Obstacle risk determination method, system and equipment based on ultrasonic radar

Abstract

The invention relates to the technical field of ultrasonic radar signal processing, and provides an obstacle risk determination method, system and device based on an ultrasonic radar. The obstacle risk determination method comprises the steps that under the condition that an obstacle is detected, a first reference distance from the obstacle to a first ultrasonic radar is determined, a second reference distance from the obstacle to a second ultrasonic radar is determined, and the first ultrasonic radar and the second ultrasonic radar are arranged in a staggered mode; determining a three-dimensional position parameter of the obstacle relative to the reference position based on the first reference distance, the second reference distance and the position conversion parameter; and performing risk judgment on the obstacle based on the three-dimensional position parameters. According to the technical scheme, the three-dimensional position information of the obstacle can be judged based on the echo signals collected by the two ultrasonic radars arranged in the staggered mode, risk judgment can be conducted on the obstacle based on the three-dimensional position information of the obstacle, and therefore the accuracy of obstacle risk judgment can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of ultrasonic radar signal processing, and in particular to an obstacle risk determination method, system and device based on ultrasonic radar. Background Art

[0002] Ultrasonic radar distance measurement calculates the distance based on the time difference between the emission and reception of sound waves. Its core principle is: the transmitter sends out ultrasonic pulses, and the sound waves are captured by the receiver after being reflected by obstacles, and the distance is calculated using the sound wave propagation formula. Due to the limitations of the sound energy converter, the ultrasonic radar has a relatively fixed detection angle. A reasonable algorithm is needed to determine the visual angle of the ultrasonic radar, so as to shield some areas that do not need to be detected, such as the ground and targets that are too far away on the side.

[0003] Based on the existing ultrasonic transducers, the echo intensity of waves emitted at different angles is not much different at long distances. In practical applications, since the emission angle of the ultrasonic transducer is too large, it cannot effectively display the target range required for measurement. In one solution provided in the related art, by comparing the echo intensity of the middle target and the side target, a fixed threshold is used to distinguish the detection; in another solution, by reducing the sensitivity of the wave emission, the echo intensity of the target outside the area is weakened, and at the same time, the echo intensity of the target in the area is also weakened.

[0004] However, in practice, it is found that the solutions in related technologies have the following disadvantages: 1. Fixed threshold detection is prone to false triggering in low signal-to-noise ratio scenes and has poor adaptability to dynamic noise; 2. Reducing the overall sensitivity will greatly reduce the detection capability and the controllable range capability is weak. These will affect the accuracy of obstacle risk judgment, so improvements are needed. Summary of the invention

[0005] In order to help improve the accuracy of obstacle risk judgment, the present application provides an obstacle risk determination method, system and device based on ultrasonic radar.

[0006] In a first aspect, the present application provides an obstacle risk determination method based on ultrasonic radar, which adopts the following technical solution: A method for determining obstacle risk based on ultrasonic radar, the method comprising: When an obstacle is detected, a first reference distance from the obstacle to the first ultrasonic radar is determined based on a first echo signal collected by the first ultrasonic radar, and a second reference distance from the obstacle to the second ultrasonic radar is determined based on a second echo signal collected by the second ultrasonic radar, wherein the first ultrasonic radar and the second ultrasonic radar are staggered; Determining a three-dimensional position parameter of the obstacle relative to a reference position based on the first reference distance, the second reference distance, and a position conversion parameter, wherein the position conversion parameter is preset based on a horizontal distance and a vertical distance between the first ultrasonic radar and the second ultrasonic radar and a relative position relationship between the reference position and the first ultrasonic radar and / or the second ultrasonic radar; A risk assessment is performed on the obstacle based on the three-dimensional position parameters.

[0007] By adopting the above technical solution, the three-dimensional position information of the obstacle can be judged based on the echo signals collected by the two staggered ultrasonic radars, and the risk of the obstacle can be judged based on the three-dimensional position information of the obstacle, which can help improve the accuracy of obstacle risk judgment.

[0008] Optionally, the performing risk assessment on the obstacle based on the three-dimensional position parameter includes: Determining whether the obstacle height corresponding to the obstacle is less than a preset height threshold based on the upper and lower position parameters in the three-dimensional position parameters; When the height of the obstacle is less than the height threshold, it is determined that there is no risk associated with the obstacle.

[0009] By adopting the above technical scheme, the height of the obstacle can be determined using the upper and lower position parameters in the three-dimensional position parameters of the obstacle, and the risk of the obstacle can be judged in combination with the height of the obstacle. This can help to accurately judge the risk of obstacles with lower heights, and further help to improve the accuracy of the risk judgment results.

[0010] Optionally, after determining whether the obstacle height corresponding to the obstacle is less than a preset height threshold based on the up and down position parameters, the method further includes: When the height of the obstacle is greater than or equal to the height threshold, determining whether the front-to-back distance corresponding to the obstacle is greater than a distance threshold based on the front-to-back position parameters in the three-dimensional position parameters; When the front-to-rear distance is greater than the distance threshold, it is determined that there is no risk associated with the obstacle.

[0011] By adopting the above technical solution, when it is determined that the height of an obstacle is relatively high, the risk of the obstacle can be further judged in combination with the distance between the obstacle and the front and rear, which can help to accurately judge the risk of obstacles that are farther away, and further help to improve the accuracy of the risk judgment results.

[0012] Optionally, after determining whether the front-to-rear distance corresponding to the obstacle is greater than a preset distance threshold based on the front-to-rear position parameters, the method further includes: When the front-to-back distance is less than or equal to a distance threshold, determining a left-right distance corresponding to the obstacle based on left-right position parameters in the three-dimensional position parameters; determining a risk distance based on the left-right distance, the left-right distance being positively correlated with the risk distance, and the risk distance being less than the distance threshold; Determining whether the front-to-back distance is greater than the risk distance; When the front-to-rear distance is greater than the risk distance, it is determined that the obstacle does not pose a risk.

[0013] When the front-to-back distance is less than the risk distance, it is determined that the obstacle has a risk, and the risk degree is determined based on the difference value between the front-to-back distance and the risk distance, and the risk degree is positively correlated with the difference value.

[0014] By adopting the above technical solution, when the front-to-back distance is less than or equal to the distance threshold, the risk level of the obstacle can be dynamically determined by combining the left-right distance and the front-to-back distance, which can help improve the accuracy of obstacle risk judgment.

[0015] Optionally, when an obstacle is detected, determining a first reference distance corresponding to the obstacle based on a first echo signal collected by a first ultrasonic radar, and determining a second reference distance corresponding to the obstacle based on a second echo signal collected by a second ultrasonic radar includes: When an obstacle is detected, controlling the first ultrasonic radar to send a first detection signal, and recording the first signal transmission time of the detection signal; Determine the first reference distance based on a first interval between a first signal receiving time when the first ultrasonic radar receives a first echo signal corresponding to the first detection signal and a first signal transmitting time; The second reference distance is determined based on a second interval between a second signal receiving time when the second ultrasonic radar receives a second echo signal corresponding to the first detection signal and a first signal transmitting time, and the first reference distance.

[0016] Optionally, before determining the first reference distance based on a first interval between a first signal reception time when the first ultrasonic radar receives a first echo signal corresponding to the first detection signal and a first signal transmission time, the method further includes: Determining whether a ratio of the second interval duration to the first interval duration is greater than a preset ratio threshold; When the ratio of the second interval duration to the first interval duration is greater than the ratio threshold, it is determined that there is an abnormality in the first signal reception time, and the step of determining the first reference distance based on the first interval duration between the first signal reception time when the first echo signal corresponding to the first detection signal is received by the first ultrasonic radar and the first signal transmission time is not performed.

[0017] By adopting the above technical solution, before determining the first reference distance based on the first interval duration, it is possible to first determine whether there is an abnormality in the first signal reception time based on the relationship between the ratio of the second interval duration to the first interval duration and the ratio threshold, and only when the ratio is greater than the ratio threshold, perform the step of determining the first reference distance based on the first interval duration. This can help ensure the accuracy of the first reference distance and the second reference distance that are ultimately determined, and further help ensure the accuracy of the abnormality judgment result.

[0018] Optionally, after determining whether the ratio of the second interval duration to the first interval duration is greater than a preset ratio threshold, the method further includes: When the ratio of the second interval duration to the first interval duration is less than or equal to the ratio threshold, controlling the second ultrasonic radar to send a second detection signal, and recording a second signal transmission time of the second detection signal; Determine the second reference distance based on a third interval between a third signal reception time when the ultrasonic radar receives a second echo signal corresponding to the second detection signal and a second signal transmission time; The first reference distance is determined based on the first signal transmission time, the second signal reception time, and the second reference distance.

[0019] By adopting the above technical solution, when it is determined that there is an abnormality in the first signal reception time, the first reference distance and the second reference distance can be calculated by additionally sending the second detection signal to avoid the first signal reception time. This can help enhance the robustness of the system and ensure the reliable operation of the system.

[0020] Optionally, the position conversion parameter includes: a radar distance and a radar angle, wherein the radar distance is a straight-line distance between the first ultrasonic radar and the second ultrasonic radar, and the radar angle is an angle between a radar connection line between the first ultrasonic radar and the second ultrasonic radar and a horizontal plane; The three-dimensional position parameters include up-down position parameters and left-right position parameters, and determining the three-dimensional position parameters of the obstacle relative to the reference position based on the first reference distance, the second reference distance, and the position conversion parameters includes: determining an obstacle projection angle based on the first reference distance, the second reference distance, and the radar distance, wherein the obstacle projection angle is an angle between an obstacle connection line between an orthographic projection position of the obstacle on a vertical plane where the first ultrasonic radar and the second ultrasonic radar are located and the first ultrasonic radar and a radar connection line, wherein the first ultrasonic radar is located above the second ultrasonic radar; The up-down position parameter and the left-right position parameter are determined based on the first reference distance, the obstacle projection angle, and the radar projection angle.

[0021] In a second aspect, the present application provides an ultrasonic radar system, which adopts the following technical solution: An ultrasonic radar system, the system comprising: a controller and a first ultrasonic radar and a second ultrasonic radar connected to the controller by signal, wherein the first ultrasonic radar and the second ultrasonic radar are staggered; The controller is used to execute any one of the obstacle risk determination methods based on ultrasonic radar provided in the first aspect.

[0022] In a third aspect, the present application provides an electronic device, which adopts the following technical solution: An electronic device, comprising: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute any one of the obstacle risk determination methods based on ultrasonic radar provided in the first aspect.

[0023] In summary, the present application includes at least one of the following beneficial technical effects: The three-dimensional position information of the obstacle can be judged based on the echo signals collected by the two staggered ultrasonic radars, and the risk of the obstacle can be judged based on the three-dimensional position information of the obstacle, which can help improve the accuracy of the obstacle risk judgment; Since the three-dimensional position information of the obstacle can be determined, the influence of the obstacle height on the position determination result in the two-dimensional position determination can be avoided, which can help improve the accuracy of the determined obstacle position. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a structural schematic diagram of an ultrasonic radar system provided in an embodiment of the present application; Figure 2 is a schematic diagram of an ultrasonic radar setting position provided in an embodiment of the present application; Figure 3 It is a flowchart of an obstacle risk determination method based on ultrasonic radar provided in an embodiment of the present application; Figure 4 It is a flowchart of a risk judgment method provided in an embodiment of the present application; Figure 5 It is a flowchart of a reference distance determination method provided in an embodiment of the present application; Figure 6 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figures 1 to 6 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.

[0026] The present application embodiment discloses an ultrasonic radar system. Figure 1 The ultrasonic radar system includes: a controller 110 and a first ultrasonic radar 120 and a second ultrasonic radar 130 connected to the controller 110 by signal, and the first ultrasonic radar 120 and the second ultrasonic radar 130 are staggered; The staggered arrangement means that the connecting line between the first ultrasonic radar 120 and the second ultrasonic radar 130 is neither perpendicular to the horizontal plane nor perpendicular to the horizontal plane, that is, the angle between the connecting line and the horizontal plane is an acute angle. Figure 2 , the first ultrasonic radar S1 is located to the upper right of the second ultrasonic radar S2, Figure 2 In the figure, K is the projection position of the obstacle on the vertical plane where the first ultrasonic radar S1 and the second ultrasonic radar S2 are located, S1-S2 is the straight-line distance between the first ultrasonic radar S1 and the second ultrasonic radar; α is the angle between the radar connection line between the first ultrasonic radar S1 and the second ultrasonic radar S1 and the horizontal plane; β is the angle between the orthographic projection position K of the obstacle on the vertical plane where the first ultrasonic radar S1 and the second ultrasonic radar S1 are located and the obstacle connection line between the first ultrasonic radar and the radar connection line. In actual implementation, the first ultrasonic radar 120 can also be located at the lower right, upper left or upper right of the second ultrasonic radar 130, as long as the conditions for the staggered setting are met. This embodiment does not limit the relative position relationship between the first ultrasonic radar 120 and the second ultrasonic radar 130.

[0027] In actual implementation, the first ultrasonic radar 120 and the second ultrasonic radar 130 are installed on the same side of the vehicle, such as the front side or the rear side of the vehicle, which can help ensure the consistency of obstacle detection.

[0028] It should be noted that the first ultrasonic radar 120 and the second ultrasonic radar 130 are only used to describe ultrasonic radars that are staggered with each other, and are not used to limit the number and positions of ultrasonic radars. In other words, there may be multiple first ultrasonic radars 120 and second ultrasonic radars 130 on the vehicle, and the same ultrasonic radar can also be used as the first ultrasonic radar 120 and the second ultrasonic radar 130 in different recognition scenarios.

[0029] The controller 110 may be a controller independently provided for the laser radar system (eg, MCU), or may be a vehicle domain controller or a central controller, as long as it is capable of controlling the ultrasonic radar.

[0030] The present application also provides an obstacle risk determination method based on ultrasonic radar, which is used in the controller of the ultrasonic radar system provided in the above embodiment, referring to Figure 3 , the obstacle risk determination method includes the following steps: Step 201, when an obstacle is detected, determining a first reference distance from the obstacle to the first ultrasonic radar based on a first echo signal collected by the first ultrasonic radar, and determining a second reference distance from the obstacle to the second ultrasonic radar based on a second echo signal collected by the second ultrasonic radar.

[0031] The first ultrasonic radar and the second ultrasonic radar are staggered. The specific configuration is shown in the above system embodiment and will not be described here.

[0032] The echo signal is generated by the detection signal sent by the ultrasonic radar after being reflected by the obstacle. Specifically, the detection signal may be sent by the first ultrasonic radar or the second ultrasonic radar, or may be sent by other ultrasonic radars other than the first ultrasonic radar and the second ultrasonic radar.

[0033] Optionally, when the detection signal is sent by the first ultrasonic radar or the second ultrasonic radar, the first reference distance and the second reference distance can be determined based on the transmission time of the detection signal, the reception time of the first echo signal, and the reception time corresponding to the second echo signal.

[0034] Furthermore, in the case where the detection signal is sent by other ultrasonic radars, when calculating the first reference distance and the second reference distance, it is also necessary to further consider the time when the ultrasonic radar receives the corresponding echo signal.

[0035] Step 202: Determine the three-dimensional position parameters of the obstacle relative to the reference position based on the first reference distance, the second reference distance, and the position conversion parameter.

[0036] The position conversion parameters are preset based on the horizontal distance and vertical distance between the first ultrasonic radar and the second ultrasonic radar and the relative position relationship between the reference position and the first ultrasonic radar and / or the second ultrasonic radar.

[0037] The reference position is preset. In one example, the reference position is the position where the first ultrasonic radar or the second ultrasonic radar is located.

[0038] The three-dimensional position parameter is used to indicate the position difference of the obstacle in the left-right, front-back, and top-bottom dimensions relative to the reference position. Specifically, since the first ultrasonic radar and the second ultrasonic radar are staggered, in addition to the front-back position difference, the position difference between the obstacle and the reference position in the left-right and top-bottom dimensions can also be analyzed based on the first reference distance and the second reference distance, which can help to accurately determine the position of the obstacle in the three-dimensional space, and then can help to analyze the risk of the obstacle in combination with the three-dimensional space position. In one example, the three-dimensional position parameters include top-bottom position parameters, front-back position parameters, and left-right position parameters.

[0039] In one example, the position conversion parameters include: radar distance and radar angle. Specifically, the radar distance is the straight-line distance between the first ultrasonic radar and the second ultrasonic radar, and the radar angle is the angle between the radar connection line between the first ultrasonic radar and the second ultrasonic radar and the horizontal plane.

[0040] Correspondingly, the three-dimensional position parameters include up and down position parameters and left and right position parameters. The three-dimensional position parameters of the obstacle relative to the reference position are determined based on the first reference distance, the second reference distance and the position conversion parameters, including: determining the obstacle projection angle based on the first reference distance, the second reference distance and the radar distance; determining the up and down position parameters and left and right position parameters based on the first reference distance, the obstacle projection angle and the radar projection angle.

[0041] Among them, the obstacle projection angle is the angle between the obstacle connection line between the orthographic projection position of the obstacle on the vertical plane where the first ultrasonic radar and the second ultrasonic radar are located and the first ultrasonic radar and the radar connection line, and the first ultrasonic radar is located above the second ultrasonic radar.

[0042] In one example, reference Figure 2 , the obstacle projection angle is determined based on the first reference distance, the second reference distance and the radar distance, and is expressed by the following formula:

[0043] Where β is the obstacle projection angle; D1 is the first reference distance; D s1-s2 is the radar distance; D2 is the second reference distance.

[0044] The up-down position parameters and the left-right position parameters are determined based on the first reference distance, the obstacle projection angle, and the radar projection angle, and are expressed by the following formula:

[0045]

[0046]

[0047] Among them, α is the radar projection angle; β is the obstacle projection angle; ∆x is the up and down position parameter; ∆y is the up and down position parameter; D1 is the first reference distance; D s1-s2 is the radar distance; D2 is the second reference distance.

[0048] Correspondingly, the three-dimensional position parameters include front and rear position parameters. Correspondingly, the three-dimensional position parameters of the obstacle relative to the reference position are determined based on the first reference distance, the second reference distance and the position conversion parameters, including: determining the front and rear position parameters based on the first reference distance, the second reference distance and the radar distance.

[0049] In one example, the front and rear position parameters are determined based on the first reference distance, the second reference distance, and the radar distance, and are expressed by the following formula:

[0050] Where D1 is the first reference distance; D s1-s2 is the radar distance; D2 is the second reference distance.

[0051] Step 203: Perform risk assessment on obstacles based on the three-dimensional position parameters.

[0052] In one example, performing risk assessment on an obstacle based on three-dimensional position parameters includes: determining whether the obstacle is within a preset risk range based on the three-dimensional position parameters; if so, determining that the obstacle presents a risk; if not, determining that the obstacle does not present a risk.

[0053] The risk range is smaller than the detection ranges of the first ultrasonic radar and the second ultrasonic radar. Specifically, since obstacles within the detection range of the ultrasonic radar can be screened based on the risk range, the obstacle detection range can be adjusted without interfering with the normal operation of the ultrasonic radar, which can help improve the accuracy of obstacle risk judgment.

[0054] Furthermore, the risk range can be a three-dimensional range, that is, in addition to the front and back and left and right positions, it can also include the up and down dimensions. This can help reduce the impact of some low obstacles on risk judgment, and thus help further improve the accuracy of obstacle risk judgment.

[0055] In some embodiments, after making a risk assessment of an obstacle based on the three-dimensional position parameters, the method further includes: obtaining a predicted driving trajectory of the vehicle when it is determined based on the three-dimensional position parameters that the obstacle does not pose a risk; determining whether the minimum distance from the obstacle to the predicted driving trajectory determined based on the three-dimensional position parameters is less than a preset distance threshold; if so, determining that the obstacle poses a risk. Furthermore, when the minimum distance from the obstacle to the vehicle's driving rules is less than a preset record threshold, the method further includes: outputting abnormal prompt information to prompt the vehicle to avoid the obstacle.

[0056] The vehicle driving trajectory may be obtained from the vehicle's automatic driving system or navigation system.

[0057] In one example, the vehicle's driving trajectory includes a lane, and accordingly, if an obstacle is on the lane that the vehicle is about to travel, it is determined that the obstacle poses a risk.

[0058] The implementation principle of the obstacle risk determination method based on ultrasonic radar provided in the embodiment of the present application is: when an obstacle is detected, the first reference distance from the obstacle to the first ultrasonic radar is determined based on the first echo signal collected by the first ultrasonic radar, and the second reference distance from the obstacle to the second ultrasonic radar is determined based on the second echo signal collected by the second ultrasonic radar, and the first ultrasonic radar and the second ultrasonic radar are staggered; the three-dimensional position parameters of the obstacle relative to the reference position are determined based on the first reference distance, the second reference distance and the position conversion parameters; the risk of the obstacle is judged based on the three-dimensional position parameters. By adopting the above technical solution, the three-dimensional position information of the obstacle can be judged based on the echo signals collected by the two staggered ultrasonic radars, and the risk of the obstacle can be judged based on the three-dimensional position information of the obstacle, which can help improve the accuracy of the obstacle risk judgment.

[0059] At the same time, since the three-dimensional position information of the obstacle can be determined, the influence of the obstacle height on the position determination result in the two-dimensional position determination can be avoided, which can help improve the accuracy of the determined obstacle position.

[0060] In some embodiments, reference Figure 4 , step 203, judging the risk of obstacles based on the three-dimensional position parameters, including: Step 301: Determine whether the obstacle height corresponding to the obstacle is less than a preset height threshold based on the upper and lower position parameters in the three-dimensional position parameters.

[0061] The up-down position parameters are used to indicate the difference between the obstacle and the reference position in the up-down direction. Since the height of the reference position is fixed and can be predetermined, the height of the obstacle can be determined based on the up-down position parameters.

[0062] In one example, the height threshold is represented by a position parameter, and determining whether the obstacle height corresponding to the obstacle is less than a preset height threshold is determined based on the upper and lower position parameters in the three-dimensional position parameters, including: determining whether the upper and lower position parameters are less than the position parameters corresponding to the height threshold; if so, determining that the obstacle height is less than the height threshold; if not, determining that the obstacle height is greater than or equal to the height threshold.

[0063] In actual implementation, the height threshold can also be expressed by a specific numerical value. In this case, the upper and lower position parameters need to be converted based on a preset height conversion relationship before comparison. The height conversion relationship is set based on the height of the reference position and the correspondence between the upper and lower position parameters and the height.

[0064] Step 302: When the height of the obstacle is less than the height threshold, it is determined that the obstacle does not pose a risk.

[0065] When the height of the obstacle is greater than or equal to the height threshold, it can be directly determined that the obstacle poses a risk, or it can be further determined based on other methods whether the obstacle poses a risk.

[0066] In practice, it is found that for some relatively low obstacles, the traditional monitoring method based on ultrasonic radar is prone to misjudgment due to its inability to perceive their height, which in turn affects the accuracy of obstacle risk judgment. Based on this, in this embodiment, the height of the obstacle is determined using the upper and lower position parameters in the three-dimensional position parameters of the obstacle, and the risk of the obstacle is judged in combination with the height of the obstacle. This can help to accurately judge the risk of relatively low obstacles, and thus help to improve the accuracy of the risk judgment results.

[0067] For further information, please refer to Figure 4 , step 201, after determining whether the obstacle height corresponding to the obstacle is less than a preset height threshold based on the upper and lower position parameters in the three-dimensional position parameters, further comprising: Step 303: When the height of the obstacle is greater than or equal to the height threshold, determine whether the front-to-back distance corresponding to the obstacle is greater than the distance threshold based on the front-to-back position parameters in the three-dimensional position parameters.

[0068] Among them, the front and rear position parameters are used to indicate the distance of the obstacle relative to the reference position in the front and rear directions.

[0069] Optionally, the distance threshold is represented by a position parameter, and determining whether the front-to-back distance corresponding to the obstacle is greater than the distance threshold based on the front-to-back position parameters in the three-dimensional position parameters includes: determining whether the front-to-back position parameters are greater than the position parameters corresponding to the distance threshold; if so, determining that the front-to-back distance is greater than the distance threshold; if not, determining that the front-to-back distance is less than or equal to the distance threshold.

[0070] In actual implementation, the distance threshold may also be represented by a specific numerical value. In this case, the front and rear position parameters need to be converted based on a preset distance conversion relationship before comparison, and the correspondence between the distance position parameter and the distance is set.

[0071] In one example, the distance threshold is preset, for example, the distance threshold is 5 meters.

[0072] In another example, the distance threshold is dynamically determined in combination with the actual situation of the vehicle. In this case, the distance threshold is positively correlated with the vehicle's driving speed, that is, the greater the vehicle's driving speed, the greater the distance threshold. In this way, the obstacle risk judgment standard can be adjusted accordingly in combination with the actual situation of the vehicle, which can help improve the accuracy of the risk judgment result.

[0073] Step 304: When the front-to-rear distance is greater than the distance threshold, it is determined that there is no risk of the obstacle.

[0074] Optionally, when the front-to-back distance is less than or equal to the distance threshold, it can be directly determined that the obstacle presents a risk, or the risk of the obstacle can be further judged based on other methods.

[0075] In the above technical solution, when it is judged that the height of the obstacle is relatively high, the front and rear distance corresponding to the obstacle is determined based on the front and rear position parameters, and when the front and rear distance is greater than the distance threshold, it is determined that there is no risk of the obstacle. In this way, the risk of the obstacle can be judged in combination with the front and rear distance of the obstacle, which can help to accurately judge the risk of obstacles that are farther away, and further help to improve the accuracy of the risk judgment results.

[0076] For further reference, Figure 4 , step 203, after determining whether the front-to-back distance corresponding to the obstacle is greater than a preset distance threshold based on the front-to-back position parameters, further comprising: Step 305: When the front-to-back distance is less than or equal to the distance threshold, determine the left-right distance corresponding to the obstacle based on the left-right position parameters in the three-dimensional position parameters.

[0077] Specifically, the left-right distance corresponding to the obstacle is determined based on the left-right position parameters in the three-dimensional position parameters by converting the left-right position parameters through a preset left-right distance conversion method to obtain the left-right distance. The left-right distance conversion method is set based on the reference left-right distance corresponding to the reference position and the corresponding relationship between the left-right position parameters and the left-right distance.

[0078] Step 306, determining the risk distance based on the left-right distance.

[0079] Among them, the left-right distance is positively correlated with the risk distance, and the risk distance is less than the distance threshold.

[0080] In one example, the distance threshold is fixed, and the corresponding relationship between the left and right distance and the risk distance is preset, for example, the left and right distance is 0.5 meters.

[0081] In another example, the distance threshold is determined dynamically, and the risk distance is determined based on the left and right distances, including: determining a distance adjustment coefficient based on the left and right distances; and determining the product of the distance adjustment coefficient and the distance threshold as the risk distance.

[0082] The distance adjustment coefficient is a value greater than 0 and less than or equal to 1. In one example, the left-right distance is positively correlated with the distance adjustment coefficient, that is, the larger the left-right distance is, the larger the distance adjustment coefficient is, and the corresponding risk distance is greater.

[0083] Step 307, determining whether the front-to-back distance is greater than the risk distance.

[0084] Step 308: When the front-to-rear distance is greater than the risk distance, it is determined that the obstacle does not pose a risk.

[0085] Step 309: When the front-to-back distance is less than the risk distance, it is determined that there is a risk of the obstacle, and the degree of risk is determined based on the difference between the front-to-back distance and the risk distance.

[0086] Among them, the risk level is positively correlated with the gap value. For example, the risk level is the ratio of the gap value to the risk distance. The larger the ratio, the higher the risk level.

[0087] In actual implementation, the risk level may be further determined in combination with other factors, for example, the risk level may be determined in combination with the vehicle's driving speed.

[0088] In the above technical solution, when the front-to-back distance is less than or equal to the distance threshold, the risk distance is further determined dynamically in combination with the left-right distance. When the front-to-back distance is less than the risk distance, it is determined that there is a risk of an obstacle, and the risk degree is further determined in combination with the difference between the front-to-back distance and the risk distance. In this way, the risk degree of the obstacle can be dynamically determined in combination with the left-right distance and the front-to-back distance, which can help improve the accuracy of obstacle risk judgment.

[0089] In some embodiments, reference Figure 5 Step 201, when an obstacle is detected, determining a first reference distance from the obstacle to the first ultrasonic radar based on a first echo signal collected by the first ultrasonic radar, and determining a second reference distance from the obstacle to the second ultrasonic radar based on a second echo signal collected by the second ultrasonic radar, comprising the following steps: Step 401, when an obstacle is detected, control the first ultrasonic radar to send a first detection signal, and record the first signal transmission time of the detection signal.

[0090] Step 402 , determining a first reference distance based on a first interval between a first signal receiving time when a first ultrasonic radar receives a first echo signal corresponding to a first detection signal and a first signal transmitting time.

[0091] Specifically, the first reference distance is calculated by the following formula:

[0092] Where D1 is the first reference distance; T 10 is the first signal transmission time; T 11 is the first signal receiving time; V is the ultrasonic propagation speed, 340m / s.

[0093] Step 403 , determining a second reference distance based on a second interval between a second signal receiving time when a second ultrasonic radar receives a second echo signal corresponding to the first detection signal and a first signal transmitting time, and the first reference distance.

[0094] Specifically, the second reference distance is calculated by the following formula:

[0095] Wherein, D2 is the second reference distance; T 10 is the first signal transmission time; T 12 is the second signal receiving time; V is the ultrasonic propagation speed, 340m / s; D1 is the first reference distance.

[0096] In the above implementation, the first reference distance and the second reference distance can be determined based on the first ultrasonic radar and the second ultrasonic radar without relying on other ultrasonic radars, which can improve efficiency and reduce deployment costs.

[0097] For further information, please refer to Figure 5 , step 402, before determining the first reference distance based on the first interval between the first signal receiving time and the first signal transmitting time of the first echo signal corresponding to the first detection signal received by the first ultrasonic radar, further comprising: Step 404: determine whether the ratio of the second interval duration to the first interval duration is greater than a preset ratio threshold.

[0098] Specifically, since the first echo signal and the second echo signal are both obtained by the detection signal being reflected by an obstacle, the first interval duration is twice the transmission time of the sound wave from the first ultrasonic radar to the obstacle, and the second interval duration also includes the transmission time of the first detection signal from the first ultrasonic radar. Therefore, in theory, the second interval duration should be greater than half of the first interval duration.

[0099] However, if there is an abnormality in the signal receiving function of the first ultrasonic radar, the first echo signal may be omitted, resulting in the calculated first interval duration being larger than the actual first interval duration, thereby affecting the accuracy of the calculation of the first reference distance and the second reference distance, and causing risk misjudgment and safety risks.

[0100] Based on the above considerations, in this implementation, the abnormality of the first interval duration is judged by the relationship between the ratio of the second interval duration to the first interval duration and the ratio threshold, so as to timely discover the abnormality of the first interval duration.

[0101] In one example, the ratio threshold is 1 / 2. In actual implementation, considering the error in calculating the interval duration, the ratio threshold may be slightly less than 1 / 2, which may be determined based on the detection error of the ultrasonic radar.

[0102] Step 405, when the ratio of the second interval duration to the first interval duration is greater than the ratio threshold, execute the step of determining the first reference distance based on the first interval duration between the first signal reception time and the first signal transmission time of the first echo signal corresponding to the first detection signal received by the first ultrasonic radar, that is, execute step 402.

[0103] In the above embodiment, before determining the first reference distance based on the first interval duration, it is first determined whether there is an abnormality in the first signal reception time based on the relationship between the ratio of the second interval duration to the first interval duration and the ratio threshold, and only when the ratio is greater than the ratio threshold, the step of determining the first reference distance based on the first interval duration is performed. This can help ensure the accuracy of the ultimately determined first reference distance and the second reference distance, and further help ensure the accuracy of the abnormality judgment result.

[0104] For further reference, Figure 5 , step 404, after determining whether the ratio of the second interval duration to the first interval duration is greater than a preset ratio threshold, further comprising: Step 406, when the ratio of the second interval duration to the first interval duration is less than or equal to the ratio threshold, control the second ultrasonic radar to send a second detection signal, and record the second signal transmission time of the second detection signal.

[0105] Specifically, when the ratio of the first interval duration to the first interval duration is less than or equal to the ratio threshold, it indicates that there is an abnormality in the first interval duration, and the first reference distance cannot be determined based on the first interval duration.

[0106] Step 407 , determining a second reference distance based on a third interval between a third signal receiving time when the ultrasonic radar receives a second echo signal corresponding to the second detection signal and a second signal transmitting time.

[0107] Specifically, the first reference distance is calculated by the following formula:

[0108] Wherein, D2 is the second reference distance; T 20 is the second signal transmission time; T 22 is the third signal receiving time; V is the ultrasonic propagation speed, 340m / s.

[0109] Step 408: determine a first reference distance based on the first signal transmission time, the second signal reception time, and the second reference distance.

[0110] Specifically, the first reference is calculated by the following formula:

[0111] Where D1 is the first reference distance; T 10 is the first signal transmission time; T 12 is the second signal receiving time; V is the ultrasonic propagation speed, 340m / s; D2 is the second reference distance.

[0112] In the above embodiment, when the ratio of the second interval duration to the first interval duration is less than or equal to the ratio threshold, the second reference distance can be first determined based on the second detection signal sent by the second ultrasonic radar, and the first reference distance can be determined in combination with the first signal transmission time, the second signal reception time and the second reference distance. In this way, when it is determined that there is an abnormality in the first signal reception time, the first reference distance and the second reference distance can be calculated by additionally sending the second detection signal to avoid the first signal reception time. This can help enhance the robustness of the system and ensure the reliable operation of the system.

[0113] The present application also provides an electronic device, such as Figure 6 As shown, Figure 6The electronic device 500 shown includes: a processor 501 and a memory 503. The processor 501 and the memory 503 are connected, such as through a bus 502. Optionally, the electronic device 500 may also include a transceiver 504. It should be noted that in actual applications, the transceiver 504 is not limited to one, and the structure of the electronic device 500 does not constitute a limitation on the embodiments of the present application.

[0114] The processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor 501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0115] The bus 502 may include a path to transmit information between the above components. The bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 502 may be divided into an address bus, a data bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0116] The memory 503 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program codes in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0117] The memory 503 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 501. The processor 501 is used to execute the application code stored in the memory 503 to implement the contents shown in the above method embodiment.

[0118] The electronic devices include, but are not limited to, mobile terminals such as mobile phones, laptop computers, PDAs (personal digital assistants), PADs (tablet computers), etc., and fixed terminals such as digital TVs, desktop computers, etc. It can also be a server terminal, etc. Figure 6 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0119] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed in a computer, the computer is caused to execute the obstacle distance detection method based on ultrasonic radar provided in the above embodiment.

[0120] It should be understood that although the steps in the flowchart of the accompanying drawings are shown in sequence according to the instructions of the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise clearly stated in this document, the execution of these steps is not strictly limited in order and can be performed in other orders.

[0121] The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for determining obstacle risk based on ultrasonic radar, characterized in that: The method comprises: When an obstacle is detected, a first reference distance from the obstacle to the first ultrasonic radar is determined based on a first echo signal collected by the first ultrasonic radar, and a second reference distance from the obstacle to the second ultrasonic radar is determined based on a second echo signal collected by the second ultrasonic radar, wherein the first ultrasonic radar and the second ultrasonic radar are staggered; Determining a three-dimensional position parameter of the obstacle relative to a reference position based on the first reference distance, the second reference distance, and a position conversion parameter, wherein the position conversion parameter is preset based on a horizontal distance and a vertical distance between the first ultrasonic radar and the second ultrasonic radar and a relative position relationship between the reference position and the first ultrasonic radar and / or the second ultrasonic radar; A risk assessment is performed on the obstacle based on the three-dimensional position parameters.

2. The method according to claim 1, characterized in that The performing risk assessment on the obstacle based on the three-dimensional position parameter includes: Determining whether the obstacle height corresponding to the obstacle is less than a preset height threshold based on the upper and lower position parameters in the three-dimensional position parameters; When the height of the obstacle is less than the height threshold, it is determined that there is no risk associated with the obstacle.

3. The method according to claim 2, characterized in that After determining whether the obstacle height corresponding to the obstacle is less than a preset height threshold based on the up and down position parameters, the method further includes: When the height of the obstacle is greater than or equal to the height threshold, determining whether the front-to-back distance corresponding to the obstacle is greater than a distance threshold based on the front-to-back position parameters in the three-dimensional position parameters; When the front-to-rear distance is greater than the distance threshold, it is determined that there is no risk associated with the obstacle.

4. The method according to claim 3, characterized in that: After determining whether the front-to-back distance corresponding to the obstacle is greater than a preset distance threshold based on the front-to-back position parameters, the method further includes: When the front-to-back distance is less than or equal to a distance threshold, determining a left-right distance corresponding to the obstacle based on left-right position parameters in the three-dimensional position parameters; determining a risk distance based on the left-right distance, the left-right distance being positively correlated with the risk distance, and the risk distance being less than the distance threshold; Determining whether the front-to-back distance is greater than the risk distance; When the front-to-rear distance is greater than the risk distance, determining that the obstacle does not pose a risk; When the front-to-back distance is less than the risk distance, it is determined that the obstacle has a risk, and the risk degree is determined based on the difference value between the front-to-back distance and the risk distance, and the risk degree is positively correlated with the difference value.

5. The method according to claim 1, characterized in that The method of determining, when an obstacle is detected, a first reference distance corresponding to the obstacle based on a first echo signal collected by a first ultrasonic radar, and a second reference distance corresponding to the obstacle based on a second echo signal collected by a second ultrasonic radar, comprises: When an obstacle is detected, controlling the first ultrasonic radar to send a first detection signal, and recording the first signal transmission time of the detection signal; Determine the first reference distance based on a first interval between a first signal receiving time when the first ultrasonic radar receives a first echo signal corresponding to the first detection signal and a first signal transmitting time; The second reference distance is determined based on a second interval between a second signal receiving time when the second ultrasonic radar receives a second echo signal corresponding to the first detection signal and a first signal transmitting time, and the first reference distance.

6. The method according to claim 5, characterized in that Before determining the first reference distance based on a first interval between a first signal receiving time when the first ultrasonic radar receives a first echo signal corresponding to the first detection signal and a first signal transmitting time, the method further includes: Determining whether a ratio of the second interval duration to the first interval duration is greater than a preset ratio threshold; When the ratio of the second interval duration to the first interval duration is greater than the ratio threshold, it is determined that there is an abnormality in the first signal reception time, and the step of determining the first reference distance based on the first interval duration between the first signal reception time when the first echo signal corresponding to the first detection signal is received by the first ultrasonic radar and the first signal transmission time is not performed.

7. The method according to claim 6, characterized in that After determining whether the ratio of the second interval duration to the first interval duration is greater than a preset ratio threshold, the method further includes: When the ratio of the second interval duration to the first interval duration is less than or equal to the ratio threshold, controlling the second ultrasonic radar to send a second detection signal, and recording a second signal transmission time of the second detection signal; Determine the second reference distance based on a third interval between a third signal reception time when the ultrasonic radar receives a second echo signal corresponding to the second detection signal and a second signal transmission time; The first reference distance is determined based on the first signal transmission time, the second signal reception time, and the second reference distance.

8. The method according to claim 1, characterized in that The position conversion parameters include: radar distance and radar angle, wherein the radar distance is the straight-line distance between the first ultrasonic radar and the second ultrasonic radar, and the radar angle is the angle between the radar connection line between the first ultrasonic radar and the second ultrasonic radar and the horizontal plane; The three-dimensional position parameters include up-down position parameters and left-right position parameters, and determining the three-dimensional position parameters of the obstacle relative to the reference position based on the first reference distance, the second reference distance, and the position conversion parameters includes: determining an obstacle projection angle based on the first reference distance, the second reference distance, and the radar distance, wherein the obstacle projection angle is an angle between an obstacle connection line between an orthographic projection position of the obstacle on a vertical plane where the first ultrasonic radar and the second ultrasonic radar are located and the first ultrasonic radar and a radar connection line, wherein the first ultrasonic radar is located above the second ultrasonic radar; The up-down position parameter and the left-right position parameter are determined based on the first reference distance, the obstacle projection angle, and the radar projection angle.

9. An ultrasonic radar system, characterized in that: The system comprises: a controller and a first ultrasonic radar and a second ultrasonic radar connected to the controller by signal, wherein the first ultrasonic radar and the second ultrasonic radar are staggered; The controller is used to execute the obstacle risk determination method based on ultrasonic radar as described in any one of claims 1-8.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the obstacle risk determination method based on ultrasonic radar as described in any one of claims 1 to 8.

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