Calibration method, wind speed detection method and device, sensor, vehicle and medium

Abstract

The invention discloses a calibration method, a wind speed detection method, an electronic device, an ultrasonic sensor, a vehicle and a nonvolatile computer readable storage medium. The calibration method is used for calibrating an ultrasonic sensor and comprises the steps that under the condition that the ultrasonic sensor is in a windless environment, a target threshold value range corresponding to the current environment temperature is determined, and the target threshold value range is used for representing the value range of a receiving voltage threshold value corresponding to the ultrasonic sensor; determining a target signal in the echo signals of the ultrasonic sensor based on the target threshold range; a receive voltage threshold is calibrated based on the target signal. Therefore, the real signal strength of the echo signal at the current environment temperature can be determined according to the target signal, so that the receiving voltage threshold adaptive to the current environment temperature can be determined according to the real signal strength and the theoretical value range, and the high precision of the head wave identified based on the receiving threshold voltage is ensured; the occurrence probability of the wave hopping problem is greatly reduced, and the detection precision of the ultrasonic sensor is improved.

Description

Technical Field

[0001] The present application relates to the technical field of wind speed detection, and more specifically, to a calibration method, a wind speed detection method, an electronic device, an ultrasonic sensor, a vehicle, and a non-volatile computer-readable storage medium. Background Art

[0002] Ultrasonic sensors measure wind speed by emitting ultrasonic waves and receiving echoes. However, variations in the ultrasonic sensor probe's electrical properties due to high and low temperatures, as well as differences in signal reception due to various factors, such as mounting angle or surface attachments, can cause variations in the echo voltage. This can affect the threshold voltage interception, leading to unstable echo timing and the risk of wave skipping, resulting in low wind speed detection accuracy. Summary of the Invention

[0003] Embodiments of the present application provide a calibration method, a wind speed detection method, an electronic device, an ultrasonic sensor, a vehicle, and a non-volatile computer-readable storage medium.

[0004] The calibration method of the embodiment of the present application is used to calibrate an ultrasonic sensor. The method includes determining a target threshold range corresponding to the current ambient temperature when the ultrasonic sensor is in a windless environment, where the target threshold range is used to characterize the value range of the receiving voltage threshold corresponding to the ultrasonic sensor; determining a target signal in the echo signal of the ultrasonic sensor based on the target threshold range; and calibrating the receiving voltage threshold based on the target signal.

[0005] In some embodiments, the ultrasonic sensor includes multiple probes with different emission directions, different probes correspond to different receiving voltage thresholds, and the receiving voltage thresholds corresponding to each probe are calibrated based on the echo signals corresponding to each probe.

[0006] In some embodiments, the ultrasonic sensor includes at least two pairs of opposing probes, the connection direction between each pair of probes is different, and the propagation distance of the ultrasonic wave between each pair of probes is equal. The method includes: when the echo times corresponding to multiple probes are the same, determining that the ultrasonic sensor is in a windless environment.

[0007] In some embodiments, calibrating the receiving voltage threshold based on the target signal includes: determining the peak value of the first wave and the peak value of the secondary wave of the target signal; and calibrating the receiving voltage threshold based on the peak value of the first wave and the peak value of the secondary wave.

[0008] In some embodiments, determining the peak value of the first wave and the peak value of the secondary wave of the target signal includes: determining the echo time of the ultrasonic sensor based on the voltage threshold to be measured, the initial value of the voltage threshold to be measured is the minimum value of the target threshold range, and the maximum value of the voltage threshold to be measured is the maximum value of the target threshold range; increasing the voltage threshold to be measured based on a preset step size, and entering the step of determining the echo time of the ultrasonic sensor based on the voltage threshold to be measured again; when the difference between the echo times corresponding to any two adjacent voltage thresholds to be measured is equal to or greater than the time corresponding to the frequency of the echo signal, determining the voltage corresponding to the smaller of the two adjacent voltage thresholds to be measured as the peak value of the first wave.

[0009] In some embodiments, the step of determining the peak value of the first wave and the peak value of the secondary wave of the target signal further includes: determining the echo time of the ultrasonic sensor based on the voltage threshold to be measured, the initial value of the voltage threshold to be measured being the peak value of the first wave; increasing the voltage threshold to be measured based on a preset step size, and entering the step of determining the echo time of the ultrasonic sensor based on the voltage threshold to be measured again; when the difference between the echo times corresponding to any two adjacent voltage thresholds to be measured is equal to or greater than the time corresponding to the frequency of the echo signal, determining the voltage corresponding to the smaller of the two adjacent voltage thresholds to be measured as the peak value of the secondary wave.

[0010] In some embodiments, calibrating the receiving voltage threshold based on the peak value of the first wave and the peak value of the secondary wave includes: determining the receiving voltage threshold according to an intermediate voltage between the peak value of the first wave and the peak value of the secondary wave.

[0011] In some embodiments, the ultrasonic sensor includes at least two pairs of opposing probes, and the connection directions between the two pairs of probes are different. When the ultrasonic sensor is in a windless environment, determining the target threshold range corresponding to the current ambient temperature includes: when the ultrasonic sensor is in a windless environment, determining the echo time corresponding to the echo signals of the two opposing probes; when the difference in the echo time corresponding to the echo signals of the two opposing probes is equal to or greater than the time corresponding to the frequency of the echo signal, determining the target threshold range corresponding to the current ambient temperature.

[0012] In some embodiments, the ultrasonic sensor includes a signal amplification circuit, the probe is used to send and receive ultrasonic waves, and the echo signal is generated based on the signal received by the probe and the signal amplification circuit. The method also includes: when the difference in echo time corresponding to the echo signals of two opposite probes is equal to or greater than the time corresponding to the frequency of the echo signal, increasing the amplification factor of the signal amplification circuit.

[0013] In some embodiments, the ultrasonic sensor includes at least two pairs of opposing probes, and the connection direction between each pair of probes is different. The calibrating the receiving voltage threshold based on the target signal includes: determining the corresponding target probes with different echo times based on the echo times of multiple probes; and calibrating the receiving voltage threshold corresponding to the target probe based on the target signal corresponding to the target probe.

[0014] In some embodiments, the calibration method further includes determining and saving the ambient temperature based on the echo time between the ultrasonic sensor sending the ultrasonic wave and receiving the echo signal when the ultrasonic sensor is in a windless environment; and determining the ambient temperature with the latest saved time as the current ambient temperature.

[0015] The wind speed detection method of the embodiment of the present application is applied to an ultrasonic sensor, and the method includes controlling the ultrasonic sensor to send and receive ultrasonic waves to obtain a transmission signal and an echo signal; determining the echo time corresponding to the ultrasonic wave based on a receiving voltage threshold, the transmission signal and the echo signal, and the receiving voltage threshold is calibrated according to the calibration method described in any one of the above embodiments; and determining the wind speed based on the echo time.

[0016] In some embodiments, the ultrasonic sensor includes multiple probes with different emission directions, and the multiple probes send and receive ultrasonic waves in sequence to obtain echo times corresponding to the multiple probes. Determining the wind speed based on the echo times includes: determining the sub-wind speed of each emission direction based on the echo time corresponding to each probe; and determining the wind speed based on the sub-wind speed of each emission direction.

[0017] In some embodiments, the calibration method is performed when the ultrasonic sensor is in a windless environment, and the ultrasonic sensor includes at least two pairs of opposing probes, the connection directions between the two pairs of probes are different, and the propagation distances of the ultrasonic waves between the two pairs of probes are equal. The sub-wind speeds in each emission direction are determined according to the echo times corresponding to the respective probes, including: determining a wind speed reference value in a windless environment; when the current environment is windy, determining a current sound speed corresponding to the target probe combination based on the current echo time of the target probe combination, the target probe combination being a combination of any pair of opposing probes; and determining the sub-wind speed in the emission direction corresponding to the target probe combination based on the sound speed symmetry principle, the current sound speed corresponding to the target probe combination, the frequency of the echo signal, and the wind speed reference value.

[0018] The electronic device of an embodiment of the present application includes a processor, a memory and a computer program, wherein the computer program is stored in the memory and executed by the processor, and the computer program includes instructions for executing the calibration method described in any one of the above embodiments and / or the wind speed detection method described in any one of the above embodiments.

[0019] The ultrasonic sensor according to the embodiment of the present application includes a plurality of probes with different emission directions and the electronic device according to any one of the above embodiments.

[0020] In some embodiments, the ultrasonic sensor includes at least two pairs of opposing probes, and the connection direction between each pair of probes is different.

[0021] In certain embodiments, the ultrasonic waves travel an equal distance between each pair of opposing probes.

[0022] A vehicle according to an embodiment of the present application includes the ultrasonic sensor according to any one of the above embodiments, and the ultrasonic sensor is installed on the outside of the vehicle.

[0023] In some embodiments, the ultrasonic sensor includes two pairs of opposing probes, wherein one pair of the probes is disposed along a longitudinal direction of the vehicle, and the other pair of the probes is disposed along a lateral direction of the vehicle.

[0024] The non-volatile computer-readable storage medium of an embodiment of the present application includes a computer program. When the computer program is executed by a processor, the processor executes the calibration method described in any one of the above embodiments and / or the wind speed detection method described in any one of the above embodiments.

[0025] The calibration method, wind speed detection method, electronic device, ultrasonic sensor, vehicle, and non-volatile computer-readable storage medium of the embodiments of the present application first determine the target threshold range corresponding to the current ambient temperature, that is, determine the reasonable value range of the receiving voltage threshold at the current ambient temperature. Then, based on the target threshold range, a target signal is determined in the ultrasonic sensor's echo signal. The target signal is a true signal in the echo signal that can be used to calibrate the receiving voltage threshold at the current ambient temperature. Therefore, the true signal strength of the echo signal at the current ambient temperature can be determined based on the target signal, thereby facilitating the determination of a receiving voltage threshold suitable for the current ambient temperature based on the true signal strength and the theoretical value range. This ensures high accuracy in first wave identification based on the receiving threshold voltage, significantly reduces the probability of wave skipping in the ultrasonic sensor, and facilitates improved detection accuracy of the ultrasonic sensor.

[0026] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0028] Figure 1 This is a schematic diagram of an application scenario of an ultrasonic sensor according to certain embodiments of the present application;

[0029] Figure 2 This is a schematic diagram of an application scenario of an ultrasonic sensor according to certain embodiments of the present application;

[0030] Figure 3 is a schematic flow chart of a calibration method according to certain embodiments of the present application;

[0031] Figure 4 is a schematic structural diagram of an ultrasonic sensor according to certain embodiments of the present application;

[0032] Figure 5 is a schematic structural diagram of an ultrasonic sensor according to certain embodiments of the present application;

[0033] Figure 6 is a schematic flow chart of a calibration method according to certain embodiments of the present application;

[0034] Figure 7 is a schematic flow chart of a calibration method according to certain embodiments of the present application;

[0035] Figure 8 is a schematic flow chart of a calibration method according to certain embodiments of the present application;

[0036] Figure 9 is a schematic flow chart of a calibration method according to certain embodiments of the present application;

[0037] Figure 10 is a schematic flow chart of a calibration method according to certain embodiments of the present application;

[0038] Figure 11 is a flow chart of a wind speed detection method according to certain embodiments of the present application;

[0039] Figure 12 is a flow chart of a wind speed detection method according to certain embodiments of the present application;

[0040] Figure 13 is a wind speed vector diagram of wind speed in certain embodiments of the present application;

[0041] Figure 14is a flow chart of a wind speed detection method according to certain embodiments of the present application;

[0042] Figure 15 is a schematic diagram of a module of an electronic device according to certain embodiments of the present application;

[0043] Figure 16 is a schematic structural diagram of a vehicle according to certain embodiments of the present application;

[0044] Figure 17 It is a schematic diagram of the connection status of a non-volatile computer-readable storage medium and a processor in certain embodiments of the present application. DETAILED DESCRIPTION

[0045] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and should not be understood as limiting the embodiments of the present application.

[0046] An ultrasonic sensor converts ultrasonic signals into other energy signals (usually electrical signals). It measures wind speed by emitting ultrasonic waves and receiving echoes. The echo signal of an ultrasonic sensor is defined as the signal received by the sensor.

[0047] The mechanism of driving and acquiring the signal of the ultrasonic sensor probe can be as follows: Figure 1 As shown, the upper signal is the driving signal, and a pulse square wave with a frequency of 200K is selected. The time when the first square wave starts is recorded as the starting time. The lower signal is the voltage at the signal receiving end. After receiving the ultrasonic wave, the signal receiving end will generate a sine wave of the corresponding frequency, that is, the echo signal. Please combine Figure 2 The ultrasonic sensor monitors the echo signal by receiving a voltage threshold. When the peak value of a signal wave in the echo signal exceeds the receiving voltage threshold, the time corresponding to the peak value is the end time, and this wave is the first wave. The ultrasonic sensor considers the signal wave with a peak value exceeding the receiving voltage threshold in the echo signal to be a valid signal and outputs a valid signal. The time difference between the start and end is the ultrasonic echo time T (also known as the flight time). The ultrasonic sensor can subsequently measure the wind speed based on this echo time.

[0048] However, changes in the electrical properties of the ultrasonic sensor probe under the influence of high and low temperatures, as well as differences in signal reception in various scenarios such as assembly angle or probe surface attachments, may lead to differences in echo voltage, thereby affecting the threshold voltage interception echo time instability and easily causing wave hopping problems.

[0049] In an echo signal, the first wave whose peak value exceeds the receiving voltage threshold is considered the first wave of a valid signal. If the echo signal is generally strengthened due to environmental factors, a wave before the first wave in the echo signal may be identified as the first wave. Similarly, if the echo signal is generally weakened due to environmental factors, a wave after the first wave in the echo signal may be identified as the first wave. These two situations are known as wave skipping. As can be seen, the occurrence of wave skipping can seriously affect the accuracy of the identified echo time, resulting in low wind speed detection accuracy.

[0050] To solve the above technical problems, the present application provides a calibration method. The wind speed detection method of the present application is described in detail below:

[0051] See also Figure 3 and Figure 4 , an embodiment of the present application provides a calibration method for calibrating an ultrasonic sensor 100, the calibration method comprising:

[0052] Step 011: When the ultrasonic sensor 100 is in a windless environment, determine a target threshold range corresponding to the current ambient temperature. The target threshold range is used to represent a value range of a receiving voltage threshold corresponding to the ultrasonic sensor 100.

[0053] Specifically, if there's wind in the environment, the flowing wind will affect ultrasonic transmission, potentially causing significant fluctuations in the echo signal. Calibrating the receive voltage threshold based on the echo signal in this situation will result in low accuracy. This can be avoided in calm conditions. Therefore, the calibration method can be performed only when the ultrasonic sensor 100 is in a calm environment. Specifically, the receive voltage threshold should only be calibrated when the ultrasonic sensor 100 is in a calm environment.

[0054] The target threshold range corresponding to different ambient temperatures can be pre-set. The target threshold range is a reasonable value range of the received voltage threshold at the current ambient temperature. During operation, when the ultrasonic sensor 100 is in a windless environment, the current ambient temperature can be first obtained. For example, an additional temperature sensor can be provided to obtain the current ambient temperature in real time using the temperature sensor. The target threshold range corresponding to the current ambient temperature is then determined based on the current ambient temperature, that is, the reasonable value range of the received voltage threshold at the current ambient temperature is determined.

[0055] Step 012: Determine a target signal in the echo signal of the ultrasonic sensor 100 based on a target threshold range.

[0056] Specifically, the ultrasonic sensor 100 can be controlled to send and receive ultrasonic waves to obtain echo signals. There are many ways for the ultrasonic sensor 100 to send and receive ultrasonic waves. The ultrasonic sensor 100 is provided with a probe 10 (such as a radar probe 10), which has the function of transmitting and receiving ultrasonic waves. In one embodiment, a reflector 20 is placed opposite each probe 10, and the ultrasonic waves emitted by the probe 10 will be reflected back by the reflector 20, and the probe 10 can receive the ultrasonic waves emitted by itself. In another embodiment, please combine Figure 4 and Figure 5 , set up at least two pairs of opposing probes 10, first control one of the opposing probes 10 to transmit ultrasonic waves, and control the other to receive ultrasonic waves. Then control the probe 10 that has just received ultrasonic waves to transmit ultrasonic waves, and the other probe 10 to receive ultrasonic waves. Of course, a reflector 20 can also be set between the two opposing probes 10, and the emitted ultrasonic waves can be reflected by the reflector 20 to the probe 10 that receives ultrasonic waves. The side of the reflector 20 facing the probe 10 is a pure plane, which can achieve a better reflection effect. At this time, the reflector 20 can be used to ensure that the ultrasonic waves can be transmitted between the two opposing probes 10. The echo signals of the two methods may be different. Therefore, after determining the method in which the ultrasonic sensor 100 sends and receives ultrasonic waves, it is also necessary to determine the corresponding target threshold range.

[0057] After determining the target signal, the target signal in the echo signal of the ultrasonic sensor 100 is determined based on the target threshold range. It can be understood that the target signal is within the target threshold range and is the actual signal generated. In other words, the target signal is the signal within the theoretical value range of the echo signal and can be used to calibrate the receiving voltage threshold. After calibrating the receiving voltage threshold in combination with the target signal, the receiving voltage threshold can be adapted to both actual operating conditions and the theoretical value range, thereby achieving higher accuracy in first wave identification based on the receiving voltage threshold.

[0058] Step 013: Calibrate the receiving voltage threshold based on the target signal.

[0059] Specifically, after acquiring the target signal, the true signal strength of the echo signal at the current ambient temperature can be determined based on the target signal, thereby facilitating the determination of a receive voltage threshold suitable for the current ambient temperature based on the true signal strength and the theoretical value range. For example, the receive voltage threshold can be determined based on the peak value of the first wave of the target signal. This allows the calibrated receive voltage threshold to accurately identify valid signals that should be recognized by the ultrasonic sensor 100 at the current ambient temperature, thereby increasing the accuracy of the first wave identified based on the receive threshold voltage.

[0060] In certain embodiments, the ultrasonic sensor 100 includes multiple probes 10 with different transmission directions. Different probes 10 correspond to different receiving voltage thresholds, and the receiving voltage threshold corresponding to each probe 10 is calibrated based on the echo signal corresponding to each probe 10. That is, when controlling the ultrasonic sensor 100 to transmit and receive ultrasonic waves, each probe 10 can be controlled to transmit and receive ultrasonic waves in turn. In this way, echo signals corresponding to multiple probes 10 can be obtained. Then, based on the echo signals corresponding to the multiple probes 10, i.e., the calibration method of the present application, the receiving voltage threshold corresponding to each probe 10 can be calibrated, thereby ensuring that the echo time corresponding to each probe 10 is accurate and the detection accuracy of the ultrasonic sensor 100 is high.

[0061] In some embodiments, only the receiving voltage threshold corresponding to the probe 10 experiencing the wave skipping problem can be adjusted. The ultrasonic sensor 100 includes at least two pairs of opposing probes 10, with the connection lines between the two pairs of probes 10 in different directions. In a calm environment, the echo times corresponding to the multiple probes 10 should be the same. Therefore, in a calm environment, the target probe 10 with a different corresponding echo time can be identified based on the echo times of the multiple probes 10. This target probe 10 is the probe 10 experiencing the wave skipping problem. The receiving voltage threshold corresponding to the target probe 10 is then calibrated based on the target signal corresponding to the target probe 10. In this way, only the receiving voltage threshold corresponding to the probe 10 experiencing the wave skipping problem can be adjusted, ensuring high accuracy for each probe 10 while reducing the adjustment workload. Of course, if a problem is determined for a particular probe 10, the receiving voltage thresholds for all probes 10 can be adjusted to ensure high accuracy for each probe 10.

[0062] The calibration method of the embodiment of the present application first determines the target threshold range corresponding to the current ambient temperature, that is, determines the reasonable value range of the receiving voltage threshold at the current ambient temperature. Then, based on the target threshold range, the target signal in the echo signal of the ultrasonic sensor 100 is determined. The target signal is a real signal in the echo signal that can be used to calibrate the receiving voltage threshold at the current ambient temperature. Therefore, the real signal strength of the echo signal at the current ambient temperature can be determined based on the target signal, thereby facilitating the determination of the receiving voltage threshold adapted to the current ambient temperature based on the real signal strength and the theoretical value range, ensuring that the accuracy of the first wave identified based on the receiving threshold voltage is high, thereby greatly reducing the probability of wave skipping problems occurring in the ultrasonic sensor 100, and facilitating improving the detection accuracy of the ultrasonic sensor 100.

[0063] See also Figure 4 and Figure 6In some embodiments, the ultrasonic sensor 100 includes at least two pairs of opposing probes 10, and the connection direction between each pair of probes 10 is different, and the propagation distance of the ultrasonic wave between each pair of probes 10 is equal. The wind speed detection method further includes:

[0064] Step 014: When the echo times corresponding to the multiple probes 10 are the same, it is determined that the ultrasonic sensor 100 is in a windless environment.

[0065] Specifically, the ultrasonic sensor 100 includes at least two pairs of opposing probes 10, and the connection direction between each pair of probes 10 is different, that is, a pair of opposing probes 10 can detect sub-wind speeds in one direction, and multiple pairs of opposing probes 10 can detect sub-wind speeds in different directions. The propagation distance of the ultrasonic wave between each pair of probes 10 is equal. Assume that the propagation distance of the ultrasonic wave between the two opposing probes 10 is a fixed value L, which can be measured in advance. In a windless environment, the sound speed is C. One pair of probes 10 (assuming probe A0 and probe A1) is arranged along the longitudinal direction (x direction) of the ultrasonic sensor 100, and the other pair of probes 10 (assuming probe B0 and probe B1) is arranged along the transverse direction (y direction) of the ultrasonic sensor 100.

[0066] When there is no wind,

[0067]

[0068]

[0069] We can get:

[0070] T A0-A1 =T A1-A0 =T B0-B1 =T B1-B1 (5)

[0071] Therefore, when formula (5) holds true, that is, when the echo times corresponding to the four probes 10 are the same, it can be assumed that the ultrasonic sensor 100 is currently in a windless environment. Here, "same" means approximately the same or exactly the same. If the difference between the echo times corresponding to the four probes 10 is small, it can also be assumed that the ultrasonic sensor 100 is currently in a windless environment.

[0072] In this way, when the ultrasonic sensor 100 includes at least two pairs of opposite probes 10 , it can be accurately determined whether there is no wind in the current environment based on the echo times corresponding to the multiple probes 10 .

[0073] See also Figure 4 and Figure 7 In some embodiments, step 013: calibrating the receiving voltage threshold based on the target signal includes:

[0074] Step 0131: Determine the peak value of the first wave and the peak value of the secondary wave of the target signal;

[0075] Step 0132: Calibrate the receiving voltage threshold based on the peak value of the first wave and the peak value of the secondary wave.

[0076] Specifically, the echo signal consists of multiple signal waves, which can be square waves or sine waves, such as Figure 1 The echo signal shown is a sine wave. Any echo signal with a peak value greater than the receive voltage threshold is identified as a valid signal and output. The primary wave refers to the first wave of the target signal, and the secondary wave refers to the second wave of the target signal.

[0077] First, after acquiring the target signal, the peak value of the first wave and the peak value of the secondary wave of the target signal are determined.

[0078] For example, a waveform diagram of the target signal is drawn according to the target signal, such as Figure 1 , and then determine the peak value of the first wave and the peak value of the secondary wave of the target signal according to the waveform diagram.

[0079] For another example, a voltage threshold to be measured can be selected within a target threshold range. The echo time corresponding to the echo signal can then be determined based on the voltage threshold. The peak values ​​of the first and second waves can be determined by combining the echo times corresponding to different voltage thresholds to be measured. The echo time is the time between the moment when the peak value of the signal wave in the transmitted signal of the ultrasonic sensor 100 first exceeds the transmit voltage threshold and the moment when the peak value of the signal wave in the echo signal of the ultrasonic sensor 100 first exceeds the receive voltage threshold.

[0080] Specifically, the echo time of the ultrasonic sensor 100 is determined based on a voltage threshold to be measured. The initial value of the voltage threshold to be measured is the minimum value of the target threshold range, and the maximum value of the voltage threshold to be measured is the maximum value of the target threshold range. Then, the voltage threshold to be measured is increased based on a preset step size, and the process of determining the echo time of the ultrasonic sensor 100 based on the voltage threshold to be measured is repeated. Specifically, the voltage threshold to be measured is increased sequentially, and the echo time corresponding to each adjusted voltage threshold is recorded. After each adjustment of the voltage threshold to be measured, the ultrasonic sensor 100 is controlled to transmit and receive ultrasonic waves to obtain the echo time. Finally, if the difference in echo times corresponding to any two adjacent voltage thresholds to be measured is equal to or greater than the time corresponding to the frequency of the echo signal, that is, if the difference between the two peak values ​​is one or more cycles, it can be considered that the increase in the voltage threshold between the two adjacent voltage thresholds caused the first wave to jump back one or more cycles, thus indicating a wave skipping problem. It can be inferred that the voltage corresponding to the smaller of the two adjacent voltage thresholds to be measured is the peak value of the first wave.

[0081] Similarly, the echo time of the ultrasonic sensor 100 is determined based on the voltage threshold to be measured. The initial value of the voltage threshold to be measured is the peak value of the first wave, and the end time corresponding to the echo time is determined based on the peak value of the ultrasonic wave in the echo signal of the ultrasonic sensor 100 that is greater than the voltage threshold to be measured. That is, the voltage threshold to be measured is further increased based on the peak value of the first wave. The voltage threshold to be measured is then increased based on a preset step size, and the step of determining the echo time of the ultrasonic sensor 100 based on the voltage threshold to be measured is again performed. If the difference in echo time corresponding to any two adjacent voltage thresholds to be measured is equal to or greater than the time corresponding to the frequency of the echo signal, it can be considered that, between the two adjacent voltage thresholds to be measured, the first wave jumped back one or more cycles after the voltage threshold to be measured was increased. Therefore, the voltage corresponding to the smaller of the two adjacent voltage thresholds to be measured is the peak value of the secondary wave.

[0082] For example, the target threshold range is 25mv~90mv, and the preset step size is 1mv. First, set the voltage threshold to be tested to 25mv, and then determine the echo time. Then increase the voltage threshold to be tested in sequence according to the preset step size, and determine the corresponding echo time after each increase. If the voltage threshold to be tested is 30mv and 31mv, and the difference between the echo times corresponding to the two is equal to the time corresponding to the frequency of the echo signal, it can be considered that a wave jumping phenomenon has occurred. Through this wave jumping phenomenon, it can be known that the peak value is 30mv, which is counted as the peak value of the first wave. Continue to increase the voltage threshold to be tested. If the voltage threshold to be tested is 80mv and 81mv, and a wave jumping phenomenon occurs, it can be considered that the peak value of the secondary wave is 80mv.

[0083] The receiving voltage threshold is calibrated based on the peak value of the first wave and the peak value of the second wave. For example, the weights corresponding to the first wave and the second wave can be set, and then the weighted sum of the peak value of the first wave and the peak value of the second wave is calculated. The result is the calibrated receiving voltage threshold. Figure 2 The receive voltage threshold can be determined based on the midpoint between the peak values ​​of the first wave and the peak values ​​of the secondary wave, with both values ​​weighted at 0.5. Using the midpoint between the peak values ​​of the first and secondary waves as the receive voltage threshold can prevent the first wave determination from shifting due to rising or falling peaks.

[0084] In this way, the receiving voltage threshold can be calibrated according to the peak values ​​of the first wave and the secondary wave in the target signal to improve the fault tolerance when determining the echo signal. As long as the amplitude of the increase or decrease of the echo signal is not too large, the valid signal can be identified more accurately based on the receiving voltage threshold, so that the error problem caused by some signal fluctuations can be avoided, thereby reducing the occurrence of wave hopping problems and avoiding large deviations in echo time.

[0085] See also Figure 4 and Figure 8In some embodiments, the ultrasonic sensor 100 includes at least two pairs of opposing probes 10, and the connection directions between the two pairs of probes 10 are different. Step 011: determining a target threshold range corresponding to the current ambient temperature includes:

[0086] Step 0111: When the ultrasonic sensor 100 is in a windless environment, determining the echo times corresponding to the echo signals of the two opposite probes 10;

[0087] Step 0112: When the difference in echo time corresponding to the echo signals of the two opposing probes 10 is equal to or greater than the time corresponding to the frequency of the echo signal, determine the target threshold range corresponding to the current ambient temperature.

[0088] Specifically, the ultrasonic sensor 100 includes at least two pairs of opposing probes 10, and the connection directions between the two pairs of probes 10 are different. For example, the ultrasonic sensor 100 includes two pairs of opposing probes 10, wherein one pair of probes 10 is arranged along the longitudinal direction of the vehicle 200, and the other pair of probes 10 is arranged along the lateral direction of the vehicle 200.

[0089] The transmit voltage threshold is determined based on the performance of ultrasound. Once the voltage of the transmitted signal exceeds the transmit voltage threshold, the probe 10 is considered to be emitting ultrasound. The echo time is the time between the first moment when the peak value of the signal wave in the transmitted signal of the probe 10 (transmitting ultrasound) first exceeds the transmit voltage threshold and the second moment when the peak value of the signal wave in the echo signal of the probe 10 (receiving ultrasound) first exceeds the receive voltage threshold.

[0090] When the difference in echo time corresponding to the echo signals of the two opposite probes 10 is equal to or greater than the time corresponding to the frequency of the echo signal, it can be considered that there is a wave jumping problem in one of the two opposite probes 10, and the receiving voltage threshold needs to be adjusted. At this time, the target threshold range corresponding to the current ambient temperature can be determined.

[0091] It should be noted that when using the echo times of the four probes 10 to determine whether the ultrasonic sensor 100 is in a calm environment, the determination of whether the ultrasonic sensor 100 is in a calm environment can be made in real time based on the echo times of the four probes 10. If, at a given moment, the difference between the echo times corresponding to the echo signals of two opposing probes 10 is equal to or greater than the time corresponding to the frequency of the echo signals, and the echo times of the other group of probes 10 are still the same or approximately the same as the echo times in the calm environment, then it can be determined that the ultrasonic sensor 100 is still in a calm environment and that one of the probes 10 in the first group has experienced a wave skip.

[0092] In this way, whether the probe 10 has a wave hopping problem can be determined based on the echo time corresponding to the echo signals of the two opposite probes 10, and the receiving voltage threshold can be adjusted in time when a wave hopping problem occurs, thereby ensuring the detection accuracy of the ultrasonic sensor 100.

[0093] See also Figure 4 and Figure 9 In some embodiments, the ultrasonic sensor 100 includes a signal amplification circuit, the probe 10 is used to transmit and receive ultrasonic waves, and the echo signal is generated based on the signal received by the probe 10 and the signal amplification circuit. The calibration method further includes:

[0094] Step 015: When the difference between the echo times corresponding to the echo signals of the two opposite probes 10 is equal to or greater than the time corresponding to the frequency of the echo signal, increase the amplification factor of the signal amplification circuit.

[0095] Specifically, while calibrating the receiving voltage threshold, the amplification factor of the amplifier circuit can also be increased. The structure of the ultrasonic sensor 100 is as follows: Figure 4 As shown, the gating switch ensures flexible channel switching, enabling the driving and receiving of different probes 10. This reduces hardware wiring complexity and conserves and reuses the associated driving and signal amplification circuits. The driving circuit drives the probe 10. The signal amplification circuit receives the signal from the probe 10 and amplifies the signal strength based on the amplification factor to generate the final echo signal.

[0096] When the difference in echo time corresponding to the echo signals of the two opposite probes 10 is equal to or greater than the time corresponding to the frequency of the echo signal, that is, when a wave jumping problem occurs, in addition to calibrating the receiving voltage threshold, the amplification factor of the amplifying circuit can also be increased, for example, from five times to ten times, to further increase the difference between the peaks of each signal wave, thereby facilitating the reduction of the occurrence of the wave jumping problem.

[0097] See also Figure 4 and Figure 10 In certain embodiments, the calibration method further comprises:

[0098] Step 016: When the ultrasonic sensor 100 is in a windless environment, determine and save the ambient temperature based on the echo time between the ultrasonic sensor 100 sending the ultrasonic wave and receiving the echo signal;

[0099] Step 017: Determine that the ambient temperature with the latest saved time is the current ambient temperature.

[0100] Specifically, the formula for calculating sound speed and temperature is: Sound speed (m / s) = 331.3 + 0.606 * Temperature (°C). If the speed of ultrasound can be calculated, the current ambient temperature can be calculated. According to the formula: Distance = Speed ​​× Time, the speed of ultrasound can be calculated after determining the echo time and the propagation distance of the ultrasound, which can be obtained in advance.

[0101] However, wave hopping is prone to occur in windy conditions. If wave hopping occurs, the echo time will be inaccurate, and the various data calculated will be inaccurate. Therefore, calculations in windy fields are not adopted.

[0102] Therefore, when ultrasonic sensor 100 is in a calm environment, the ambient temperature can be determined and stored based on the echo time between ultrasonic sensor 100 transmitting ultrasonic waves and receiving echo signals, ensuring the accuracy of the ambient temperature. The ambient temperature with the latest stored time is then determined as the current ambient temperature. If other equipment, such as vehicle 200 equipped with ultrasonic sensor 100, subsequently needs to use the current ambient temperature, the ambient temperature with the latest stored time can also be used as the current ambient temperature.

[0103] In this way, when the ultrasonic sensor 100 is in a windless environment, the ambient temperature can be accurately calculated based on the echo time, and the ambient temperature with the latest storage time can be selected as the current ambient temperature, so that a more accurate target threshold range can be obtained, ensuring the accuracy of the calibrated receiving voltage threshold.

[0104] Of course, a temperature sensor can also be installed and the current ambient temperature determined based on the temperature detected in real time by the temperature sensor. However, temperature sensors are relatively expensive, and the area where the temperature sensor is installed may absorb heat. For example, the temperature sensor on vehicle 200 is typically integrated into the air conditioning inlet, and the vehicle body absorbs heat. This means that the temperature detected by the temperature sensor does not reflect the temperature in the air, resulting in errors in use. Therefore, this application preferably uses the above-mentioned steps 016 and 017 to determine the current ambient temperature.

[0105] See also Figure 4 and Figure 11 , an embodiment of the present application provides a wind speed detection method, which is applied to an ultrasonic sensor 100, and the calibration method includes:

[0106] Step 021: Control the ultrasonic sensor 100 to transmit and receive ultrasonic waves to obtain a transmission signal and an echo signal;

[0107] Step 022: determining the echo time corresponding to the ultrasonic wave based on the receiving voltage threshold, the transmitting signal, and the echo signal, wherein the receiving voltage threshold is calibrated according to the calibration method of any one of the above embodiments;

[0108] Step 023: Determine the wind speed based on the echo time.

[0109] Specifically, during the process of the ultrasonic sensor 100 sending and receiving ultrasonic waves, the propagation distance of the ultrasonic waves can be obtained in advance. The ultrasonic sensor 100 can be controlled to send and receive ultrasonic waves to obtain the transmission signal and the echo signal. Therefore, the echo time corresponding to the ultrasonic wave can be determined based on the receiving voltage threshold, the transmission signal and the echo signal, and then the wind speed can be calculated by combining the formula of distance = speed × time. Among them, the receiving voltage threshold is calibrated according to the calibration method of any of the above-mentioned embodiments, which can solve the differences in the electrical performance of the probe 10 in various scenarios, and the wind speed and direction can be stably calculated by stably obtaining the echo time. The transmitting voltage threshold when transmitting ultrasonic waves is usually more accurate and less subject to interference. Therefore, the wind speed obtained by the test of this application is more accurate.

[0110] The wind speed detection method of the present embodiment calibrates the received voltage threshold according to the calibration method described in any of the aforementioned embodiments, resulting in a high degree of accuracy. During the detection process, the ultrasonic sensor 100 determines the echo time corresponding to the ultrasonic wave based on the highly accurate received voltage threshold, the transmitted signal, and the echo signal, and then determines the wind speed based on the echo time. This allows the ultrasonic sensor 100 to identify valid signals and detect wind speed based on a relatively accurate received voltage threshold, resulting in high detection accuracy.

[0111] See also Figure 4 and Figure 12 In some embodiments, the ultrasonic sensor 100 includes multiple probes 10 with different transmission directions. The multiple probes 10 sequentially transmit and receive ultrasonic waves to obtain echo times corresponding to the multiple probes 10. Step 023: determining the wind speed based on the echo time includes:

[0112] Step 0231: determining the sub-wind speed in each emission direction according to the echo time corresponding to each probe 10;

[0113] Step 0232: Determine the wind speed based on the sub-wind speeds in each emission direction.

[0114] Specifically, the ultrasonic sensor 100 includes multiple probes 10 with different transmission directions. Therefore, the multiple probes 10 can be controlled to transmit and receive ultrasonic waves, thereby obtaining transmission signals and echo signals corresponding to the multiple probes 10. For example, opposing probes 10 can be configured to receive transmitted ultrasonic waves, or reflectors 20 can be configured to reflect ultrasonic waves, allowing the probes 10 to receive the ultrasonic waves they themselves transmit.

[0115] Then, the echo time corresponding to each probe 10 can be determined based on the corresponding receiving voltage threshold, transmission signal, and echo signal of each probe 10. The sub-wind speed in the transmission direction corresponding to each probe 10 can be determined based on the echo time. The wind speed can then be determined by combining the angles between the sub-wind speeds in each transmission direction.

[0116] For example, according to Figure 13 As shown, the wind speed can be divided into wind speed vectors on the X-axis and Y-axis. In this case, only the wind speed on the X-axis and the wind speed on the Y-axis need to be calculated, and the final wind speed vector sum can be obtained through trigonometric functions. In certain embodiments, the ultrasonic sensor 100 is installed in the vehicle 200. The ultrasonic sensor 100 includes two pairs of opposing probes 10, one pair of probes 10 (assuming probes A0 and A1) is arranged along the longitudinal direction (x-direction) of the vehicle 200, and the other pair of probes 10 (assuming probes B0 and B1) is arranged along the lateral direction (y-direction) of the vehicle 200. In this case, the transmission direction includes the x-direction and the y-direction.

[0117] The speed of sound is affected by environmental factors. Since the four probes 10 are in the same environment, it is assumed that the speed of sound is C in a windless environment. Let the sound propagation echo time be T and the actual wind speed propagation speed be D. Assume that the sound wave is driven by probe A0 to emit a wave, and after the sound wave is reflected by the reflector 20, the echo signal is received by the opposite probe A1. At this time, the speed of sound V from A0-A1 can be calculated and set as the positive direction; similarly, the speed of sound from A1-A0, B0-B1, and B1-B0 can be measured. The calculation formula is as follows:

[0118] V A0-A1 =C+D x (6)

[0119] V A1-A0 =CD x (7)

[0120] V B0-B1 =C+D y (8)

[0121] V B1-B0 =CD y (9)

[0122] According to the above formula, distance = speed × time, we can get:

[0123]

[0124] The distance L1 and the distance L2 can be obtained in advance, and the distance L1 and the distance L2 can be equal or different. In some embodiments, the propagation distance of the ultrasonic wave between each pair of probes 10 is equal, that is, the distance L1 and the distance L2 are equal, so as to facilitate the calculation of the sound speed. During operation, the echo time corresponding to the four probes 10 can be obtained, and then the sub-wind speed corresponding to the four probes 10 can be calculated according to the above formulas (10) to (13). It can be understood that the sub-wind speed calculated based on probe A0 and probe A1 is the sub-wind speed D in the x direction. x The sub-wind speed calculated by probe B0 and probe B1 is the sub-wind speed D in the y direction. y , and the two directions are perpendicular, so the final wind speed can be calculated through trigonometric functions.

[0125] In this way, the components of the wind speed in different directions can be obtained according to the probes 10 in different directions, so that the wind speed can be accurately determined according to the components in different directions.

[0126] See also Figure 4 and Figure 14 In some embodiments, the calibration method is performed when the ultrasonic sensor 100 is in a windless environment. The ultrasonic sensor 100 includes at least two pairs of opposing probes 10. The connection directions between the two pairs of probes 10 are different, and the propagation distances of ultrasonic waves between the two pairs of probes 10 are equal. Step 0231: determining the sub-wind speed in each emission direction based on the echo time corresponding to each probe 10 includes:

[0127] Step 02311: Determine a wind speed reference value in a windless environment;

[0128] Step 02312: In the case of wind in the current environment, determining the current sound velocity corresponding to the target probe combination based on the current echo time of the target probe combination, where the target probe combination is a combination of any pair of opposite probes 10;

[0129] Step 02313: Determine the sub-wind speed of the emission direction corresponding to the target probe combination based on the sound speed symmetry principle, the current sound speed corresponding to the target probe combination, the frequency of the echo signal and the wind speed reference value.

[0130] Specifically, the calibration method is performed when the ultrasonic sensor 100 is in a windless environment. Therefore, the receiving voltage threshold in a windless environment matches the current environment, and the accuracy of the wind speed calculated at this time is high. In a windy environment, there are many uncertainties, so the receiving voltage threshold is not calibrated, which reduces the matching of the receiving voltage threshold with the current environment. It can be seen from formulas (6) to (7) that in a windy environment, the sound speeds of the two opposing probes 10 are symmetrical. The two are symmetrical based on the wind speed reference value in a windless environment. This characteristic is the sound speed symmetry principle. The sub-wind speed can be calibrated based on the sound speed symmetry principle.

[0131] First, the wind speed reference value in a windless environment can be determined. The wind speed measured in a windless environment is the wind speed reference value, which is C in the above formulas (10) to (13). The target probe combination is any pair of opposing probes 10. The sound speeds corresponding to the two probes 10 in the target probe combination should be symmetrical around the wind speed reference value.

[0132] Then, in a windy environment, the current sound velocity corresponding to the two probes 10 in the target probe combination is determined based on the current echo time of the target probe combination, that is, V in formulas (6) to (9). First, the accuracy of the current sound velocity corresponding to the two probes 10 can be determined based on the current sound velocity corresponding to the target probe combination and the wind speed reference value.

[0133] If the current sound speeds corresponding to the two probes 10 are symmetrically distributed around the wind speed reference value, the current sound speeds corresponding to the two probes 10 can be considered accurate. Subsequently, the sub-wind speed corresponding to the target probe combination can be calculated based on the current sound speeds corresponding to the two probes 10 and formulas (6) to (9), that is, the sub-wind speed in the direction corresponding to the two probes 10 in the target probe combination, for example, D x or D y .

[0134] If the current sound speeds corresponding to the two probes 10 are not symmetrically distributed around the wind speed reference value, it can be considered that one of the two probes 10 has a wave-hopping problem. At this time, the specific probe 10 with the wave-hopping problem can be determined based on the current sound speeds corresponding to the two probes 10 and the frequency of the echo signal. Suppose the two probes 10 are probe A0 and probe A1. At this time, the current sound speed of probe A0 can be used as the standard, and the wind speed reference value can be used as the center to infer the adjusted sound speed of probe A1. If the difference between the adjusted sound speed and the current sound speed of probe A1 matches the frequency of the echo signal, it can be considered that probe A1 has a wave-hopping problem, and the flight time obtained by probe A1 is delayed or advanced by one or more cycles. Subsequently, the sub-wind speed corresponding to the target probe combination is calculated based on the current sound speed of probe A0 and the adjusted sound speed of probe A1. If the difference between the adjusted sound speed and the current sound speed of probe A1 does not match the frequency of the echo signal, it can be considered that probe A1 does not have a wave-hopping problem. At this point, the current sound velocity of probe A1 is used as the standard, with the wind speed reference value as the center, to infer the adjusted sound velocity of probe A0. If the difference between the adjusted sound velocity and probe A0's current sound velocity matches the frequency of the echo signal, it can be considered that probe A0 has experienced a wave skip, and the flight time acquired by probe A0 has been delayed or advanced by one or more cycles. Subsequently, the sub-wind speed corresponding to the target probe combination is calculated based on probe A1's current sound velocity and probe A0's adjusted sound velocity.

[0135] For example, if the wind speed baseline is 10, the current sound speed of probe A0 is 8, and the current sound speed of probe A1 is 17. Using probe A0's current sound speed as the standard and the wind speed baseline as the center, the adjusted sound speed of probe A1 is inferred to be 12. If the difference of 5 between the adjusted sound speed and the current sound speed matches the frequency of the echo signal, it can be considered that probe A1 has a wave hopping problem, and the flight time obtained by probe A1 is delayed or advanced by one or more cycles.

[0136] In addition, hardware restrictions need to be imposed. When selecting probe 10, a minimum lower limit requirement should be set for the echo peak performance of probe 10. The greater the inductance, the greater the overall amplitude, and the greater the difference in peak voltage between two adjacent waves, which can prevent the simultaneous wave jumping of two probes 10.

[0137] In this way, even if the receiving voltage threshold cannot be adjusted in a windy environment, the ultrasonic sensor 100 can still obtain accurate wind speed.

[0138] See also Figure 15 The electronic device 30 of the embodiment of the present application includes a processor 31, a memory 32 and a computer program, wherein the computer program is stored in the memory 32 and executed by the processor 31, and the computer program includes instructions for executing the calibration method and wind speed detection method of any of the above embodiments.

[0139] See also Figure 4and Figure 15 The ultrasonic sensor 100 according to an embodiment of the present application includes a probe 10 and the electronic device 30 described in any of the above-mentioned embodiments. The electronic device is connected to the probe 10 so that the electronic device 30 controls the operation of the probe 10 based on the wind speed detection method described in any of the above-mentioned embodiments and detects wind speed based on the operating data of the probe 10. Furthermore, the electronic device 30 can also calibrate the receiving voltage threshold of the probe 10 based on the calibration method described in any of the above-mentioned embodiments to ensure the detection accuracy of the ultrasonic sensor 100.

[0140] See also Figure 16 Vehicle 200 according to an embodiment of the present application includes an ultrasonic sensor 100 as described in any of the aforementioned embodiments. Ultrasonic sensor 100 is mounted on the exterior of vehicle 200, for example, on the roof of vehicle 200, to accurately detect the wind speed surrounding vehicle 200. This application marks the first application of ultrasonic wind speed and direction measurement technology in the automotive industry.

[0141] In some embodiments, the ultrasonic sensor 100 includes two pairs of opposing probes 10, wherein one pair of probes 10 is arranged along the longitudinal direction of the vehicle 200 (i.e., the direction of the line connecting the front and the rear of the vehicle), and the other pair of probes 10 is arranged along the lateral direction of the vehicle 200 (i.e., the direction of the line connecting the left and right sides of the vehicle 200), so as to accurately calculate the wind speed based on two perpendicular directions.

[0142] See also Figure 17 The embodiment of the present application also provides a computer-readable storage medium 300 on which a computer program 310 is stored. When the computer program 310 is executed by the processor 320, the steps of the wind speed detection method of any of the above-mentioned embodiments are implemented. For the sake of brevity, they are not repeated here.

[0143] In the description of this specification, the reference terms "certain embodiments", "in an example", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are mutually inconsistent.

[0144] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0145] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A calibration method, characterized in that: For calibrating an ultrasonic sensor, the method comprises: When the ultrasonic sensor is in a windless environment, determining a target threshold range corresponding to the current ambient temperature, the target threshold range being used to represent a value range of a receiving voltage threshold corresponding to the ultrasonic sensor; determining a target signal in the echo signal of the ultrasonic sensor based on the target threshold range; The receive voltage threshold is calibrated based on the target signal.

2. The calibration method according to claim 1, wherein: The ultrasonic sensor includes a plurality of probes with different transmitting directions. Different probes correspond to different receiving voltage thresholds, and the receiving voltage thresholds corresponding to the respective probes are calibrated based on the echo signals corresponding to the respective probes.

3. The calibration method according to claim 2, wherein: The ultrasonic sensor includes at least two pairs of opposing probes, the connection direction between each pair of probes is different, and the propagation distance of the ultrasonic wave between each pair of probes is equal. The method includes: When the echo times corresponding to the plurality of probes are the same, it is determined that the ultrasonic sensor is in a windless environment.

4. The calibration method according to claim 1, wherein: The calibrating the receiving voltage threshold based on the target signal includes: Determining the peak value of the first wave and the peak value of the secondary wave of the target signal; The receiving voltage threshold is calibrated based on the peak value of the first wave and the peak value of the secondary wave.

5. The calibration method according to claim 4, characterized in that: Determining the peak value of the first wave and the peak value of the secondary wave of the target signal includes: determining an echo time of the ultrasonic sensor according to a voltage threshold to be measured, wherein an initial value of the voltage threshold to be measured is a minimum value of the target threshold range, and a maximum value of the voltage threshold to be measured is a maximum value of the target threshold range; Increasing the voltage threshold to be measured based on a preset step size, and again entering the step of determining the echo time of the ultrasonic sensor according to the voltage threshold to be measured; When the difference in echo time corresponding to any two adjacent voltage thresholds to be measured is equal to or greater than the time corresponding to the frequency of the echo signal, the voltage corresponding to the smaller of the two adjacent voltage thresholds to be measured is determined as the peak value of the first wave.

6. The calibration method according to claim 5, characterized in that: The determining of the peak value of the first wave and the peak value of the secondary wave of the target signal further includes: determining the echo time of the ultrasonic sensor according to the voltage threshold to be measured, wherein the initial value of the voltage threshold to be measured is the peak value of the first wave; Increasing the voltage threshold to be measured based on a preset step size, and again entering the step of determining the echo time of the ultrasonic sensor according to the voltage threshold to be measured; When the difference in echo time corresponding to any two adjacent voltage thresholds to be measured is equal to or greater than the time corresponding to the frequency of the echo signal, the voltage corresponding to the smaller of the two adjacent voltage thresholds to be measured is determined as the peak value of the secondary wave.

7. The calibration method according to claim 4, characterized in that: The calibrating the receiving voltage threshold based on the peak value of the first wave and the peak value of the secondary wave includes: The receiving voltage threshold is determined according to a middle voltage between a peak value of the first wave and a peak value of the secondary wave.

8. The calibration method according to claim 2, wherein: The ultrasonic sensor includes at least two pairs of opposing probes, and the connection directions between the two pairs of probes are different. When the ultrasonic sensor is in a windless environment, determining the target threshold range corresponding to the current ambient temperature includes: When the ultrasonic sensor is in a windless environment, determining the echo times corresponding to the echo signals of two opposite probes; When a difference in echo times corresponding to the echo signals of two opposing probes is equal to or greater than a time corresponding to the frequency of the echo signal, a target threshold range corresponding to the current ambient temperature is determined.

9. The calibration method according to claim 8, characterized in that: The ultrasonic sensor includes a signal amplifying circuit, the probe is used to send and receive ultrasonic waves, the echo signal is generated based on the signal received by the probe and the signal amplifying circuit, and the method further includes: When the difference between the echo times corresponding to the echo signals of two opposing probes is equal to or greater than the time corresponding to the frequency of the echo signal, the amplification factor of the signal amplifying circuit is increased.

10. The calibration method according to claim 2, wherein: The ultrasonic sensor includes at least two pairs of opposing probes, and the connection direction between each pair of probes is different. The calibrating the receiving voltage threshold based on the target signal includes: Determining target probes with different corresponding echo times based on the echo times of the plurality of probes; A receiving voltage threshold corresponding to the target probe is calibrated based on a target signal corresponding to the target probe.

11. The calibration method according to claim 3, wherein: include: When the ultrasonic sensor is in a windless environment, determining and storing the ambient temperature according to the echo time between the ultrasonic sensor sending the ultrasonic wave and receiving the echo signal; The ambient temperature with the latest storage time is determined to be the current ambient temperature.

12. A wind speed detection method, characterized in that: Applied to the ultrasonic sensor, the method includes: Controlling the ultrasonic sensor to transmit and receive ultrasonic waves to obtain a transmission signal and an echo signal; determining an echo time corresponding to the ultrasonic wave based on a receiving voltage threshold, the transmitting signal, and the echo signal, wherein the receiving voltage threshold is calibrated according to the calibration method according to any one of claims 1 to 11; The wind speed is determined based on the echo time.

13. The wind speed detection method according to claim 12, characterized in that: The ultrasonic sensor includes a plurality of probes with different emission directions, and the plurality of probes sequentially transmit and receive ultrasonic waves to obtain echo times corresponding to the plurality of probes. The wind speed is determined based on the echo times, including: Determine the sub-wind speed in each emission direction according to the echo time corresponding to each of the probes; The wind speed is determined according to the sub-wind speeds in each emission direction.

14. The wind speed detection method according to claim 12, characterized in that: The calibration method is performed when the ultrasonic sensor is in a windless environment. The ultrasonic sensor includes at least two pairs of opposing probes. The connection directions between the two pairs of probes are different. The propagation distances of the ultrasonic waves between the two pairs of probes are equal. The sub-wind speeds in each emission direction are determined based on the echo times corresponding to the respective probes. The method includes: Determine the wind speed reference value in a windless environment; In the case of a current windy environment, determining a current sound velocity corresponding to the target probe combination based on a current echo time of the target probe combination, wherein the target probe combination is a combination of any pair of opposite probes; The sub-wind speed of the emission direction corresponding to the target probe combination is determined based on the sound speed symmetry principle, the current sound speed corresponding to the target probe combination, the frequency of the echo signal and the wind speed reference value.

15. An electronic device, characterized in that: include: Processor, memory; and A computer program, wherein the computer program is stored in the memory and executed by the processor, the computer program comprising instructions for executing the calibration method according to any one of claims 1 to 11 and / or the wind speed detection method according to any one of claims 12 to 14.

16. An ultrasonic sensor, characterized in that: include: Multiple probes with different emission directions; The electronic device according to claim 15, wherein the electronic device is connected to the ultrasonic sensor.

17. The ultrasonic sensor according to claim 16, characterized in that The ultrasonic sensor includes at least two pairs of opposite probes, and the connection direction between each pair of probes is different.

18. The ultrasonic sensor according to claim 17, characterized in that The ultrasonic wave travels the same distance between each pair of opposing probes.

19. A vehicle, characterized in that: include: The ultrasonic sensor according to any one of claims 16 to 18, wherein the ultrasonic sensor is mounted on the exterior of the vehicle.

20. The vehicle according to claim 19, characterized in that The ultrasonic sensor includes two pairs of opposite probes, wherein one pair of the probes is arranged along the longitudinal direction of the vehicle, and the other pair of the probes is arranged along the lateral direction of the vehicle.

21. A non-volatile computer-readable storage medium containing a computer program, characterized in that When the computer program is executed by a processor, the processor is caused to execute the calibration method according to any one of claims 1 to 11 and / or the wind speed detection method according to any one of claims 12 to 14.

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