Method, System and Device for Determining Obstacle Risk Based on Ultrasonic Radar

Abstract

This application 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 includes: when an obstacle is detected, determining a first reference distance from the obstacle to a first ultrasonic radar, determining a second reference distance from the obstacle to a second ultrasonic radar, where the first ultrasonic radar and the second ultrasonic radar are arranged in a staggered manner; determining three-dimensional position parameters of the obstacle relative to a reference position based on the first reference distance, the second reference distance, and position conversion parameters; and performing a risk judgment on the obstacle 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 two staggeredly arranged ultrasonic radars, and a risk judgment can be made on the obstacle based on the three-dimensional position information of the obstacle, which can help improve the accuracy of obstacle risk judgment.

Description

Technical Field

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

[0002] The ranging of ultrasonic radar calculates the distance based on the time difference between the emission and reception of sound waves. Its core principle is: the transmitting device emits ultrasonic pulses, and after the sound waves are reflected by the obstacle, they are captured by the receiver, and the distance is calculated through the sound wave propagation formula. Due to the limitation of the acoustic energy converter, the detection angle of the ultrasonic radar is relatively fixed. A reasonable algorithm is needed to determine the visible angle of the ultrasonic radar 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 intensities of waves emitted at different angles are not very different at long distances. In practical applications, due to the too large emission angle of the ultrasonic transducer, the target range to be measured cannot be effectively displayed. In one of the solutions provided in the related art, by comparing the echo intensities of the middle target and the side target, a fixed threshold is used for discrimination detection; in another solution, by reducing the wave emission sensitivity, the echo intensity of the target outside the area is weakened, and at the same time, the echo intensity of the target inside the area is also weakened.

[0004] However, it is found in the practical process that the solutions in the related art have the following disadvantages: 1. Fixed threshold detection is prone to false triggering in low signal-to-noise ratio scenarios and has poor adaptability to dynamic noise; 2. Reducing the overall sensitivity will lead to a significant reduction in the detection ability and weak controllable range ability. These will all 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 a method, system and device for determining obstacle risk based on ultrasonic radar.

[0006] In a first aspect, the present application provides a method for determining obstacle risk based on ultrasonic radar, adopting the following technical solution:

[0007] A method for determining obstacle risk based on ultrasonic radar, the method includes:

[0008] When an obstacle is detected, based on the first echo signal collected by the first ultrasonic radar, determine the first reference distance from the obstacle to the first ultrasonic radar, and based on the second echo signal collected by the second ultrasonic radar, determine the second reference distance from the obstacle to the second ultrasonic radar, where the first ultrasonic radar and the second ultrasonic radar are arranged in a staggered manner;

[0009] 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, where the position conversion parameter is preset based on the horizontal distance and the 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;

[0010] Perform a risk judgment on the obstacle based on the three-dimensional position parameters.

[0011] By adopting the above technical solution, it is possible to judge the three-dimensional position information of the obstacle based on the echo signals collected by two misaligned ultrasonic radars, and perform a risk judgment on the obstacle based on the three-dimensional position information of the obstacle. In this way, it can help improve the accuracy of the obstacle risk judgment.

[0012] Optionally, the performing a risk judgment on the obstacle based on the three-dimensional position parameters includes:

[0013] Determine whether the obstacle height corresponding to the obstacle is less than a preset height threshold based on the up-down position parameter in the three-dimensional position parameters;

[0014] In the case where the obstacle height is less than the height threshold, determine that the obstacle has no risk.

[0015] By adopting the above technical solution, the height of the obstacle can be determined by using the up-down position parameter in the three-dimensional position parameters of the obstacle, and a risk judgment on the obstacle can be performed in combination with the height of the obstacle. In this way, it can help accurately judge the risk of obstacles with a lower height, and further help improve the accuracy of the risk judgment result.

[0016] Optionally, after determining whether the obstacle height corresponding to the obstacle is less than a preset height threshold based on the up-down position parameter, it further includes:

[0017] In the case where the obstacle height is greater than or equal to the height threshold, determine whether the front-back distance corresponding to the obstacle is greater than a distance threshold based on the front-back position parameter in the three-dimensional position parameters;

[0018] In the case where the front-back distance is greater than the distance threshold, determine that the obstacle has no risk.

[0019] By adopting the above technical solution, in the case where it is determined that the obstacle height is relatively high, a risk judgment on the obstacle is further performed in combination with the front-back distance of the obstacle, which can help accurately judge the risk of obstacles with a relatively large distance, and further help improve the accuracy of the risk judgment result.

[0020] Optionally, after determining whether the front - rear distance corresponding to the obstacle is greater than a preset distance threshold based on the front - rear position parameter, the following steps are further included:

[0021] In the case where the front - rear 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 parameter in the three - dimensional position parameter;

[0022] Determine a risk distance based on the left - right distance, where the left - right distance is positively correlated with the risk distance, and the risk distance is less than the distance threshold;

[0023] Determine whether the front - rear distance is greater than the risk distance;

[0024] In the case where the front - rear distance is greater than the risk distance, determine that the obstacle has no risk.

[0025] In the case where the front - rear distance is less than the risk distance, determine that the obstacle has a risk, and determine the risk level based on the difference value between the front - rear distance and the risk distance, where the risk level is positively correlated with the difference value.

[0026] By adopting the above - mentioned technical solution, when the front - rear 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 - rear distance, which can help improve the accuracy of obstacle risk judgment.

[0027] Optionally, in the case of detecting an obstacle, 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:

[0028] In the case of detecting an obstacle, control the first ultrasonic radar to send a first detection signal, and record the first signal emission time of the detection signal;

[0029] Determine the first reference distance based on the first interval duration between the first signal reception time of the first echo signal corresponding to the first detection signal received by the first ultrasonic radar and the first signal emission time;

[0030] Determine the second reference distance based on the second interval duration between the second signal reception time of the second echo signal corresponding to the first detection signal received by the second ultrasonic radar and the first signal emission time, and the first reference distance.

[0031] Optionally, before determining the first reference distance based on the first interval duration between the first signal reception time of the first echo signal corresponding to the first detection signal received by the first ultrasonic radar and the first signal transmission time, the following steps are further included:

[0032] Determine whether the ratio of the second interval duration to the first interval duration is greater than a preset ratio threshold;

[0033] In the case where the ratio of the second interval duration to the first interval duration is greater than the ratio threshold, determine that the first signal reception time is abnormal, and do not perform the step of determining the first reference distance based on the first interval duration between the first signal reception time of the first echo signal corresponding to the first detection signal received by the first ultrasonic radar and the first signal transmission time.

[0034] 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 the first signal reception time is abnormal based on the relationship between the ratio of the second interval duration to the first interval duration and the ratio threshold, and in the case where the ratio is greater than the ratio threshold, only then perform the step of determining the first reference distance based on the first interval duration. In this way, it can help ensure the accuracy of the finally determined first reference distance and the second reference distance, and further help ensure the accuracy of the abnormal judgment result.

[0035] Optionally, after determining whether the ratio of the second interval duration to the first interval duration is greater than a preset ratio threshold, the following steps are further included:

[0036] In the case where 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;

[0037] Determine the second reference distance based on the third interval duration between the third signal reception time of the second echo signal corresponding to the second detection signal received by the ultrasonic radar and the second signal transmission time;

[0038] Determine the first reference distance based on the first signal transmission time, the second signal reception time, and the second reference distance.

[0039] By adopting the above technical solution, in the case where it is determined that the first signal reception time is abnormal, the first signal reception time can be avoided by supplementing and sending a second detection signal to calculate the first reference distance and the second reference distance. In this way, it can help enhance the robustness of the system and ensure the reliable operation of the system.

[0040] Optionally, the position conversion parameter includes: a radar distance and a radar angle. 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;

[0041] The three-dimensional position parameter includes an up-down position parameter and a left-right position parameter. Determining the 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 includes:

[0042] Based on the first reference distance, the second reference distance, and the radar distance, determine an obstacle projection angle. 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. The first ultrasonic radar is located above the second ultrasonic radar;

[0043] Based on the first reference distance, the obstacle projection angle, and the radar projection angle, determine the up-down position parameter and the left-right position parameter.

[0044] In a second aspect, the present application provides an ultrasonic radar system, adopting the following technical solution:

[0045] An ultrasonic radar system, the system includes: a controller, and a first ultrasonic radar and a second ultrasonic radar that are signal-connected to the controller. The first ultrasonic radar and the second ultrasonic radar are arranged in a staggered manner;

[0046] The controller is configured to execute any one of the obstacle risk determination methods based on ultrasonic radar provided in the first aspect.

[0047] In a third aspect, the present application provides an electronic device, adopting the following technical solution:

[0048] An electronic device, the electronic device includes:

[0049] At least one processor;

[0050] A memory;

[0051] At least one application program, where at least one application program is stored in the memory and is configured to be executed by at least one processor. The at least one application program is configured to: execute any one of the obstacle risk determination methods based on ultrasonic radar provided in the first aspect.

[0052] In summary, the present application includes at least one of the following beneficial technical effects:

[0053] The three-dimensional position information of an obstacle can be determined based on the echo signals collected by two ultrasonic radars arranged with a displacement, and the risk of the obstacle can be judged based on the three-dimensional position information of the obstacle. This can help improve the accuracy of obstacle risk judgment.

[0054] Since the three-dimensional position information of the obstacle can be determined, the influence of the height of the obstacle on the position judgment result in two-dimensional position judgment can be avoided, and thus it can help improve the accuracy of the determined obstacle position. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 is a schematic structural diagram of an ultrasonic radar system provided by an embodiment of the present application;

[0056] Figure 2 is a schematic diagram of the installation positions of ultrasonic radars provided by an embodiment of the present application;

[0057] Figure 3 is a schematic flowchart of a method for determining the risk of an obstacle based on an ultrasonic radar provided by an embodiment of the present application;

[0058] Figure 4 is a schematic flowchart of a risk judgment method provided by an embodiment of the present application;

[0059] Figure 5 is a schematic flowchart of a method for determining a reference distance provided by an embodiment of the present application;

[0060] Figure 6 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0061] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying Figures 1 to 6 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.

[0062] An embodiment of the present application discloses an ultrasonic radar system. Referring to Figure 1 , the ultrasonic radar system includes: a controller 110, a first ultrasonic radar 120 and a second ultrasonic radar 130 that are signal-connected to the controller 110, and the first ultrasonic radar 120 and the second ultrasonic radar 130 are arranged with a displacement;

[0063] Among them, the displacement arrangement means that: the connection 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 included angle between the connection line and the horizontal plane is an acute angle. In one example, referring to Figure 2, the first ultrasonic radar S1 is located at the upper right of the second ultrasonic radar S2. Figure 2 In this case, 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 obstacle connection line between the 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 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 condition of staggered setting is satisfied. This embodiment does not limit the relative position relationship between the first ultrasonic radar 120 and the second ultrasonic radar 130.

[0064] In actual implementation, the first ultrasonic radar 120 and the second ultrasonic radar 130 are installed on the same side of the vehicle, for example: installed on the front side of the vehicle, or installed on the rear side of the vehicle. This can help ensure the consistency of obstacle detection.

[0065] It should be added that the first ultrasonic radar 120 and the second ultrasonic radar 130 are only used to describe the ultrasonic radars with staggered settings, and are not used to limit the number and position of the 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 respectively.

[0066] The controller 110 can be a controller (such as: MCU) separately set for the lidar system, or it can also be a vehicle domain controller or a central controller, as long as it can control the ultrasonic radar.

[0067] The embodiment of the present application also provides a method for determining the obstacle risk based on the ultrasonic radar, which is used in the controller of the ultrasonic radar system provided in the above embodiment. Refer to Figure 3 , the method for determining the obstacle risk includes the following steps:

[0068] Step 201, when an obstacle is detected, determine the first reference distance from the obstacle to the first ultrasonic radar based on the first echo signal collected by the first ultrasonic radar, and determine the second reference distance from the obstacle to the second ultrasonic radar based on the second echo signal collected by the second ultrasonic radar.

[0069] Among them, the first ultrasonic radar and the second ultrasonic radar are set in a staggered manner. The specific setting method is as described in the above system embodiment and will not be elaborated here.

[0070] The echo signal is generated after the detection signal sent by the ultrasonic radar is reflected by an obstacle. Specifically, the detection signal can be sent by the first ultrasonic radar or the second ultrasonic radar, or it can also be sent by other ultrasonic radars other than the first ultrasonic radar and the second ultrasonic radar.

[0071] 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.

[0072] Furthermore, when 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 combine the time when the ultrasonic radar receives the corresponding echo signal.

[0073] Step 202, determine the 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.

[0074] Among them, the position conversion parameter is preset based on the horizontal distance and the 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.

[0075] 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.

[0076] The three-dimensional position parameter is used to indicate the position difference of the obstacle relative to the reference position in the three dimensions of left and right, front and back, and up and down. Specifically, since the first ultrasonic radar and the second ultrasonic radar are arranged in a staggered manner, in addition to the front and back position differences, based on the first reference distance and the second reference distance, the left and right and up and down position differences between the obstacle and the reference position can also be analyzed, so as to help accurately judge the position of the obstacle in the three-dimensional space, and further help analyze the risk situation of the obstacle in combination with the three-dimensional space position. In one example, the three-dimensional position parameter includes the up and down position parameter, the front and back position parameter, and the left and right position parameter.

[0077] In one example, the position conversion parameter includes: the radar distance and the 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.

[0078] Correspondingly, the three-dimensional position parameter includes the up-down position parameter and the left-right position parameter. Determining the 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 includes: determining the obstacle projection angle based on the first reference distance, the second reference distance, and the radar distance; determining the up-down position parameter and the left-right position parameter based on the first reference distance, the obstacle projection angle, and the radar projection angle.

[0079] Wherein, the obstacle projection angle is the angle between the connecting line of the obstacle 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 connecting line of the radars. The first ultrasonic radar is located above the second ultrasonic radar.

[0080] In one example, referring to Figure 2 , determining the obstacle projection angle based on the first reference distance, the second reference distance, and the radar distance is expressed by the following formula:

[0081]

[0082] Wherein, 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.

[0083] Determining the up-down position parameter and the left-right position parameter based on the first reference distance, the obstacle projection angle, and the radar projection angle is expressed by the following formula:

[0084]

[0085]

[0086]

[0087] Wherein, α is the radar projection angle; β is the obstacle projection angle; ∆x is the up-down position parameter; ∆y is the left-right position parameter; D1 is the first reference distance; D s1-s2 is the radar distance; D2 is the second reference distance.

[0088] Correspondingly, the three-dimensional position parameter includes the front-back position parameter. Correspondingly, determining the 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 includes: determining the front-back position parameter based on the first reference distance, the second reference distance, and the radar distance.

[0089] In one example, determining the front-back position parameter based on the first reference distance, the second reference distance, and the radar distance is expressed by the following formula:

[0090]

[0091] Among them, D1 is the first reference distance; D s1-s2 is the radar distance; D2 is the second reference distance.

[0092] Step 203: Perform a risk judgment on the obstacle based on the three-dimensional position parameters.

[0093] In an example, performing a risk judgment on the obstacle based on the 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 has a risk; if not, determining that the obstacle has no risk.

[0094] Among them, the risk range is smaller than the detection ranges of the first ultrasonic radar and the second ultrasonic radar. Specifically, since the obstacles within the detection range of the ultrasonic radar can be screened based on the risk range, the detection range of the obstacles can be adjusted without interfering with the normal operation of the ultrasonic radar, and thus it can help to improve the accuracy of the obstacle risk judgment.

[0095] Furthermore, the risk range can be a three-dimensional range, that is, in addition to the front-back and left-right two positions, it can also include the up-down dimension, so it can help to reduce the influence of some low obstacles on the risk judgment, and thus it can help to further improve the accuracy of the obstacle risk judgment.

[0096] In some embodiments, after performing a risk judgment on the obstacle based on the three-dimensional position parameters, it further includes: when it is determined based on the three-dimensional position parameters that the obstacle has no risk, obtaining the predicted driving trajectory of the vehicle; 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 has a risk. Furthermore, when the minimum distance from the obstacle to the driving rule of the vehicle is less than the preset recording threshold, it further includes: outputting an abnormal prompt message to prompt to avoid the obstacle.

[0097] Among them, the vehicle driving trajectory can be obtained from the vehicle's autonomous driving system or navigation system.

[0098] In an example, the vehicle driving trajectory includes lanes. Correspondingly, if the obstacle is in the lane that the vehicle is about to pass through, it is determined that the obstacle has a risk.

[0099] The implementation principle of the obstacle risk determination method based on ultrasonic radar provided by the embodiments of the present application is as follows: 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. The first ultrasonic radar and the second ultrasonic radar are arranged in a staggered manner; 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; and a risk judgment is made on the obstacle 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 two staggeredly arranged ultrasonic radars, and a risk judgment is made on the obstacle based on the three-dimensional position information of the obstacle, which can help improve the accuracy of obstacle risk judgment.

[0100] At the same time, since the three-dimensional position information of the obstacle can be determined, the influence of the height of the obstacle on the position judgment result in two-dimensional position judgment can be avoided, which can help improve the accuracy of the determined position of the obstacle.

[0101] In some embodiments, referring to Figure 4 , step 203, making a risk judgment on the obstacle based on the three-dimensional position parameters includes:

[0102] Step 301, determining whether the obstacle height corresponding to the obstacle is less than a preset height threshold based on the up-down position parameter in the three-dimensional position parameters.

[0103] Among them, the up-down position parameter is used to indicate the gap of the obstacle relative to the reference position in the up-down direction. Since the height of the reference position is fixed and can be determined in advance, the obstacle height can be determined based on the up-down position parameter.

[0104] In an example, the height threshold is represented by a position parameter. Determining whether the obstacle height corresponding to the obstacle is less than a preset height threshold based on the up-down position parameter in the three-dimensional position parameters includes: determining whether the up-down position parameter is less than the position parameter 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.

[0105] In actual implementation, the height threshold can also be represented by a specific value. In this case, the up-down position parameter needs 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 corresponding relationship between the up-down position parameter and the height.

[0106] Step 302, when the obstacle height is less than the height threshold, determining that the obstacle has no risk.

[0107] When the height of the obstacle is greater than or equal to the height threshold, it can be directly determined that there is a risk of the obstacle, or it can also be further determined whether there is a risk of the obstacle based on other methods.

[0108] In the process of practice, it is found that for some obstacles with relatively low heights, the traditional monitoring method based on ultrasonic radar is prone to misjudgment because it cannot perceive the height of the obstacles, which in turn affects the accuracy of obstacle risk judgment. Based on this, in this embodiment, the height of the obstacle is determined by using the up and down 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. In this way, it can help to accurately judge the risk of obstacles with relatively low heights, and further help to improve the accuracy of the risk judgment result.

[0109] Further, continue to refer to Figure 4 In step 201, after determining whether the obstacle height corresponding to the obstacle is less than the preset height threshold based on the up and down position parameters in the three-dimensional position parameters, it further includes:

[0110] Step 303, when the height of the obstacle is greater than or equal to the height threshold, determine whether the front-back distance corresponding to the obstacle is greater than the distance threshold based on the front-back position parameters in the three-dimensional position parameters.

[0111] Among them, the front-back position parameters are used to indicate the gap of the obstacle in the front-back direction relative to the reference position.

[0112] Optionally, the distance threshold is represented by position parameters. Determining whether the front-back distance corresponding to the obstacle is greater than the distance threshold based on the front-back position parameters in the three-dimensional position parameters includes: determining whether the front-back position parameters are greater than the position parameters corresponding to the distance threshold; if so, determining that the front-back distance is greater than the distance threshold; if not, determining that the front-back distance is less than or equal to the distance threshold.

[0113] In actual implementation, the distance threshold can also be represented by a specific value. At this time, it is necessary to convert the front-back position parameters based on the preset distance conversion relationship before comparing, and set the corresponding relationship between the distance position parameters and the distance.

[0114] In one example, the distance threshold is preset. For example, the distance threshold is 5 meters.

[0115] In another example, the distance threshold is dynamically determined in combination with the actual situation of the vehicle. At this time, the distance threshold is positively correlated with the vehicle driving speed, that is, the greater the vehicle 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, and further help to improve the accuracy of the risk judgment result.

[0116] Step 304, when the front-to-back distance is greater than the distance threshold, it is determined that there is no risk of an obstacle.

[0117] Optionally, when the front-to-back distance is less than or equal to the distance threshold, it can be directly determined that there is a risk of an obstacle, or the risk of the obstacle can be further judged based on other methods.

[0118] In the above technical solution, when it is determined that the height of the obstacle is relatively high, the front-to-back distance corresponding to the obstacle is determined based on the front-to-back position parameters, and when the front-to-back 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-to-back distance of the obstacle, which can help accurately judge the risk of an obstacle at a relatively long distance, and further help improve the accuracy of the risk judgment result.

[0119] Furthermore, continue to refer to Figure 4 Step 203, after determining whether the front-to-back distance corresponding to the obstacle is greater than the preset distance threshold based on the front-to-back position parameters, it further includes:

[0120] Step 305, when the front-to-back distance is less than or equal to the distance threshold, determine the left-to-right distance corresponding to the obstacle based on the left-to-right position parameter in the three-dimensional position parameters.

[0121] Specifically, the method of determining the left-to-right distance corresponding to the obstacle based on the left-to-right position parameter in the three-dimensional position parameters can be to convert the left-to-right position parameter through a preset left-to-right distance conversion method to obtain the left-to-right distance. Among them, the left-to-right distance conversion method is set based on the reference left-to-right distance corresponding to the reference position and the corresponding relationship between the left-to-right position parameter and the left-to-right distance.

[0122] Step 306, determine the risk distance based on the left-to-right distance.

[0123] Among them, the left-to-right distance is positively correlated with the risk distance, and the risk distance is less than the distance threshold.

[0124] In one example, the distance threshold is fixed. At this time, the corresponding relationship between the left-to-right distance and the risk distance is preset. For example: the left-to-right distance is 0.5 meters.

[0125] In another example, the distance threshold is dynamically determined. Determining the risk distance based on the left-to-right distance includes: determining a distance adjustment coefficient based on the left-to-right distance; determining the product of the distance adjustment coefficient and the distance threshold as the risk distance.

[0126] Among them, the distance adjustment coefficient is a value greater than 0 and less than or equal to 1. In one example, the left-to-right distance is positively correlated with the distance adjustment coefficient, that is, the greater the left-to-right distance, the greater the distance adjustment coefficient, and the corresponding risk distance is greater.

[0127] Step 307, determine whether the front - rear distance is greater than the risk distance.

[0128] Step 308, when the front - rear distance is greater than the risk distance, determine that there is no risk for the obstacle.

[0129] Step 309, when the front - rear distance is less than the risk distance, determine that there is a risk for the obstacle, and determine the risk level based on the difference value between the front - rear distance and the risk distance.

[0130] Among them, the risk level is positively correlated with the difference value. For example: the risk level is the ratio of the difference value to the risk distance, and the larger the ratio, the higher the risk level.

[0131] In actual implementation, other factors can also be further combined to determine the risk level. For example: combine the vehicle driving speed to determine the risk level.

[0132] In the above - mentioned technical solution, when the front - rear distance is less than or equal to the distance threshold, the risk distance is dynamically determined by further combining the left - right distance. When the front - rear distance is less than the risk distance, it is determined that there is a risk for the obstacle, and the risk level is further determined by combining the difference value between the front - rear distance and the risk distance. In this way, the risk level of the obstacle can be dynamically determined by combining the left - right distance and the front - rear distance, which can help improve the accuracy of obstacle risk judgment.

[0133] In some embodiments, refer to Figure 5 , step 201, when an obstacle is detected, based on the first echo signal collected by the first ultrasonic radar, determine the first reference distance from the obstacle to the first ultrasonic radar, and based on the second echo signal collected by the second ultrasonic radar, determine the second reference distance from the obstacle to the second ultrasonic radar, including the following steps:

[0134] Step 401, when an obstacle is detected, control the first ultrasonic radar to send a first detection signal, and record the first signal emission time of the detection signal.

[0135] Step 402, determine the first reference distance based on the first interval duration between the first signal reception time of the first echo signal corresponding to the first detection signal received by the first ultrasonic radar and the first signal emission time.

[0136] Specifically, the first reference distance is calculated by the following formula:

[0137]

[0138] Among them, D1 is the first reference distance; T 10 is the first signal emission time; T 11 is the first signal reception time; V is the ultrasonic wave propagation speed, 340m / s.

[0139] Step 403: Determine a second reference distance based on a second interval duration between a second signal reception time of a second echo signal corresponding to the first detection signal received by the second ultrasonic radar and the first signal transmission time, and a first reference distance.

[0140] Specifically, the second reference distance is calculated by the following formula:

[0141]

[0142] where D2 is the second reference distance; T 10 is the first signal transmission time; T 12 is the second signal reception time; V is the ultrasonic wave propagation speed, 340 m / s; D1 is the first reference distance.

[0143] In the above embodiment, 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. In this way, the deployment cost can be reduced while improving the efficiency.

[0144] Further, continuing to refer to Figure 5 , before step 402: Determine the first reference distance based on a first interval duration between a first signal reception time of a first echo signal corresponding to the first detection signal received by the first ultrasonic radar and the first signal transmission time, it further includes:

[0145] Step 404: Determine whether a ratio of the second interval duration to the first interval duration is greater than a preset ratio threshold.

[0146] Specifically, since both the first echo signal and the second echo signal are obtained by reflecting the detection signal by an obstacle, the first interval duration is twice the transmission duration of the sound wave from the first ultrasonic radar to the obstacle, and the second interval duration also includes the duration of the first detection signal from the first ultrasonic radar. Therefore, theoretically, the second interval duration should be greater than half of the first interval duration.

[0147] However, in the case where the signal reception function of the first ultrasonic radar is abnormal, the first echo signal may be missed, which may cause the calculated first interval duration to be larger than the actual first interval duration, thus affecting the accuracy of the calculation of the first reference distance and the second reference distance, and further leading to misjudgment of risks and causing safety risks.

[0148] Based on the above considerations, in this embodiment, 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, in order to detect the abnormality of the first interval duration in a timely manner.

[0149] In one example, the ratio threshold is one half. In actual implementation, considering the error in the calculation of the interval duration, the ratio threshold can be slightly less than one half, and can be specifically determined based on the detection error of the ultrasonic radar.

[0150] Step 405, when the ratio of the second interval duration to the first interval duration is greater than the ratio threshold, perform 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 corresponding to the first echo signal received by the first ultrasonic radar, that is, perform Step 402.

[0151] In the above embodiment, before determining the first reference distance based on the first interval duration, 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 when the ratio is greater than the ratio threshold, then perform the step of determining the first reference distance based on the first interval duration. This can help ensure the accuracy of the finally determined first reference distance and the second reference distance, and further help ensure the accuracy of the abnormality determination result.

[0152] Furthermore, continue to refer to Figure 5 , after Step 404 of determining whether the ratio of the second interval duration to the first interval duration is greater than the preset ratio threshold, it further includes:

[0153] 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.

[0154] 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. At this time, the first reference distance cannot be determined based on the first interval duration.

[0155] Step 407, determine the second reference distance based on the third interval duration between the third signal reception time and the second signal transmission time corresponding to the second echo signal received by the ultrasonic radar.

[0156] Specifically, the first reference distance is calculated by the following formula:

[0157]

[0158] where D2 is the second reference distance; T 20 is the second signal transmission time; T 22 is the third signal reception time; V is the ultrasonic propagation speed, 340 m / s.

[0159] Step 408: Determine a first reference distance based on the first signal transmission time, the second signal reception time, and the second reference distance.

[0160] Specifically, the first reference distance is calculated by the following formula:

[0161]

[0162] where D1 is the first reference distance; T 10 is the first signal transmission time; T 12 is the second signal reception time; V is the ultrasonic wave propagation speed, 340 m / s; D2 is the second reference distance.

[0163] 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 then 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 the first signal reception time is abnormal, the first reference distance and the second reference distance can be calculated by supplementing and sending the second detection signal to avoid the first signal reception time, which helps to enhance the robustness of the system and ensure the reliable operation of the system.

[0164] The embodiment of the present application also provides an electronic device, as Figure 6 shown, Figure 6 The electronic device 500 shown includes: a processor 501 and a memory 503. Among them, the processor 501 and the memory 503 are connected, such as connected through a bus 502. Optionally, the electronic device 500 may further include a transceiver 504. It should be noted that in practical applications, the transceiver 504 is not limited to one, and the structure of the electronic device 500 does not constitute a limitation to the embodiment of the present application.

[0165] The processor 501 may be a CPU (Central Processing Unit, central processor), a general-purpose processor, a DSP (Digital Signal Processor, data signal processor), an ASIC (Application Specific Integrated Circuit, application-specific integrated circuit), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in combination with the disclosure of the present application. The processor 501 may also be a combination for implementing a computing function, such as a combination including one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0166] The bus 502 may include a path for transmitting information between the above components. The bus 502 can be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 502 can be divided into an address bus, a data bus, etc. For the sake of convenience of representation, Figure 6 only a thick line is used to represent it in Figure 6 , but it does not mean that there is only one bus or one type of bus.

[0167] The memory 503 can 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 it can also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a magnetic disk storage medium, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0168] The memory 503 is used to store the application program code for executing the solution of this application, and is controlled by the processor 501 to execute. The processor 501 is used to execute the application program code stored in the memory 503 to implement the content shown in the foregoing method embodiments.

[0169] Among them, the electronic device includes but is 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, etc. Figure 6 The electronic device shown is only an example and should not impose any restrictions on the functions and usage scope of the embodiments of this application.

[0170] The embodiments of this application also provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed on a computer, the computer is made to execute the obstacle distance detection method based on an ultrasonic radar provided in the foregoing embodiments.

[0171] It should be understood that although the steps in the flowchart of the drawings are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order restriction and can be executed in other orders.

[0172] The above are only some embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope 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; Performing risk assessment on the obstacle based on the three-dimensional position parameters; 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, determining that the obstacle does not pose a risk; 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, determining that there is no risk associated with the obstacle; 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 smaller than the risk distance, it is determined that the obstacle is at risk, and the degree of risk is determined based on a difference value between the front-to-back distance and the risk distance, and the degree of risk is positively correlated with the difference value.

2. 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.

3. The method according to claim 2, 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.

4. The method according to claim 3, 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 receiving time when the second ultrasonic radar receives the second echo signal corresponding to the second detection signal and a second signal transmitting time; The first reference distance is determined based on the first signal transmission time, the second signal reception time, and the second reference distance.

5. 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 angle.

6. 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 1-5.

7. 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 5.

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