Ultrasonic radar analogue simulation method, system and application

Abstract

The invention belongs to the technical field of automatic driving assistance, and provides an ultrasonic radar simulation method and system and application, and the method comprises the steps: collecting a signal waveform parameter in real time, and recognizing a corresponding wave-transmitting radar and wave-transmitting frequency; calculating a multi-path echo distance through an ultrasonic radar simulation model, and storing the multi-path echo distance into a corresponding simulation channel; according to an identification result, dynamically selecting and sending the data of the corresponding analog channel to the corresponding wave sending radar; and according to the distance value of the data sent to the corresponding wave sending radar, calculating the flight time corresponding to the distance value, and according to the signal waveform parameter, driving the transducer to generate an adaptive echo, thereby completing the analogue simulation test. According to the invention, the problem that the simulation frequency of the ultrasonic radar in the existing transducer scheme is limited can be solved, and cross echo simulation in a multi-channel, multi-frequency and multi-wave-transmitting radar mode can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving assistance, and particularly relates to an ultrasonic radar simulation method and system and application. BACKGROUND

[0002] With the rapid development of advanced driving assistance systems (ADAS) and automatic driving technology, ultrasonic radar, as a key sensor for environmental perception, plays an irreplaceable role in automatic parking, reversing assistance, blind area monitoring and other scenarios. Ultrasonic radar detects the distance and position of surrounding obstacles by emitting ultrasonic waves and receiving echoes, has the advantages of low cost, simple structure, and is not affected by light, and has become a standard configuration of modern vehicles.

[0003] Ultrasonic radar is a distance measurement device based on the propagation characteristics of sound waves, and its core working principle is "transmission-reception-computation", including:

[0004] Transmission stage: piezoelectric transducers produce mechanical vibrations under the excitation of electrical signals, and transmit ultrasonic wave pulses with a frequency usually in the range of 40-70 kHz (typical center frequencies are 48 kHz / 58 kHz / 68 kHz). The transmission waveform is usually a damped oscillation wave (duration 0.1-1 ms), a frequency-modulated continuous wave (FMCW, bandwidth 2-5 kHz), or a pulse-coded modulation wave (to improve anti-interference ability);

[0005] Propagation stage: ultrasonic waves propagate in the form of a nearly spherical wave in the air, and their speed is significantly affected by the ambient temperature;

[0006] Reception stage: the echo signal is converted into an electrical signal by the same transducer (transmit-receive integrated) or a dedicated receiving probe, and the typical reception sensitivity needs to reach 1 mV / μbar or more, and the signal-to-noise ratio (SNR) requirement is >60 dB.

[0007] The early vehicle-mounted ultrasonic radar adopts AK1 protocol, mainly used for basic parking assistance system, and the communication mode adopts LIN bus, which is still widely used. The new generation of ultrasonic radar protocol AK2 reduces the ranging error, supports multi-target recognition, and adopts LIN / DSI3 communication mode. Some AK2 sensors use LIN bus, but optimize the data frame structure and support more complex interaction mode (such as real-time feedback of automatic parking algorithm), conform to ISO 26262 ASIL-B functional safety level, suitable for advanced driving assistance system (ADAS), and the ranging accuracy can reach ±1 cm. DSI3 protocol uses a dedicated bus, and the ranging accuracy can reach ±0.5 cm, conforming to ISO 26262 ASIL-D functional safety level. In addition, the communication protocol of the ultrasonic radar chip itself is common, such as Elmos. For DSI3 protocol, it is necessary to simulate signal transmission through special DSI3 protocol simulation, and for non-DSI3 protocol form, it can be simulated through a patch type simulator. Because the DSI3 protocol is difficult for many OEMs to obtain, the patch type simulator is still widely used.

[0008] The patch type simulator, i.e. the simulation method of the transducer scheme. The transducer of this scheme is modified from a complete sensor and is used for echo simulation. The opposite side is a complete ultrasonic sensor to be tested, and the middle is separated by soundproof cotton / silicone to prevent interference between adjacent sensors. The flight time of the signal emitted by each transducer can be set arbitrarily. When the system receives the probe wave of the sensor, the simulation board card sets the flight time according to the simulated target distance and emits the corresponding signal. The radar detects the wave emitted by the transducer and senses the "corresponding target distance". However, this scheme limits the fixed ultrasonic frequency and does not have an ultrasonic radar scheme with cross echo.

[0009] The prior art also has some ultrasonic radar with cross echo, such as the patent application file with publication number CN118276099A discloses an obstacle type detection method and detection device based on ultrasonic radar, the method comprises the following steps: first, determining the first direct echo distance and the first cross echo distance through the echo signal collected by the first ultrasonic radar sensor, and determining the second direct echo distance and the second cross echo distance through the echo signal collected by the second ultrasonic radar sensor; determining the difference between the first cross echo distance and the first direct echo distance as the first differential distance, and determining the difference between the second cross echo distance and the second direct echo distance as the second differential distance; when it is judged that the first differential distance and the second differential distance are both valid values, then the type of the obstacle is determined according to the first differential distance and the second differential distance. By using the method and device, when the differential distance is valid data, the differential distance is used to judge the type of the obstacle, which effectively improves the accuracy of obstacle type judgment. However, this method calculates and judges the existing echo data, it assumes that the system has obtained reliable direct echo and cross echo distance data, and then uses a specific algorithm (calculates the differential distance, etc.) to improve the accuracy of obstacle type judgment, which depends on the front-end system to provide high-quality data. If the performance of the ultrasonic radar itself is not good, or the echo signal is disturbed and error is generated in a complex environment, the accuracy of the algorithm judgment will decrease. SUMMARY

[0010] In view of the above-mentioned shortcomings of the prior art, the present application provides an ultrasonic radar simulation method, system and application, which can solve the problem of frequency limitation of the existing transducer scheme ultrasonic radar simulation, and can realize cross echo simulation under multiple channel, multiple frequency and multiple wave radar modes.

[0011] To achieve the above object and related objects, the present application adopts the following technical scheme:

[0012] The first aspect of the present application provides an ultrasonic radar simulation method, comprising the following steps:

[0013] Step S100, real-time acquisition of signal waveform parameters and identification of corresponding wave radar and wave frequency;

[0014] Step S200, calculating the multi-path echo distance through the ultrasonic radar simulation model, and storing it in the corresponding simulation channel;

[0015] Step S300, dynamically selecting the data of the corresponding simulation channel to send to the corresponding wave radar according to the identification result;

[0016] Step S400, according to the data sent to the corresponding wave radar distance value calculation and its corresponding time of flight, and according to the signal waveform parameters drive transducer to generate adaptive echo, so as to complete the simulation test.

[0017] Further, in step S100, the signal waveform parameters include frequency, amplitude and echo width.

[0018] Further, in step S200, the multi-path echo distance includes direct echo distance, left indirect echo distance and right indirect echo distance.

[0019] The simulation channel is configured as the channel of the ultrasonic echo radar, and each ultrasonic echo radar is configured with three simulation channels.

[0020] Further, the method further comprises, when the wave radar is multiple, driving the transducer to generate multiple adaptive echoes in parallel.

[0021] The second aspect of the present application provides an ultrasonic echo radar simulation system, comprising a control and processing unit for transmitting and receiving ultrasonic signals and calculation processing, a signal conversion unit for converting electrical signals and ultrasonic signals, an environment simulation and isolation unit for controlling the distance between sensors and absorbing clutter, the control and processing unit, the signal conversion unit and the environment simulation and isolation unit are communicatively connected with each other.

[0022] Further, the control and processing unit comprises a measured controller and a processor, the processor is configured to dynamically identify the wave radar and the wave frequency by receiving and processing the signal waveform parameters of the measured controller, and adjust its own waveform parameters to generate effective adaptive echo.

[0023] Further, the signal conversion unit comprises a transducer and a measured ultrasonic radar, the transducer is communicatively connected with the processor, and the measured ultrasonic radar is communicatively connected with the measured controller.

[0024] Further, the environment simulation and isolation unit comprises a limiting adjustment mechanism, a first wave absorbing mechanism and a second wave absorbing mechanism, the limiting adjustment mechanism is used for adjusting the distance between the measured ultrasonic radar and the transducer, and the first wave absorbing mechanism and the second wave absorbing mechanism are respectively arranged around the transducer.

[0025] The third aspect of the present application provides a computer readable storage medium, which stores computer readable instructions, when the computer readable instructions are executed by the processor of the computer, the computer executes the above-mentioned ultrasonic echo radar simulation method.

[0026] The fourth aspect of the present application provides a computer device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, when the processor executes the computer program, the steps of the above-mentioned ultrasonic echo radar simulation method are realized.

[0027] The beneficial technical effects of the present application are that:

[0028] The present application can dynamically identify the wave emission frequency, amplitude and echo width of different wave emission radars, and drive the transducer to generate self-adaptive echo signals that are highly matched in frequency, amplitude and timing based thereon, so as to overcome the limitation that the traditional analog method may not be able to distinguish the characteristics of different models of radars, and solve the problem that the traditional scheme can only be applied to radars of single frequency scheme;

[0029] The present application can accurately simulate the multi-path reflection and inter-radar crosstalk phenomenon that may occur in real environment by combining the ultrasonic radar simulation model to calculate the multi-path echo distance in real time and storing it in the corresponding analog channel, and adapt the cross echo simulation adaptation channel and selection scheme to solve the problem of cross echo simulation.

[0030] The present application can realize cross echo simulation under the mode of multiple channels, multiple frequencies and multiple wave emission radars, and support channel expansion and pruning, and the original processor processing scheme can be reused.

[0031] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0032] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application. It is apparent that the accompanying drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those of ordinary skill in the art without creative labor. In the drawings:

[0033] Figure 1 The flow chart of the ultrasonic radar simulation method of the present application;

[0034] Figure 2 The device diagram of the ultrasonic radar simulation system of the present application;

[0035] Figure 3 The schematic diagram of the ultrasonic radar simulation system of the present application;

[0036] Figure 4 The principle diagram of the echo distance channel calculation of the present application;

[0037] Figure 5 The structure schematic diagram of the computer system of the computer device suitable for the embodiments of the present application is shown. DETAILED DESCRIPTION

[0038] Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. It should be understood that certain features of the invention (described in the context of separate embodiments for clarity) may also be provided in combination in a single embodiment. Conversely, multiple features of the invention (described in the context of a single embodiment for brevity) may also be provided separately or in any suitable combination or, where appropriate, in any other described embodiment of the invention. Certain features described in the context of various embodiments will not be considered essential features of those embodiments unless the embodiment is inoperable without those elements. The invention is further described below through specific examples, but it should be noted that the specific process conditions and results described in the examples of the invention are only for illustration of the invention and are not intended to limit the scope of protection of the invention. Any equivalent changes or modifications made in accordance with the spirit and substance of the invention should be included within the scope of protection of the invention.

[0039] See also Figure 1 , is a flow chart of the ultrasonic radar simulation method of this application, which is detailed as follows:

[0040] Step S100: collecting signal waveform parameters in real time and identifying the corresponding transmitting radar and transmitting frequency.

[0041] Specifically, the signal waveform parameters of the present application include frequency, amplitude and echo width.

[0042] Step S200: Calculate the multipath echo distance using the ultrasonic radar simulation model and store it in the corresponding simulation channel.

[0043] Specifically, the present application establishes an ultrasonic radar simulation model based on sensor parameters to detect obstacles in a simulated scene, and transmits distance information to the ultrasonic radar simulation model. The simulation model performs corresponding distance conversion and calculates multipath echo distances, including direct echo distance, left indirect echo distance, and right indirect echo distance. Among them, the direct echo distance is the echo path of the sound wave emitted by the radar, which is reflected by the obstacle and received by itself; the left indirect echo distance is the echo path of the sound wave emitted by the radar, which is reflected by the obstacle and received by the adjacent radar on the left; and the right indirect echo distance is the echo path of the sound wave emitted by the radar, which is reflected by the obstacle and received by the adjacent radar on the right.

[0044] Specifically, the application simulates the channel as the channel of the ultrasonic echo radar, and each ultrasonic echo radar is configured with three simulation channels corresponding to the direct echo distance, the left indirect echo distance and the right indirect echo distance respectively. The application can accurately simulate the multi-path reflection and radar cross-interference phenomenon of ultrasonic waves in the real environment by combining the ultrasonic echo radar simulation model to calculate the multi-path echo distance in real time and storing it in the corresponding simulation channel, and adapt the cross echo simulation adaptation channel and selection scheme to solve the problem of cross echo simulation.

[0045] Step S300, according to the result of identification, dynamically selecting the data of the corresponding simulation channel to send to the corresponding wave-emitting radar.

[0046] Specifically, the data is the multi-path echo distance value calculated in real time by the ultrasonic echo radar simulation model and stored in the specific simulation channel of the specific radar. According to the identified wave-emitting radar, the application dynamically cross-distributes these distance values to the wave-emitting radar itself and its left and right adjacent radars to accurately simulate the direct echo and cross echo (indirect echo).

[0047] Step S400, according to the distance value of the data sent to the corresponding wave-emitting radar, calculating the time of flight corresponding thereto, and driving the transducer to generate an adaptive echo according to the signal waveform parameters, thereby completing the simulation test.

[0048] Specifically, the application calculates the time of flight ToF according to the distance value D and the speed of sound c, where ToF=2D / c.

[0049] Specifically, the application controls the frequency of the generated sound wave according to the identified wave-emitting frequency, controls the intensity of the generated sound wave according to the collected signal amplitude, controls the time length of the generated sound wave according to the collected echo width, and accurately controls the time of echo emission controlled by the time of flight, thereby driving the transducer to generate a high-fidelity adaptive echo.

[0050] Further, when the wave-emitting radar is multiple, the transducer is driven in parallel to generate multiple adaptive echoes, thereby receiving a mixed echo signal for simulation test.

[0051] Please refer to Figure 2 and Figure 3 The application also provides an ultrasonic echo radar simulation system, which comprises a control and processing unit for receiving and transmitting ultrasonic signals and calculating processing, a signal conversion unit for converting electrical signals and ultrasonic signals, an environment simulation and isolation unit for controlling the distance between sensors and absorbing clutter, and the control and processing unit, the signal conversion unit and the environment simulation and isolation unit are in communication connection with each other.

[0052] Further, the control and processing unit comprises a measured controller and a processor, the processor is configured to dynamically identify the wave frequency and generate effective adaptive echo by receiving and processing the signal waveform parameters of the measured controller, adjusting its own waveform parameters. The measured controller can be integrated with a measured ultrasonic radar. Further, as shown in Figure 2 , the measured controller and the processor are located on one side and connected with a plurality of signal conversion units on the other side through a cable, facilitating multi-sensor cooperative simulation. As shown in Figure 3 , the processor receives the wave frequency signal from the measured controller end at the same time, judges the corresponding wave frequency and wave radar according to the transmitting and receiving wave signals, dynamically adjusts the frequency value according to the corresponding wave frequency, and generates echo. The processor dynamically receives the amplitude and echo width relationship signal of the measured controller waveform, and generates echo according to the amplitude and echo width relationship corresponding to the distance, so as to ensure the effectiveness of the waveform. When the amplitude and echo width cannot be detected, a higher value is set for the amplitude to ensure the effectiveness of the echo.

[0053] Further, the signal conversion unit comprises a transducer and a measured ultrasonic radar, the transducer is in communication connection with the processor, and the measured ultrasonic radar is in communication connection with the measured controller.

[0054] Further, the environment simulation and isolation unit comprises a limiting adjustment mechanism, a first wave absorption mechanism and a second wave absorption mechanism, the limiting adjustment mechanism is used for adjusting the distance between the measured ultrasonic radar and the transducer, and the first wave absorption mechanism and the second wave absorption mechanism are respectively arranged around the transducer, used for absorbing clutter, simulating beam attenuation in real environment and preventing signal interference between signals.

[0055] Further, as shown in Figure 2 , the measured ultrasonic radar and the transducer are connected, the distance is adjusted by the limiting adjustment mechanism at both ends, the probe part is blocked by the first wave absorption mechanism Figure 2 (absorbing mechanism 1), to prevent interference of other waves, and the second wave absorption mechanism Figure 2 (absorbing mechanism 2) is used for overall isolation between each group of probes.

[0056] Further, as shown in Figure 3The application establishes an ultrasonic sensor simulation model according to parameters of a sensor model, is used for detecting an obstacle in a simulation scene, and transmits distance information to the simulation model. The simulation model carries out corresponding distance conversion, including direct echo distance of an ultrasonic radar, left indirect echo distance, and right indirect echo distance. Each processor in the ultrasonic echo simulation sensor is provided with three analog channels, respectively corresponding to the direct echo distance, the left indirect echo distance, and the right indirect echo distance of the corresponding processor transmitted by the simulation model, and according to the detection result of the wave signal of the measured controller in the ultrasonic echo simulation sensor, the corresponding analog channel is selected. Further, the parameters of the sensor model include but are not limited to beam angle, detection range, etc. The sensor model is used for detecting an obstacle in real time according to a virtual simulation scene such as obstacle position, vehicle attitude, and sensor parameters.

[0057] Further, the processor of the application monitors and identifies in real time which wave radar (for example, radar 2) is currently transmitting a wave, and each wave radar is provided with three analog channels (Channel) in the processor, respectively storing: Channel 1, direct echo distance of radar 2, such as D2 直接 ; Channel 2, indirect echo distance sent to the left adjacent radar, such as D2 间接-左 ; Channel 3, indirect echo distance sent to the right adjacent radar, such as D2 间接-右 . Then the processor of the application dynamically selects the data to be sent according to the identified wave radar, such as radar 2, such as sending the data (D2 直接 ) of Channel 1 to radar 2 itself; sending the data (D2 间接-左 ) of Channel 2 to radar 1; and sending the data (D2 间接-右 ) of Channel 3 to radar 3.

[0058] Further, please refer to Figure 4 , which is an example of direct distance and indirect distance of the left middle radar (radar 2) of the front four radars, D2 直接 is the direct echo distance of the left middle radar, D2 间接-左 is the indirect echo distance of the left middle radar (radar 2) to the left radar (radar 1), D2 间接-右 is the indirect echo distance of the left middle radar (radar 2) to the right middle radar (radar 3), that is, when radar 2 is the wave radar, radar 1 and radar 3 can receive indirect echoes, and the corresponding echo distances are D2 间接-左 and D 2间接-右 . The illustrated distance is schematic, and can be updated dynamically according to the actual cross echo algorithm.

[0059] Further, please refer to Figure 4, radar 2 will transmit D2 直接 , D2 间接-左 , D2 间接-右 out. Correspondingly, the simulation device radar 2 has three corresponding channels: 2-Channel 1: direct echo distance; 2-Channel 2: indirect distance to the left radar 1; 2-Channel 3: indirect distance to the right radar 3. The echo channel of other radars is the same, Channel 2 of radar 1 (indirect distance to the left radar, at this time the left has no radar), then 0 is transmitted, Channel 3 of radar 4 (indirect distance to the right radar, at this time the right has no radar), 0 is transmitted. If a real physical object is detected in the measured ultrasonic radar, the transmitting radar is 2, then the simulation device transmits the value D2 直接 of Channel 1 to the corresponding channel of radar 2, transmits the indirect echo distance D2 间接-左 of Channel 1 of radar 2 to the corresponding channel of radar 1, transmits the indirect echo distance D2 间接-右 of Channel 3 of radar 2 to the corresponding channel of radar 4.

[0060] Further, the processor of the present application receives the transmitting and receiving wave signals of the measured controller, according to the above-mentioned distances needed to be transmitted to each transmitting radar, calculates the corresponding time of flight, and drives the probe transducer according to the detected transmitting frequency, the set time of flight, frequency value, amplitude, and echo width, and the transducer sends the corresponding echo signal to the measured controller.

[0061] Further, in the present application, when two radars are transmitting radars at the same time, two values are sent, such as when radar 2 and radar 4 are transmitting radars at the same time, radar 3 can receive the indirect echo distances of radar 2 and radar 4 respectively, and control the transducer to send the corresponding echo signal according to the detected corresponding transmitting frequency. Further, when radar 2 and radar 4 are transmitting radars at the same time, the processor collects and identifies the transmitting radars and the transmitting frequencies f2, f4 in real time, and the ultrasonic radar simulation model calculates the multi-path echo distances, including radar 2: D2 直接 , D2 间接-左 , D2 间接-右 ; radar 4: D4 直接 , D4 间接-左 , D4 间接-右 . Then dynamically select to send the above-mentioned distance values, such as for radar 3, select D2 间接-右 and D4 间接-左 ; for radar 2 itself, select D2 直接 ; for radar 4 itself, select D4 直接 ; for radar 1, select D2 间接-左 ; for radar 5, select D4 间接-右Then, parallel processing and echo generation are performed, such as based on D2 间接-右 ToF-2 is calculated for the radar 3, combined with f2, to drive the transducer to generate echoes with a frequency of f2; based on D4 间接-左 ToF-4 is calculated for the radar 3, combined with f4, to drive the transducer to generate echoes with a frequency of f4, and the radar 3 receives two echo signals with different frequencies in succession, and controls the transducer to emit corresponding echo signals according to the detected corresponding transmission frequencies.

[0062] Further, the cross-echo calculation method of the present application is an example, and the accurate calculation of the cross-echo distance can also be performed through dynamic detection technology.

[0063] Further, the present application can change the channel selection strategy and be suitable for distance simulation of other echo schemes.

[0064] It should be noted that the ultrasonic radar simulation system provided by the above embodiment and the ultrasonic radar simulation method provided by the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment, and will not be described here. The ultrasonic radar simulation system provided by the above embodiment can be completed by different functional modules according to the need in actual application, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above, and this is not limited herein.

[0065] Embodiments of the present application also provide a computer device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the computer device implements the ultrasonic radar simulation method provided in each of the above embodiments.

[0066] Figure 5 The structural schematic diagram of the computer system of the computer device suitable for the embodiments of the present application is shown. It should be noted that, Figure 5 The computer system 500 of the electronic device shown is only an example, and should not limit the functions and use range of the embodiments of the present application.

[0067] As Figure 5As shown, the computer system 500 includes a central processing unit (CPU) 501 which can perform various appropriate actions and processes in accordance with programs stored in a read only memory (ROM) 502 or loaded into a random access memory (RAM) 503 from a storage section 508, such as the methods described in the above embodiments. Various programs and data required for the operation of the system are also stored in the RAM 503. The CPU 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504. The following are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as necessary. A removable recording medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 510 as necessary, so that a computer program read therefrom is installed into the storage section 508 as necessary.

[0068] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer tool program. For example, embodiments of the present application include a computer program product including a computer program carried on a computer readable medium, the computer program containing a computer program for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication section 509, and / or installed from the removable recording medium 511. When the computer program is executed by the central processing unit (CPU) 501, various functions defined in the system of the present application are performed.

[0069] It should be noted that the computer readable medium shown in the embodiments of the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, be an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system, device or apparatus, or any combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, a flash memory, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, the computer readable signal medium can include a data signal carried in a baseband or as a carrier wave in a propagated data signal, in which the computer readable computer program is carried. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit programs for use by or in connection with an instruction execution system, apparatus or device. The computer program contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0070] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In the flowcharts or block diagrams, each block can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order from that shown in the drawings. For example, two blocks represented in succession can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0071] The units described in the embodiments of the present application can be implemented in the form of tools, or can be implemented in the form of hardware, and the described units can also be arranged in a processor. In some cases, the names of these units do not constitute a limitation on the units themselves.

[0072] Another aspect of the present application provides a computer-readable storage medium storing a computer program. When executed by a computer processor, the computer program causes the computer to perform the ultrasonic radar simulation method described above. The computer-readable storage medium may be included in the computer device described in the above embodiments, or may exist independently and not be incorporated into the computer device.

[0073] Another aspect of the present application provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the ultrasonic radar simulation method provided in each of the above embodiments.

[0074] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. An ultrasonic radar simulation method, characterized in that: The following steps are involved: Step S100: collecting signal waveform parameters in real time and identifying the corresponding transmitting radar and transmitting frequency; Step S200, calculating the multipath echo distance using the ultrasonic radar simulation model and storing it in the corresponding simulation channel; Step S300, dynamically selecting and sending the data corresponding to the analog channel to the corresponding transmitting radar according to the recognition result; Step S400 , calculating the corresponding flight time according to the distance value sent to the corresponding transmitting radar according to the data, and driving the transducer to generate an adaptive echo according to the signal waveform parameters, thereby completing the simulation test.

2. The method according to claim 1, characterized in that In step S100, the signal waveform parameters include frequency, amplitude and echo width.

3. The method according to claim 2, characterized in that In step S200, the multipath echo distance includes a direct echo distance, a left indirect echo distance, and a right indirect echo distance; The analog channels are configured as channels of ultrasonic echo radars, and each ultrasonic echo radar is configured with three analog channels.

4. The method according to claim 3, characterized in that The method further includes, when there are multiple transmitting radars, driving the transducers in parallel to generate multiple adaptive echoes.

5. An ultrasonic radar simulation system, characterized in that: It includes a control and processing unit for sending and receiving ultrasonic signals and performing calculation processing, a signal conversion unit for converting electrical signals and ultrasonic signals into each other, and an environment simulation and isolation unit for controlling the sensor spacing and absorbing clutter. The control and processing unit, the signal conversion unit and the environment simulation and isolation unit are communicatively connected to each other.

6. The system according to claim 5, characterized in that The control and processing unit includes a controller under test and a processor. The processor is configured to dynamically identify the transmitting radar and the transmitting frequency by receiving and processing the signal waveform parameters of the controller under test, and adjust its own waveform parameters to generate an effective adaptive echo.

7. The system according to claim 6, characterized in that The signal conversion unit includes a transducer and an ultrasonic radar under test. The transducer is communicatively connected to the processor, and the ultrasonic radar under test is communicatively connected to the controller under test.

8. The system according to claim 7, characterized in that The environmental simulation and isolation unit includes a limit adjustment mechanism, a first absorbing mechanism and a second absorbing mechanism. The limit adjustment mechanism is used to adjust the distance between the ultrasonic radar under test and the transducer. The first absorbing mechanism and the second absorbing mechanism are respectively arranged around the transducer.

9. A computer-readable storage medium, characterized in that Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the ultrasonic radar simulation method according to any one of claims 1 to 4.

10. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the ultrasonic radar simulation method according to any one of claims 1 to 4 when executing the computer program.

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