of this application and the concept of locking the specific target operating frequency, it can be further supplemented here that it is preferred to use a noise suppression algorithm to remove the noise information in the modulated target operating frequency in a targeted manner (for example, but not limited to using an intelligent noise suppression algorithm based on machine learning to extract and classify the received echo signals, and distinguish the noise signal from the effective signal, so as to suppress the noise signal), that is, it is only necessary to "target" the noise interference in the echo for the aforementioned adjusted sound wave frequency range. Remove, thereby significantly improving the signal-to-noise ratio and reliably extracting obstacle information, while being able to more reasonably allocate noise suppression computing power and save computing resources.

[0054] See also Figure 2 Based on the same inventive concept, the embodiment of the present application also provides a vehicle-mounted ultrasonic radar detection device, which includes:

[0055] The detection condition detection module 201 is used to determine whether there is an approaching obstacle after the radar starts detecting;

[0056] The sound pickup module 202 is used to pick up the current background ambient sound when it is determined that there is no approaching obstacle and the static residual vibration of the radar transmission signal is normal;

[0057] The acoustic analysis module 203 is used to analyze the preset frequency band of the background ambient sound;

[0058] The modulation target determination module 204 is used to filter noise spectrum information from the background ambient sound according to the analysis result, and determine the target operating frequency of the radar based on the selected noise spectrum information;

[0059] In the detection module 205, the user utilizes the target operating frequency to dynamically adjust the ultrasonic output frequency of the radar and perform obstacle detection.

[0060] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including at least one processor, which is used to execute a computer program stored in a memory to implement the flow chart steps of the above-mentioned vehicle-mounted ultrasonic radar detection method provided in the embodiment of the present application.

[0061] Optionally, the processor may specifically be a central processing unit, a specific ASIC, or one or more integrated circuits for controlling program execution.

[0062] Optionally, the electronic device may further include a memory connected to at least one processor, and the memory may include ROM, RAM, and disk storage. The memory is used to store data required by the processor when it is running, that is, it stores instructions that can be executed by at least one processor, and at least one processor executes the methods mentioned in the above embodiments by executing the instructions stored in the memory. Among them, the number of memories is one or more. Among them, the number of memories is one or more.

[0063] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores computer instructions. When the computer instructions are executed on a computer, the computer executes the methods mentioned in the above embodiments.

[0064] Based on the same inventive concept, the embodiment of the present application further provides a vehicle, comprising at least the above electronic device and / or computer-readable storage medium. The selection of the vehicle can be determined based on the correct understanding and reasonable implementation of the above solution by those skilled in the art.

[0065] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A vehicle-mounted ultrasonic radar detection method, characterized in that: The method comprises: After the radar starts detecting, determine whether there are any approaching obstacles; When it is determined that there are no approaching obstacles and the static aftershock of the radar transmission signal is normal, the current background ambient sound is picked up; Analyzing the preset frequency band of the background ambient sound; According to the analysis result, filtering noise spectrum information from the background ambient sound, and determining the target operating frequency of the radar based on the selected noise spectrum information; The target operating frequency is utilized to dynamically adjust the ultrasonic output frequency of the radar and perform obstacle detection.

2. The vehicle-mounted ultrasonic radar detection method according to claim 1, characterized in that: The obstacle detection includes: removing noise in the echo in a targeted manner according to the adjusted ultrasonic frequency range.

3. The vehicle-mounted ultrasonic radar detection method according to claim 1, characterized in that: The determining whether there is an approaching obstacle includes: detecting the distance between the obstacle and the radar according to the distance detection signal; or, the radar emits at least one ultrasonic wave, and determining whether there is an approaching obstacle according to the residual vibration of the ultrasonic wave signal.

4. The vehicle-mounted ultrasonic radar detection method according to claim 1, characterized in that: Methods for judging whether the static residual vibration of the radar transmission signal is normal include: The radar continuously emits multiple ultrasonic waves, and the average value of the residual vibration of the multiple ultrasonic signals is obtained; If the aftershock mean value is within a preset standard range, it is considered normal, and the aftershock mean value is used as the static aftershock of the radar transmission signal.

5. The vehicle-mounted ultrasonic radar detection method according to claim 1, characterized in that: The radar detection method further comprises: After radar detection begins and before approaching an obstacle, at least the current ambient temperature is acquired through environmental sensing; Determine whether the current ambient temperature is within a preset temperature range and meets a predetermined radar operating temperature.

6. The vehicle-mounted ultrasonic radar detection method according to any one of claims 1 to 5, characterized in that: The analyzing the preset frequency band of the background ambient sound also includes: performing acoustic analysis in combination with sound speed data corresponding to the current ambient temperature.

7. A vehicle-mounted ultrasonic radar detection device, characterized in that: The device comprises: The detection condition detection module is used to determine whether there are approaching obstacles after the radar starts detecting; The sound pickup module is used to pick up the current background ambient sound when it is determined that there are no approaching obstacles and the static residual vibration of the radar transmission signal is normal; An acoustic analysis module, used for analyzing a preset frequency band of the background ambient sound; A modulation target determination module is used to filter noise spectrum information from the background ambient sound according to the analysis result, and determine the target operating frequency of the radar based on the selected noise spectrum information; In the detection module, the user utilizes the target operating frequency to dynamically adjust the ultrasonic output frequency of the radar and perform obstacle detection.

8. An electronic device, characterized in that: include: One or more processors, a memory and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the electronic device, enable the electronic device to execute the vehicle-mounted ultrasonic radar detection method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle-mounted ultrasonic radar detection method according to any one of claims 1 to 6 is implemented.

10. A vehicle, characterized in that: The vehicle is provided with the electronic device of claim 8 or the computer-readable storage medium of claim 9.

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