Driving circuit, ultrasonic radar and radar system

Abstract

A driving circuit, an ultrasonic radar and a radar system are applied to the fields of automatic driving, surveying and mapping, intelligent transportation and the like. The driving circuit comprises a first driving source, a second driving source, a first transformer and a second transformer, the first transformer is used for providing high output voltage for the piezoelectric vibration piece, so that the piezoelectric vibration piece emits ultrasonic waves with high intensity, and the detection distance of the ultrasonic radar is large. The second transformer is used for providing low output voltage for the piezoelectric vibration piece, so that the piezoelectric vibration piece emits ultrasonic waves with low intensity, and at the moment, the detection blind area of the ultrasonic radar is small. When the first transformer and the second transformer are used for working alternately, the detection blind area of the ultrasonic radar can be reduced under the condition that the detection distance of the ultrasonic radar is guaranteed, and the detection performance of the ultrasonic radar is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection, in particular to a driving circuit, an ultrasonic radar and a radar system. BACKGROUND

[0002] An ultrasonic radar, also known as an ultrasonic sensor system (USS), is a sensor that uses ultrasonic waves for detection and is widely used in the fields of automobiles and unmanned aerial vehicles. The USS performs ultrasonic wave emission and reception operations through a driving circuit and a piezoelectric vibrator. When emitting ultrasonic waves, the driving circuit provides a driving voltage to the piezoelectric vibrator to cause the piezoelectric vibrator to emit ultrasonic waves. The higher the driving voltage, the greater the detection distance of the USS, but the blind area of the USS detection also increases.

[0003] Some manufacturers reduce the gain intensity of the echo at the receiving end to reduce the blind area of the USS, for example, without changing the intensity of the emitted ultrasonic waves, the amplification multiple of the ultrasonic echo is reduced. However, this method is difficult to accurately determine the amount to be reduced, and the effect of reducing the blind area of the USS is not ideal, the reliability is low, and it may also affect the detection accuracy of the ultrasonic radar.

[0004] In another scheme, by adjusting the size of the driving voltage within a period of time, the blind area of the USS can be reduced while the detection distance of the USS is guaranteed. For example, the USS first receives an instruction, and the driving transformer provides a first voltage to the piezoelectric vibrator. If it is necessary to adjust the size of the driving voltage, the USS can receive an instruction again, and the driving transformer provides another voltage to the piezoelectric vibrator. Each time the voltage is adjusted, the USS needs to receive an instruction again and change the current of the driving circuit by adjusting other components in the driving circuit, thereby adjusting the driving voltage. The required time is long, resulting in high delay of voltage adjustment. Moreover, when adjusting other components in the driving circuit to change the current of the driving circuit, there may be a large deviation, resulting in low reliability of voltage adjustment. Therefore, how to reduce the blind area of the USS while guaranteeing the detection distance of the USS is a problem to be solved by those skilled in the art. SUMMARY

[0005] The present application provides a driving circuit, an ultrasonic radar and a radar system, which can increase the detection distance of the ultrasonic radar, reduce the blind area of the ultrasonic radar, and improve the detection performance of the ultrasonic radar.

[0006] In a first aspect, the present application provides a driving circuit for driving a piezoelectric vibrator of an ultrasonic radar, the driving circuit comprising a first driving source, a second driving source, a first transformer and a second transformer. The input end of the first transformer is connected to the first driving source, the output end of the first transformer is connected to the piezoelectric vibrator, the input end of the second transformer is connected to the second driving source, and the output end of the second transformer is connected to the piezoelectric vibrator. At the same time, the first driving source is configured to provide a first trigger signal to the first transformer, or the second driving source is configured to provide a second trigger signal to the second transformer. The first transformer is configured to provide a first output voltage to the piezoelectric vibrator based on the first trigger signal, and the second transformer is configured to provide a second output voltage to the piezoelectric vibrator based on the second trigger signal. Optionally, the first output voltage is higher than the second output voltage.

[0007] In the present application, the first transformer is configured to provide a higher output voltage to the piezoelectric vibrator, so that the piezoelectric vibrator emits ultrasonic waves with a larger intensity, and the detection distance of the ultrasonic radar is larger. The second transformer is configured to provide a lower output voltage to the piezoelectric vibrator, so that the piezoelectric vibrator emits ultrasonic waves with a smaller intensity, and the detection blind area of the ultrasonic radar is smaller. When the first transformer and the second transformer are used alternately, the detection blind area of the ultrasonic radar can be reduced while the detection distance of the ultrasonic radar is ensured, and the detection performance of the ultrasonic radar is improved.

[0008] In addition, by using different transformers to provide different voltages to the piezoelectric vibrator, the response speed when switching the voltage is faster than when changing the output voltage of the same transformer, the delay of the driving voltage switching of the piezoelectric vibrator can be reduced, and the detection performance of the ultrasonic radar is improved.

[0009] In a possible implementation of the first aspect, the first driving source and the second driving source are the same driving source. At the same time, the first driving source is configured to provide the first trigger signal to the first transformer, or to provide the second trigger signal to the second transformer.

[0010] In another possible implementation of the first aspect, the driving circuit further comprises a selection module. The input end of the selection module is connected to the first driving source, and the output end of the selection module is connected to the first transformer and the second transformer. The selection module is configured to receive a first signal from the first driving source, and select the first transformer or the second transformer based on the first signal.

[0011] In the above implementation, the ultrasonic radar can select the first transformer or the second transformer through the selection module, thereby providing a higher output voltage to the piezoelectric vibrator to increase the detection distance of the ultrasonic radar, or providing a lower output voltage to the piezoelectric vibrator to reduce the detection blind area of the ultrasonic radar, and the detection performance of the ultrasonic radar can be improved.

[0012] In a further possible implementation form of the first aspect, the first driving source is configured to provide the first trigger signal to the first transformer in a first time period, and the second driving source is configured to provide the second trigger signal to the second transformer in a second time period.

[0013] In the above implementation form, the ultrasonic radar provides a higher output voltage to the piezoelectric vibration piece through the first transformer in the first time period to increase the detection distance of the ultrasonic radar, and provides a lower output voltage to the piezoelectric vibration piece through the second transformer in the second time period to reduce the detection blind area of the ultrasonic radar, so that the detection performance of the ultrasonic radar can be improved.

[0014] In a further possible implementation form of the first aspect, the first driving source is configured to provide the first trigger signal to the first transformer in a frequency sweeping mode, and the second driving source is configured to provide the second trigger signal to the second transformer in a fixed frequency mode.

[0015] In a further possible implementation form of the first aspect, the first driving source and the second driving source are connected with the controller, the first driving source is further configured to receive a second signal from the controller, the second signal being configured to indicate activation or deactivation of the frequency sweeping mode, and the second driving source is further configured to receive a third signal from the controller, the third signal being configured to indicate activation or deactivation of the fixed frequency mode.

[0016] In the above implementation form, when the ultrasonic radar needs to use both the fixed frequency mode and the frequency sweeping mode to emit ultrasonic waves in a certain time period, since the ultrasonic radar needs a lower driving voltage to emit ultrasonic waves in the fixed frequency mode than in the frequency sweeping mode, the application limits the ultrasonic radar to provide a higher output voltage to the piezoelectric vibration piece through the first transformer in the frequency sweeping mode to increase the detection distance of the ultrasonic radar, and limits the ultrasonic radar to provide a lower output voltage to the piezoelectric vibration piece through the second transformer in the fixed frequency mode, so that not only the detection blind area of the ultrasonic radar can be reduced, but also redundancy can be reduced, and the use cost of the ultrasonic radar can be reduced.

[0017] In a further possible implementation form of the first aspect, the first driving source and the second driving source are connected with the controller, the first driving source is further configured to receive a fourth signal from the controller, the fourth signal being configured to indicate a time length of outputting the first output voltage by the driving circuit, and the second driving source is further configured to receive a fifth signal from the controller, the fifth signal being configured to indicate a time length of outputting the second output voltage by the driving circuit. The fourth signal and the fifth signal are related to the working scenario of the ultrasonic radar.

[0018] In the above-mentioned embodiments, when the working scene of the ultrasonic radar needs to increase the detection distance of the ultrasonic radar as much as possible, the fourth signal can be used to instruct the ultrasonic radar to mainly provide a higher output voltage to the piezoelectric vibration piece through the first transformer, so as to increase the detection distance of the ultrasonic radar. When the working scene of the ultrasonic radar needs to reduce the detection blind area of the ultrasonic radar as much as possible, the fifth signal can be used to instruct the ultrasonic radar to mainly provide a lower output voltage to the piezoelectric vibration piece through the second transformer, so as to reduce the detection blind area of the ultrasonic radar.

[0019] In a further possible implementation manner of the first aspect, the first driving source comprises a first chip, and the second driving source comprises a second chip, the first chip and the second chip are powered by the energy source, and the first chip and the second chip can output the trigger signal to the outside through the interface.

[0020] In a further possible implementation manner of the first aspect, the first chip comprises a first interface and a second interface, the positive pole of the input end of the first transformer is connected with the first interface, and the negative pole of the input end of the first transformer is connected with the second interface. The second chip comprises a third interface and a fourth interface, the positive pole of the input end of the second transformer is connected with the third interface, and the negative pole of the input end of the second transformer is connected with the fourth interface. The first chip is configured to provide the first trigger signal to the first transformer through the first interface and the second interface, and the second chip is configured to provide the second trigger signal to the second transformer through the third interface and the fourth interface.

[0021] In a further possible implementation manner of the first aspect, the first chip and the second chip are the same chip, the first interface and the third interface are the same interface, and the second interface and the fourth interface are the same interface. The first chip is configured to provide the first trigger signal to the first transformer through the first interface and the second interface, or to provide the second trigger signal to the second transformer through the first interface and the second interface.

[0022] In a further possible implementation manner of the first aspect, the driving circuit further comprises a selection module, the first chip further comprises a fifth interface, and the selection module is connected with the fifth interface. The first chip is configured to select the first transformer through the fifth interface and the selection module, and provide the first trigger signal to the first transformer, or to select the second transformer through the fifth interface and the selection module, and provide the second trigger signal to the second transformer.

[0023] In a further possible implementation manner of the first aspect, the first driving source and the second driving source are connected with a controller, and the controller is the energy source.

[0024] In a second aspect, an ultrasonic radar is provided. The ultrasonic radar comprises the driving circuit and the piezoelectric vibrator described in any of the first aspect. The driving circuit is configured to provide a voltage to the piezoelectric vibrator. The piezoelectric vibrator is configured to emit an ultrasonic wave based on the voltage provided by the driving circuit.

[0025] In a possible implementation form of the second aspect, the first transformer is connected to the piezoelectric vibrator through the first positive electrode wire and the first negative electrode wire. The second transformer is connected to the piezoelectric vibrator through the second positive electrode wire and the first negative electrode wire.

[0026] In a possible implementation form of the second aspect, the driving circuit is configured to provide a first output voltage to the piezoelectric vibrator in a first time period. The piezoelectric vibrator is configured to emit a first ultrasonic wave based on the first output voltage in the first time period. The driving circuit is configured to provide a second output voltage to the piezoelectric vibrator in a second time period. The piezoelectric vibrator is configured to emit a second ultrasonic wave based on the second output voltage in the second time period.

[0027] In a possible implementation form of the second aspect, the driving circuit is configured to provide a first output voltage to the piezoelectric vibrator in a sweep frequency mode. The piezoelectric vibrator is configured to emit a first ultrasonic wave based on the first output voltage. The driving circuit is configured to provide a second output voltage to the piezoelectric vibrator in a fixed frequency mode. The piezoelectric vibrator is configured to emit a second ultrasonic wave based on the second output voltage.

[0028] In a third aspect, a radar system is provided. The radar system comprises a first ultrasonic radar and a second ultrasonic radar. The first ultrasonic radar is the ultrasonic radar described in any of the second aspect. The second ultrasonic radar is the ultrasonic radar described in any of the second aspect. The first ultrasonic radar comprises a first driving circuit and a first piezoelectric vibrator. The second ultrasonic radar comprises a second driving circuit and a second piezoelectric vibrator. The first ultrasonic radar is configured to provide a first output voltage to the first piezoelectric vibrator through the first driving circuit in a third time period, so that the first piezoelectric vibrator emits a first ultrasonic wave based on the first output voltage. The second ultrasonic radar is configured to provide a second output voltage to the second piezoelectric vibrator through the second driving circuit in the third time period, so that the second piezoelectric vibrator emits a second ultrasonic wave based on the second output voltage.

[0029] In the above embodiment, the first ultrasonic radar provides a higher output voltage to the piezoelectric vibrator through the first driving circuit, so that the piezoelectric vibrator emits ultrasonic waves with a larger intensity, thereby increasing the detection distance of the first ultrasonic radar. The second ultrasonic radar provides a lower output voltage to the piezoelectric vibrator through the second driving circuit, so that the piezoelectric vibrator emits ultrasonic waves with a smaller intensity, thereby reducing the detection blind area of the ultrasonic radar. Simultaneous use of the working of the first ultrasonic radar and the second ultrasonic radar can reduce the detection blind area of the radar system while ensuring the detection distance of the radar system, thereby improving the detection performance of the radar system.

[0030] In a fourth aspect, the present application provides a terminal comprising the radar system described in the third aspect. Optionally, the terminal is one of a vehicle, a drone or a robot.

[0031] The beneficial effects of the second to fourth aspects of the present application can be referred to the beneficial effects of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0032] The drawings used in the description of the embodiments will be briefly described.

[0033] Figure 1 is a distribution diagram of a vehicle-mounted ultrasonic radar provided by an embodiment of the present application;

[0034] Figure 2 is a working principle diagram of an ultrasonic radar provided by an embodiment of the present application;

[0035] Figure 3 is an architecture diagram of a radar system provided by an embodiment of the present application;

[0036] Figure 4 is a structure diagram of an ultrasonic radar provided by an embodiment of the present application;

[0037] Figure 5 is a structure diagram of another ultrasonic radar provided by an embodiment of the present application;

[0038] Figure 6 is a structure diagram of another ultrasonic radar provided by an embodiment of the present application;

[0039] Figure 7 is a structure diagram of another ultrasonic radar provided by an embodiment of the present application;

[0040] Figure 8 is a flow diagram of a detection method provided by an embodiment of the present application;

[0041] Figure 9 is a flow diagram of another detection method provided by an embodiment of the present application;

[0042] Figure 10 is a structural schematic diagram of a data processing device provided by an embodiment of the present application;

[0043] Figure 11 is a structural schematic diagram of a computing device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0044] The embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0045] An ultrasonic radar is a sensor that measures distance by using ultrasonic waves, and is widely used in short distance (for example, between 0-5 meters) measurement scenarios. For example, it can be used for safety assistance when parking and reversing a car, such as ultrasonic parking assistance (UPA) ultrasonic radar and automatic parking assistance (APA) ultrasonic radar.

[0046] Please refer to Figure 1 , Figure 1 is a distribution schematic diagram of a vehicle-mounted ultrasonic radar provided by an embodiment of the present application, including a vehicle 101, a detection range 102 of a UPA ultrasonic radar, and a detection range 103 of an APA ultrasonic radar. Among them, the UPA ultrasonic radar is installed on the front and rear of the vehicle 101, and is used to measure the obstacles in front and rear of the vehicle. The APA ultrasonic radar is installed on the side of the vehicle 101, and the detection range of the APA ultrasonic radar is farther than that of the UPA ultrasonic radar, and can detect the obstacles on the left and right sides. Figure 1 Exemplarily, eight UPA ultrasonic radars and four APA ultrasonic radars are shown, and the type, number, arrangement manner, etc. of the ultrasonic radars installed on the vehicle 101 can be additionally designed in the present application.

[0047] In combination with Figure 1 , the ultrasonic radar can detect the situation of the obstacles around the vehicle. In addition, the ultrasonic radar can inform the distance between the vehicle and the obstacles in combination with related prompt devices (such as sound, light, vibration, or display screen, etc.), so as to relieve the driver from the trouble of looking around when parking, reversing, and starting the vehicle. For example, during the process of reversing into a garage, the driver hears the "ticking" sound in the cab, which is the feedback information provided by the ultrasonic radar after distance measurement.

[0048] Next, the working principle of the ultrasonic radar will be exemplarily introduced, please refer to Figure 2 , Figure 2 is a working principle schematic diagram of an ultrasonic radar provided by an embodiment of the present application.

[0049] As Figure 2As shown, Figure 2 The ultrasonic radar 201, the target object 203, the transmitted wave 204 and the echo 205 are included in the system, and the controller 202 is optionally included. Among them:

[0050] The ultrasonic radar 201 is used for transmitting and receiving ultrasonic waves. The ultrasonic wave transmitted by the ultrasonic radar 201 is called the transmitted wave 204, and the ultrasonic wave received by the ultrasonic radar 201 is called the echo 205. In combination Figure 2 It can be seen that the target object 203 is included in the detection range of the ultrasonic radar, and the ultrasonic wave received by the ultrasonic radar can include the ultrasonic wave reflected by the target object 203.

[0051] The controller 202 is a device with control capability (for example, outputting control information, generating control instructions, etc.) for controlling the operation of the ultrasonic radar 201. For example, the controller 202 controls the ultrasonic radar 201 to transmit ultrasonic waves. Optionally, the controller 202 can also control the ultrasonic radar 201 to receive ultrasonic waves and return the received echo signal to the controller 202, etc. operation. Further, the controller 202 can also have computing capability for processing the received echo signal. Further, the controller 202 can also generate information related to the target object 203. For example, generate distance information between the ultrasonic radar 201 and the target object 203, speed, shape and material information of the target object 203, etc. For example, the controller 202 includes but is not limited to one or a combination of more than one of a microcontroller unit (MCU), a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor unit (MPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a co-processor (assisting the central processing unit to complete the corresponding processing and application) and the like. The embodiments of the present application do not limit this. In some scenarios, the controller 202 can be arranged in the vehicle, for example, the controller 202 can be an electronic control unit (ECU), a domain controller (DC) or a vehicle integration unit (VIU) in the vehicle, etc.

[0052] As a possible implementation, the controller 202 can output control information, and the ultrasonic radar 201 receives the control information and performs operations such as transmitting ultrasonic waves and receiving ultrasonic waves reflected by the target object 203 according to the control information. The ultrasonic radar 201 is also used to analyze the echo 205.

[0053] The target object 203 refers to an object that can reflect the transmitted wave 204 within the detection range of the ultrasonic radar 201. For example, it can be a vehicle, a pedestrian, a building, a plant, sandstone, etc. In some implementations, the moving speed, shape, material, etc. of the target object 203 can affect the frequency and phase of the echo 205. Therefore, by analyzing the echo 205, the related information of the target object 203 can be obtained, such as the speed, shape, material, etc. of the target object 203.

[0054] For example, please refer to Figure 3 , Figure 3 is a schematic diagram of a radar system architecture provided by an embodiment of the present application. As Figure 3 shown, the radar system includes a controller and n ultrasonic radars, and n is an integer greater than 1. The controller includes n interfaces. The n interfaces of the controller are respectively connected with the n ultrasonic radars through signal lines, for example, interface 1 is connected with ultrasonic radar 1. As an example, after the controller generates control information for controlling the ultrasonic radar, the control information is sent to the ultrasonic radar through one or more interfaces. The controller can be, for example, the controller 202 shown in Figure 2 . The ultrasonic radar can be, for example, the UPA and / or APA described in Figure 1 , or Figure 2 the ultrasonic radar 201 described in , and other types of ultrasonic radars can also exist in specific implementations.

[0055] Figure 4 The structure of the ultrasonic radar will be introduced below. As Figure 4 is a schematic diagram of the structure of an ultrasonic radar provided by an embodiment of the present application, and the ultrasonic radar 40 includes a driving circuit 401 and a piezoelectric vibration piece 402, which will be introduced respectively as follows:

[0056] The piezoelectric vibrator 402 is used to emit ultrasonic waves. Illustratively, when a voltage is applied to the piezoelectric vibrator 402, the piezoelectric vibrator 402 will produce mechanical deformation with the change of the voltage and frequency, so that the piezoelectric vibrator 402 emits ultrasonic waves due to bending vibration. Further, the piezoelectric vibrator can also be used to receive ultrasonic waves. Illustratively, when the piezoelectric vibrator 402 receives the echo of the ultrasonic waves, it will produce vibration based on the echo of the ultrasonic waves, and further generate an electric signal, which is transmitted by the piezoelectric vibrator 402 to the driving circuit 401, so that the ultrasonic radar can receive the echo of the ultrasonic waves. Illustratively, the piezoelectric vibrator 402 includes a lead zirconate titanate piezoelectric ceramic (PZT) sheet, a piezoelectric quartz crystal vibrator, and a polyvinylidene difluoride (PVDF) piezoelectric vibrator.

[0057] The driving circuit 401 can provide a voltage to the piezoelectric vibrator 402 to drive the piezoelectric vibrator 402 to work. Illustratively, the driving circuit 401 is a printed circuit board (PCB), which can include integrated circuits and other electronic components.

[0058] The driving circuit provided by the embodiments of the present application is described below.

[0059] As shown in Figure 4 The driving circuit 401 provided by the embodiments of the present application includes a first driving source 4011, a second driving source 4012, a first transformer 4013, and a second transformer 4014.

[0060] The input end of the first transformer 4013 is connected with the first driving source 4011, and the output end of the first transformer 4013 is connected with the piezoelectric vibrator 402. The first driving source 4011 can provide a trigger signal (for the sake of distinction, referred to as a first trigger signal) to the first transformer 4013, and the first trigger signal is used to make the first transformer 4013 provide a first output voltage to the piezoelectric vibrator 402. The first transformer 4013 provides the first output voltage to the piezoelectric vibrator 402 based on the first trigger signal, so that the piezoelectric vibrator 402 emits the first ultrasonic wave. Alternatively, the trigger signal can be realized by voltage, and illustratively, the first trigger signal can be a first input voltage.

[0061] The input end of the second transformer 4014 is connected with the second driving source 4012, and the output end of the second transformer 4014 is connected with the piezoelectric vibration piece 402. The second driving source 4012 can provide a trigger signal (for the sake of distinction, referred to as a second trigger signal) to the second transformer 4014, and the second trigger signal is used to make the second transformer 4014 provide a second output voltage to the piezoelectric vibration piece 402. The second transformer 4014 provides the second output voltage to the piezoelectric vibration piece 402 based on the second trigger signal, so that the piezoelectric vibration piece 402 emits a second ultrasonic wave. Similarly, the second trigger signal can be a second input voltage.

[0062] In the embodiment of the present application, the first transformer 4013 and the second transformer 4014 do not simultaneously provide output voltages to the piezoelectric vibration piece 402. As a possible implementation, at the same time, the first driving source 4011 provides a first trigger signal to the first transformer 4013, or the second driving source 4012 provides a second trigger signal to the second transformer 4014. That is, at the same time, either the first driving source 4011 provides a first trigger signal to the first transformer 4013, or the second driving source 4012 provides a second trigger signal to the second transformer 4014, and the two driving sources do not simultaneously provide trigger signals to the transformers corresponding thereto.

[0063] In the embodiment of the present application, the output voltage provided by the first transformer and the output voltage provided by the second transformer are different, that is, the first output voltage is different from the second output voltage. As a possible implementation example, the first output voltage is higher than the second output voltage, that is, the output voltage provided by the first transformer is higher than the output voltage provided by the second transformer. Correspondingly, the intensity of the first ultrasonic wave is greater than the intensity of the second ultrasonic wave. For example, the output voltage of the first transformer is 200V, and the output voltage of the second transformer is 100V. Among them, 100V and 200V can be flexibly adjusted according to the specification requirements, and can also be flexibly adjusted according to different scene requirements.

[0064] In the embodiment of the present application, the first transformer can provide a higher output voltage to the piezoelectric vibration piece, so that the piezoelectric vibration piece emits an ultrasonic wave with a larger intensity, and the detection distance of the ultrasonic wave radar is larger. The second transformer can provide a lower output voltage to the piezoelectric vibration piece, so that the piezoelectric vibration piece emits an ultrasonic wave with a smaller intensity, and at this time the detection blind area of the ultrasonic wave radar is smaller. When the first transformer and the second transformer are used alternately, the detection blind area of the ultrasonic wave radar can be reduced while the detection distance of the ultrasonic wave radar is ensured, and the detection performance of the ultrasonic wave radar is improved. In addition, by using different transformers to provide different voltages to the piezoelectric vibration piece, compared with changing the output voltage of the same transformer, the response speed is faster when switching the voltage, the delay of the driving voltage switching of the piezoelectric vibration piece can be reduced, and the detection performance of the ultrasonic wave radar is improved.

[0065] It should be understood that the embodiments of the present application take two transformers as an example, in the specific implementation, the ultrasonic radar can include more transformers, different transformers provide different output voltages to the piezoelectric vibration piece, there are more gear selections when switching the voltage, which can improve the flexibility of the driving voltage of the piezoelectric vibration piece, and balance the detection distance and the detection blind area of the ultrasonic radar.

[0066] The basic structure of the driving circuit is introduced above, and some possible designs of the present application are introduced below.

[0067] It is mentioned above that the output end of the transformer is connected with the piezoelectric vibration piece. In order to facilitate understanding, three possible connection mode designs are provided below.

[0068] Connection mode 1, the first transformer and the second transformer can be connected with the piezoelectric vibration piece through different positive lead wires and the same negative lead wire. For example, as shown in Figure 4 the first transformer 4013 is connected with the piezoelectric vibration piece 402 through the first positive lead wire and the first negative lead wire, and the second transformer 4014 is connected with the piezoelectric vibration piece 402 through the second positive lead wire and the first negative lead wire, that is, the first transformer 4013 and the second transformer 4014 share one negative lead wire, which can reduce the cost. Among them, the positive lead wire and the negative lead wire can be silver wire, copper wire and the like.

[0069] For example, three welding points are arranged on the piezoelectric vibration piece 402, one welding point is connected with the first transformer 4013 in the driving circuit 401 through the first positive lead wire and the fish-eye compression pin, one welding point is connected with the second transformer 4014 in the driving circuit 401 through the second positive lead wire and the fish-eye compression pin, and one welding point is connected with the first transformer 4013 and the second transformer 4014 in the driving circuit 401 through the first negative lead wire and the fish-eye compression pin.

[0070] Connection mode 2, the first transformer and the second transformer are connected with the piezoelectric vibration piece through the same positive lead wire and the same negative lead wire. For example, the first transformer is connected with the piezoelectric vibration piece through the third positive lead wire and the second negative lead wire, and the second transformer is also connected with the piezoelectric vibration piece through the third positive lead wire and the second negative lead wire, that is, the first transformer and the second transformer share one positive lead wire and one negative lead wire, which can reduce the cost.

[0071] Connection mode 3, the first transformer and the second transformer can be connected with the piezoelectric vibration piece through different positive lead wires and different negative lead wires. For example, the first transformer is connected with the piezoelectric vibration piece through the fourth positive lead wire and the third negative lead wire, and the second transformer is connected with the piezoelectric vibration piece through the fifth positive lead wire and the fourth negative lead wire.

[0072] In some possible design, the driving source can include a chip. Please refer to Figure 5 , Figure 5 is another structure diagram of an ultrasonic radar provided by an embodiment of the present application, as shown in Figure 5 The first driving source 4011 includes a first chip, and the second driving source 4012 includes a second chip. The first chip and the second chip can output a trigger signal, for example, a voltage, to the outside through an interface. For example, the first chip and the second chip can be a USS ASIC.

[0073] As a possible implementation, the first chip includes a first interface and a second interface, the first interface is connected with a positive pole of an input end of the first transformer 4013, and the second interface is connected with a negative pole of the input end of the first transformer 4013. The first driving source 4011 or the first chip can provide / output a first trigger signal to the first transformer 4013 through the first interface and the second interface, for example, when the first driving source 4011 or the first chip outputs a voltage to the first transformer 4013 through the first interface and the second interface, the first transformer 4013 is triggered to work.

[0074] The second chip includes a third interface and a fourth interface, the third interface is connected with a positive pole of an input end of the second transformer 4014, and the fourth interface is connected with a negative pole of the input end of the second transformer 4014. The second driving source 4012 or the second chip can provide / output a second trigger signal to the second transformer 4014 through the third interface and the fourth interface, for example, when the second driving source 4012 or the second chip outputs a voltage to the second transformer 4014 through the third interface and the fourth interface, the second transformer 4014 is triggered to work.

[0075] Optionally, the first chip and the second chip are powered by an energy source.

[0076] The foregoing Figure 4 and Figure 5 show the structure of the first driving source 4011 and the second driving source 4012 in a separate arrangement. Next, the case where the first driving source 4011 and the second driving source 4012 are the same driving source, that is, the first driving source 4011 and the second driving source 4012 can be integrated in the same component, is introduced. Figure 6 and Figure 7 ,

[0077] Please refer to Figure 6 , Figure 6 is another structure diagram of an ultrasonic radar provided by an embodiment of the present application, as shown in Figure 6 The ultrasonic radar 60 includes a driving circuit 401 and a piezoelectric vibrating piece 402. In Figure 6In the embodiment shown, the driving circuit 401 comprises a driving source 4015, a first transformer 4013 and a second transformer 4014. The driving source 4015 is an integrated component of the first driving source 4011 and the second driving source 4012 mentioned above, and the driving source 4015 can replace the first driving source 4011 and the second driving source 4012.

[0078] Optionally, the driving circuit 401 further comprises a selection module 4016, an input end of the selection module 4016 being connected with the driving source 4015, and an output end of the selection module 4016 being connected with the first transformer 4013 and the second transformer 4014. The selection module 4016 can receive a first signal from the driving source 4015, and select the first transformer 4013 or the second transformer 4014 based on the first signal. For example, the selection module 4016 receives a first signal “1, 0” from the driving source 4015, and selects the first transformer 4013 based on the first signal. For another example, the selection module 4016 receives a first signal “0, 1” from the driving source 4015, and selects the second transformer 4014 based on the first signal. The selection module 4016 can be a high-frequency switch, and the selection of the first transformer 4013 or the second transformer 4014 is realized through the high-frequency switch.

[0079] As mentioned above, the first driving source and the second driving source can be realized by a chip, and when the first driving source and the second driving source are the same driving source, the first driving source and the second driving source can be realized by the same chip. That is, the first chip and the second chip mentioned above can be the same chip.

[0080] In a possible implementation, referring to Figure 7 , Figure 7 is another structure diagram of an ultrasonic radar provided by the embodiment of the present application. The driving circuit 401 comprises a chip 70, which can be regarded as a first chip (i.e. a second chip), and the chip 70 can comprise an interface P1 and an interface P2. The interface P1 is connected with a positive pole of an input end of the first transformer 4013 and a positive pole of an input end of the second transformer 4014, and the interface P2 is connected with a negative pole of the input end of the first transformer 4013 and a negative pole of the input end of the second transformer 4014. The chip 70 or the driving source 4015 can provide a first trigger signal to the first transformer 4013 through the interface P1 and the interface P2, or the chip 70 or the driving source 4015 can provide a second trigger signal to the second transformer 4014 through the interface P1 and the interface P2. The interface P1 can be regarded as a first interface and a third interface at the same time, and similarly, the interface P2 can be regarded as a second interface and a fourth interface at the same time.

[0081] In some possible embodiments, the chip 70 can include an interface P3, the driving circuit 401 includes a selection module 4016, and the interface P3 is connected with the selection module 4016. The chip 70 or the driving source 4015 can select the first transformer 4013 through the interface P3 and the selection module 4016, or the chip 70 or the driving source 4015 can select the second transformer 4014 through the interface P3 and the selection module 4016. For example, the selection module 4016 receives a first signal output by the chip 70 or the driving source 4015 through the interface P3, for example, the first signal is “1, 0”, and the selection module 4016 selects the first transformer 4013 based on the first signal. For another example, the selection module 4016 receives a first signal output by the chip 70 or the driving source 4015 through the interface P3, for example, the first signal is “0, 1”, and the selection module 4016 selects the second transformer 4014 based on the first signal.

[0082] Optionally, the interface P3 can be a general-purpose input / output (GPIO).

[0083] Optionally, the chip 70 or the driving source 4015 can also be connected with the selection module 4016 through two interfaces, for example, GPIO1 and GPIO2. For example, the chip 70 or the driving source 4015 can select the first transformer 4013 through the GPIO1 and the selection module 4016, for example, when the selection module 4016 receives a signal output by the chip 70 or the driving source 4015 through the GPIO1 and the signal is “1”, the selection module 4016 selects the first transformer 4013. The chip 70 or the driving source 4015 can select the second transformer 4014 through the GPIO2 and the selection module 4016, for example, when the selection module 4016 receives a signal output by the chip 70 or the driving source 4015 through the GPIO2 and the signal is “1”, the selection module 4016 selects the second transformer 4014.

[0084] In some scenarios, if two transformers are placed in the driving circuit (or the PCB), the driving circuit can have no space to place the second transformer due to the size requirement of the general ultrasonic radar in the industry. As a possible design, the driving circuit can reduce one capacitor, and the second transformer is placed at the position of the capacitor. However, the driving circuit reducing the capacitor can cause electro-static discharge (ESD) risk, in order to reduce the ESD risk, the ultrasonic radar can be designed to obtain power from a controller connected with the driving circuit or the ultrasonic radar, and the removed capacitor is placed in the controller.

[0085] As a possible implementation example, as shown in FIG. 6, the ultrasonic radar can be connected with the controller through a CAN bus, and the ultrasonic radar can obtain power from the controller through the CAN bus. Figure 5As shown, the first driving source 4011 and the second driving source 4012 are connected with the controller 403, and the first driving source 4011 and the second driving source 4012 are powered by the controller 403, i.e., the controller 403 is the energy source of the first driving source 4011 and the second driving source 4012.

[0086] As a possible implementation example, as shown in FIG. 4, the first driving source 4011 and the second driving source 4012 are connected with the controller 403, and the first driving source 4011 and the second driving source 4012 are powered by the controller 403, i.e., the controller 403 is the energy source of the first driving source 4011 and the second driving source 4012. Figure 7 As shown, the driving source 4015 is connected with the controller 403, and the driving source 4015 is powered by the controller 403, i.e., the controller 403 is the energy source of the driving source 4015. For example, the controller 403 can be the controller 202 shown in FIG. 2 or the controller shown in FIG. 3. Figure 2 As shown, the controller 202 shown in FIG. 2 or Figure 3 As shown, the controller.

[0087] The basic structure of the ultrasonic radar and possible designs thereof are introduced above, and some possible implementations of the ultrasonic radar in operation are introduced below.

[0088] In some possible implementations, the first driving source and the second driving source are separately arranged, for example, the first driving source 4011 and the second driving source 4012 shown in FIG. 4. Figure 4 and Figure 5 The first driving source 4011 can provide a first trigger signal to the first transformer 4013 in a first time period, so that the first transformer 4013 provides a first output voltage to the piezoelectric vibration piece 402. The piezoelectric vibration piece 402 can emit a first ultrasonic wave based on the first output voltage in the first time period. The second driving source 4012 can provide a second trigger signal to the second transformer 4014 in a second time period, so that the second transformer 4014 provides a second output voltage to the piezoelectric vibration piece 402. The piezoelectric vibration piece 402 can emit a second ultrasonic wave based on the second output voltage in the second time period.

[0089] Optionally, the first driving source 4011 can receive a first control signal from the controller 403, and the first control signal is used to instruct the first driving source 4011 to provide the first trigger signal to the first transformer 4013 in the first time period. The second driving source 4012 can receive a second control signal from the controller 403, and the second control signal is used to instruct the second driving source 4012 to provide the second trigger signal to the second transformer 4014 in the second time period.

[0090] In yet some possible implementations, the first driving source and the second driving source can be the same driving source, and the driving circuit includes a selection module, for example, the first driving source 4011 and the second driving source 4012 shown in FIG. 4. Figure 6 and Figure 7The driving source 4015 can select the first transformer 4013 through the selection module 4016 and provide a first trigger signal to the first transformer 4013 in the first time period, so that the first transformer 4013 provides a first output voltage to the piezoelectric vibrator 402. The piezoelectric vibrator 402 can emit a first ultrasonic wave based on the first output voltage in the first time period. The driving source 4015 can select the second transformer 4014 through the selection module 4016 and provide a second trigger signal to the second transformer 4014 in the second time period, so that the second transformer 4014 provides a second output voltage to the piezoelectric vibrator 402. The piezoelectric vibrator 402 can emit a second ultrasonic wave based on the second output voltage in the second time period.

[0091] Optionally, the driving source 4015 can receive a first control signal from the controller 403, the first control signal being used to instruct the driving source 4015 to select the first transformer 4013 through the selection module 4016 and provide a first trigger signal to the first transformer 4013 in the first time period. The driving source 4015 can receive a second control signal from the controller 403, the second control signal being used to instruct the driving source 4015 to select the second transformer 4014 through the selection module 4016 and provide a second trigger signal to the second transformer 4014 in the second time period.

[0092] As a possible example, please refer to Table 1, which is a working mode table of an ultrasonic radar provided by an embodiment of the present application.

[0093] Table 1

[0094] Time period Operation mode Time period 1 High voltage driving piezoelectric vibrator emits ultrasonic wave Time period 2 Receive echo of ultrasonic wave and do not emit ultrasonic wave Time period 3 Low voltage driving piezoelectric vibrator emits ultrasonic wave Time period 4 Do not receive echo of ultrasonic wave and do not emit ultrasonic wave Time period 5 High voltage driving piezoelectric vibrator emits ultrasonic wave

[0095] As shown in Table 1, the ultrasonic radar emits ultrasonic waves by driving the piezoelectric vibrator with high voltage in the time period 1, i.e., provides a higher output voltage to the piezoelectric vibrator through the first transformer in the time period 1, so that the piezoelectric vibrator emits ultrasonic waves with a larger intensity, which can increase the detection distance of the ultrasonic radar. The ultrasonic radar does not emit ultrasonic waves in the time period 2 when receiving the echo of the ultrasonic waves, emits ultrasonic waves by driving the piezoelectric vibrator with low voltage in the time period 3, i.e., provides a lower output voltage to the piezoelectric vibrator through the second transformer in the time period 3, so that the piezoelectric vibrator emits ultrasonic waves with a smaller intensity, which can reduce the detection blind area of the ultrasonic radar. The ultrasonic radar does not emit ultrasonic waves in the time period 4 when not receiving the echo of the ultrasonic waves, emits ultrasonic waves by driving the piezoelectric vibrator with high voltage in the time period 5, i.e., provides a higher output voltage to the piezoelectric vibrator through the first transformer in the time period 5, so that the piezoelectric vibrator emits ultrasonic waves with a larger intensity, which can increase the detection distance of the ultrasonic radar.

[0096] Exemplarily, the time length of each of the five time periods shown in Table 1 can be different and can be flexibly adjusted according to different scene requirements. Exemplarily, the time length of each of the five time periods shown in Table 1 is the same, which is 160 ms. 160 ms is one possible example, and in actual use, the time length can be flexibly adjusted according to different scene requirements.

[0097] As one possible example, the ultrasonic radar can alternately use the first transformer and the second transformer to provide the output voltage to the piezoelectric sheet, please refer to Table 2, Table 2 is another working mode table of the ultrasonic radar provided by the embodiment of the present application.

[0098] Table 2

[0099] Cycle Operation mode Cycle 1 High voltage driving piezoelectric vibrator emits ultrasonic wave Cycle 2 Low voltage driving piezoelectric vibrator emits ultrasonic wave Cycle 3 High voltage driving piezoelectric vibrator emits ultrasonic wave Cycle 4 Low voltage driving piezoelectric vibrator emits ultrasonic wave

[0100] As shown in Table 2, the ultrasonic radar emits ultrasonic waves by driving the piezoelectric sheet with high voltage in the time of period 1 and period 3, that is, the ultrasonic radar provides a higher output voltage to the piezoelectric sheet through the first transformer in the time of period 1 and period 3, so that the piezoelectric sheet emits ultrasonic waves with a larger intensity, which can increase the detection distance of the ultrasonic radar. The ultrasonic radar emits ultrasonic waves by driving the piezoelectric sheet with low voltage in the time of period 2 and period 4, that is, the ultrasonic radar provides a lower output voltage to the piezoelectric sheet through the second transformer in the time of period 2 and period 4, so that the piezoelectric sheet emits ultrasonic waves with a smaller intensity, which can reduce the detection blind area of the ultrasonic radar.

[0101] Optionally, the period can be a pre-set time period, for example, the period is a bumper polling period of the vehicle, and one period can be a time period of 160 ms, 640 ms, etc. In this way, the ultrasonic radar alternately uses the first transformer and the second transformer to provide the output voltage to the piezoelectric sheet for 1 period, which can reduce the detection blind area of the ultrasonic radar while ensuring the detection distance of the ultrasonic radar, and can improve the detection performance of the ultrasonic radar.

[0102] Optionally, in adjacent two time periods, the ultrasonic radar can not provide the output voltage to the piezoelectric sheet through the transformer at the same time, that is, the operation of emitting ultrasonic waves is not triggered at the same time. For example, after emitting ultrasonic waves in the first time period, the ultrasonic radar can only receive ultrasonic waves without emitting ultrasonic waves or without receiving ultrasonic waves and emitting ultrasonic waves in the second time period adjacent to the first time period, which can reduce the influence of the residual vibration caused by the continuous emission of ultrasonic waves by the ultrasonic radar on the detection performance of the ultrasonic radar.

[0103] It should be noted that Table 1 and Table 2 are only examples of possible working mode tables of the ultrasonic radar, and in actual use, there can be more different combinations of working modes in each time period. It should be understood that, no matter how many ultrasonic radars are used, as long as there is an ultrasonic radar that provides a higher output voltage to the piezoelectric vibrator through the first transformer in a time period, so that the piezoelectric vibrator emits ultrasonic waves of a larger intensity to increase the detection distance of the ultrasonic radar, and provides a lower output voltage to the piezoelectric vibrator through the second transformer in another time period, so that the piezoelectric vibrator emits ultrasonic waves of a smaller intensity to reduce the detection blind area of the ultrasonic radar, it is considered that the application is used.

[0104] In some possible embodiments, the first driving source and the second driving source are separately arranged, for example, the first driving source 4011 and the second driving source 4012 in the foregoing. Figure 4 and Figure 5 The first driving source 4011 can provide a first trigger signal to the first transformer 4013 in a sweep mode, so that the first transformer 4013 provides a first output voltage to the piezoelectric vibrator 402. The piezoelectric vibrator 402 can emit first ultrasonic waves based on the first output voltage in the sweep mode. The second driving source 4012 can provide a second trigger signal to the second transformer 4014 in a fixed frequency mode, so that the second transformer 4014 provides a second output voltage to the piezoelectric vibrator 402. The piezoelectric vibrator 402 can emit second ultrasonic waves based on the second output voltage in the fixed frequency mode. Wherein, the sweep mode refers to the sweep mode of the driving source, that is, the frequency of the driving voltage output by the driving source changes over time, and the fixed frequency mode refers to the fixed frequency mode of the driving source, that is, the frequency of the driving voltage output by the driving source is fixed. Optionally, the sweep mode further includes an upward sweep mode and a downward sweep mode, in the upward sweep mode, the frequency of the driving voltage output by the driving source changes from small to large over time, and in the downward sweep mode, the frequency of the driving voltage output by the driving source changes from large to small over time.

[0105] Optionally, the first driving source 4011 can receive a second signal from the controller 403, the second signal being used to instruct the first driving source 4011 to activate or deactivate the sweep mode. The second driving source 4012 can receive a third signal from the controller 403, the third signal being used to instruct the second driving source 4012 to activate or deactivate the fixed mode. For example, the first driving source 4011 receives the second signal from the controller 403, the second signal being "activate the sweep mode", so that the first driving source 4011 provides the first trigger signal to the first transformer 4013 in the sweep mode, so that the first transformer 4013 provides the first output voltage to the piezoelectric vibrator 402. For another example, the second driving source 4012 receives the third signal from the controller 403, the third signal being "activate the fixed mode", so that the second driving source 4012 provides the second trigger signal to the second transformer 4014 in the fixed mode, so that the second transformer 4014 provides the second output voltage to the piezoelectric vibrator 402.

[0106] In yet some possible embodiments, the first driving source and the second driving source can be the same driving source, and the driving circuit includes a selection module, for example, the above-mentioned Figure 6 and Figure 7 The driving source 4015 is used to select the first transformer 4013 through the selection module 4016 in the sweep mode, and provide the first trigger signal to the first transformer 4013, so that the first transformer 4013 provides the first output voltage to the piezoelectric vibrator 402. The piezoelectric vibrator 402 can emit the first ultrasonic wave based on the first output voltage in the sweep mode. The driving source 4015 is used to select the second transformer 4014 through the selection module 4016 in the fixed mode, and provide the second trigger signal to the second transformer 4014, so that the second transformer 4014 provides the second output voltage to the piezoelectric vibrator 402. The piezoelectric vibrator 402 can emit the second ultrasonic wave based on the second output voltage in the fixed mode.

[0107] For example, the driving source 4015 receives the second signal from the controller 403, the second signal being "activate the sweep mode", so that the driving source 4015 selects the first transformer 4013 through the selection module 4016 in the sweep mode, and provides the first trigger signal to the first transformer 4013, so that the first transformer 4013 provides the first output voltage to the piezoelectric vibrator 402. For another example, the driving source 4015 receives the third signal from the controller 403, the third signal being "activate the fixed mode", so that the driving source 4015 selects the second transformer 4014 through the selection module 4016 in the fixed mode, and provides the second trigger signal to the second transformer 4014, so that the second transformer 4014 provides the second output voltage to the piezoelectric vibrator 402.

[0108] As a possible example, please refer to Table 3, which is another working mode table of the ultrasonic radar provided by the embodiment of the present application.

[0109] Table 3

[0110]

[0111]

[0112] As shown in Table 3, the ultrasonic radar transmits ultrasonic waves by driving the piezoelectric vibrator at high voltage in the sweep frequency mode, that is, the first transformer provides a higher output voltage to the piezoelectric vibrator in the sweep frequency mode, so that the piezoelectric vibrator transmits ultrasonic waves with a larger intensity, which can increase the detection distance of the ultrasonic radar. The ultrasonic radar transmits ultrasonic waves by driving the piezoelectric vibrator at low voltage in the fixed frequency mode, that is, the second transformer provides a lower output voltage to the piezoelectric vibrator in the fixed frequency mode, so that the piezoelectric vibrator transmits ultrasonic waves with a smaller intensity, which can reduce the detection blind area of the ultrasonic radar.

[0113] Similarly, the first driving source 4011 can also provide the first trigger signal to the first transformer 4013 in the encoding mode, so that the first transformer 4013 provides the first output voltage to the piezoelectric vibrator 402. The piezoelectric vibrator 402 can transmit the first ultrasonic wave based on the first output voltage in the encoding mode.

[0114] Similarly, the driving source 4015 can also select the first transformer 4013 through the selection module 4016 and provide the first trigger signal to the first transformer 4013 in the encoding mode, so that the first transformer 4013 provides the first output voltage to the piezoelectric vibrator 402. The piezoelectric vibrator 402 transmits the first ultrasonic wave based on the first output voltage in the encoding mode. The encoding mode can be an encoding frequency conversion mode, that is, the frequency of the driving voltage output by the driving source changes over time through encoding.

[0115] It should be understood that, regardless of the number of ultrasonic radars used, as long as there is an ultrasonic radar that provides a higher output voltage to the piezoelectric vibrator through the first transformer in the sweep frequency mode and / or the encoding mode, so that the piezoelectric vibrator transmits ultrasonic waves with a larger intensity to increase the detection distance of the ultrasonic radar, and provides a lower output voltage to the piezoelectric vibrator through the second transformer in the fixed frequency mode, so that the piezoelectric vibrator transmits ultrasonic waves with a smaller intensity to reduce the detection blind area of the ultrasonic radar, it is considered to use the embodiment of the present application.

[0116] Optionally, the above-mentioned embodiments can be combined, for example, when the ultrasonic radar needs to use the fixed frequency mode to transmit ultrasonic waves and the sweep frequency mode to transmit ultrasonic waves within a time period containing 5 time periods, as a possible example, please refer to Table 4, which is another working mode table of the ultrasonic radar provided by the embodiment of the present application.

[0117] Table 4

[0118] Time period Wave emission mode Operation mode Time period 6 Upward frequency sweeping mode High voltage driving piezoelectric vibrator emits ultrasonic wave Time period 7 —— Receive echo of ultrasonic wave and do not emit ultrasonic wave Time period 8 Downward frequency sweeping mode High voltage driving piezoelectric vibrator emits ultrasonic wave Time period 9 —— Do not receive echo of ultrasonic wave and do not emit ultrasonic wave Time period 10 Fixed frequency mode Low voltage driving piezoelectric vibrator emits ultrasonic wave

[0119] As shown in Table 4, the ultrasonic radar emits ultrasonic waves by driving the piezoelectric vibrator with high voltage in the up-sweep mode in the time period 6, i.e. the piezoelectric vibrator is provided with a higher output voltage by the first transformer in the up-sweep mode in the time period 1, so that the piezoelectric vibrator emits ultrasonic waves with a larger intensity, which can increase the detection distance of the ultrasonic radar. The ultrasonic radar does not emit ultrasonic waves in the time period 7 when receiving the echo of the ultrasonic waves, emits ultrasonic waves by driving the piezoelectric vibrator with high voltage in the down-sweep mode in the time period 8, i.e. the piezoelectric vibrator is provided with a higher output voltage by the first transformer in the down-sweep mode in the time period 8, so that the piezoelectric vibrator emits ultrasonic waves with a larger intensity, which can increase the detection distance of the ultrasonic radar. The ultrasonic radar does not emit ultrasonic waves in the time period 9 when not receiving the echo of the ultrasonic waves, emits ultrasonic waves by driving the piezoelectric vibrator with low voltage in the fixed-frequency mode in the time period 10, i.e. the piezoelectric vibrator is provided with a lower output voltage by the second transformer in the fixed-frequency mode in the time period 10, so that the piezoelectric vibrator emits ultrasonic waves with a smaller intensity, which can reduce the detection blind area of the ultrasonic radar.

[0120] For example, the duration of each of the five time periods shown in Table 4 can be different and can be adjusted flexibly according to different scene requirements. For another example, the duration of each of the five time periods shown in Table 4 is the same, which is 40 ms. The 40 ms is one possible example, and in actual use, the duration can be adjusted flexibly according to different scene requirements.

[0121] Optionally, the ultrasonic radar can not provide the output voltage to the piezoelectric vibrator by the transformer at the same time in two adjacent time periods, i.e. the operation of emitting ultrasonic waves is not triggered at the same time, for example, after emitting ultrasonic waves in the first time period, the ultrasonic radar can only receive ultrasonic waves without emitting ultrasonic waves or does not receive ultrasonic waves and does not emit ultrasonic waves in the second time period adjacent to the first time period, which can reduce the influence of the residual vibration caused by the continuous emission of ultrasonic waves on the detection performance of the ultrasonic radar.

[0122] It should be noted that Table 4 is only an example of a possible working mode table of the ultrasonic radar, and in actual use, there can be more different combinations of the wave emission mode of each time period and the corresponding working mode.

[0123] In some possible embodiments, the first driving source and the second driving source are separately arranged, for example, the first driving source and the second driving source in the foregoing examples are separately arranged. Figure 4 and Figure 5The first driving source 4011 can further receive a fourth signal from the controller 403, the fourth signal being used to indicate the time length for the driving circuit 401 to output the first output voltage, or being used to indicate the time length for the first driving source 4011 to provide the first trigger signal to the first transformer 4013. The second driving source 4012 can further receive a fifth signal from the controller 403, the fifth signal being used to indicate the time length for the driving circuit 401 to output the second output voltage, or being used to indicate the time length for the second driving source 4012 to provide the second trigger signal to the second transformer 4014. The fourth signal and the fifth signal are related to the working scenario of the ultrasonic radar.

[0124] In yet another possible implementation, the first driving source and the second driving source can be the same driving source, for example, the first driving source 4011 and the second driving source 4012 in the foregoing embodiment. Figure 6 and Figure 7 The driving source 4015 is further configured to receive a fourth signal from the controller 403, the fourth signal being used to indicate the time length for the driving circuit 401 to output the first output voltage, or being used to indicate the time length for the driving source 4015 to provide the first trigger signal to the first transformer 4013. The driving source 4015 can further receive a fifth signal from the controller 403, the fifth signal being used to indicate the time length for the driving circuit 401 to output the second output voltage, or being used to indicate the time length for the driving source 4015 to provide the second trigger signal to the second transformer 4014. The fourth signal and the fifth signal are related to the working scenario of the ultrasonic radar.

[0125] For example, when the working scenario of the ultrasonic radar requires the detection distance of the ultrasonic radar to be as long as possible, the fourth signal can be used to indicate that the time length for the driving circuit 401 to output the first output voltage is longer than the time length for the driving circuit 401 to output the second output voltage, that is, the ultrasonic radar mainly provides a higher output voltage to the piezoelectric vibrator through the first transformer, so that the piezoelectric vibrator emits ultrasonic waves with a larger intensity, thereby increasing the detection distance of the ultrasonic radar. For example, when the ultrasonic radar of the vehicle does not detect an obstacle in a first time length, it is considered that the distance between the vehicle and the obstacle is far, and the sensitivity of the ultrasonic radar is not enough, so it is necessary to increase the ranging capability of the ultrasonic radar to facilitate faster detection of the obstacle. At this time, the fourth signal can be used to indicate that the time length for the driving circuit 401 to output the first output voltage is longer than the time length for the driving circuit 401 to output the second output voltage, thereby increasing the detection distance of the ultrasonic radar.

[0126] For another example, when the working scenario of the ultrasonic radar requires minimizing its detection blind zone, the duration of the second output voltage output by the fifth signal driving circuit 401 can be greater than the duration of the first output voltage output by the driving circuit 401. That is, the ultrasonic radar mainly provides a lower output voltage to the piezoelectric vibrator through the second transformer, causing the piezoelectric vibrator to emit ultrasonic waves of lower intensity, thereby reducing the ultrasonic radar's detection blind zone. For instance, when a vehicle is reversing or in a narrow space, we need to ensure the safety of reversing, so we need to minimize the ultrasonic radar's detection blind zone. In this case, the duration of the second output voltage output by the fifth signal driving circuit 401 can be greater than the duration of the first output voltage output by the driving circuit 401 to reduce the ultrasonic radar's detection blind zone.

[0127] It should be understood that regardless of the number of ultrasonic radars used, as long as one ultrasonic radar, in a working scenario where it is necessary to maximize its detection range, instructs the ultrasonic radar, via a fourth signal, to primarily provide a higher output voltage to the piezoelectric transducer through the first transformer. For example, this could be done by instructing the ultrasonic radar's drive circuit to output the first output voltage for a duration longer than the second output voltage, thereby increasing the ultrasonic radar's detection range. Conversely, in a working scenario where it is necessary to minimize the ultrasonic radar's detection blind zone, instructing the ultrasonic radar, via a fifth signal, to primarily provide a lower output voltage to the piezoelectric transducer through the second transformer. For example, this could be done by instructing the ultrasonic radar's drive circuit to output the second output voltage for a duration longer than the first output voltage, thereby reducing the ultrasonic radar's detection blind zone. This is considered as using the embodiments of this application.

[0128] In some possible implementations, the radar system includes multiple ultrasonic radars, such as a first ultrasonic radar and a second ultrasonic radar, wherein the first ultrasonic radar is as follows: Figure 5 or Figure 7 The ultrasonic radar shown, the second ultrasonic radar is as follows Figure 5 or Figure 7 The ultrasonic radar shown is optional. The number of ultrasonic radars included in the first and second ultrasonic radars is not limited here; for example, the first ultrasonic radar may include one or more ultrasonic radars, and the second ultrasonic radar may include one or more ultrasonic radars.

[0129] The following uses both the first and second ultrasonic radars as examples. Figure 7 The embodiments of this application will be described using the ultrasonic radar shown as an example.

[0130] The first ultrasonic radar includes a first driving circuit and a first piezoelectric vibrator. For example, the first driving circuit is... Figure 7 The driving circuit 401 shown has a first piezoelectric vibrator as...Figure 7 The second ultrasonic radar includes a second driving circuit and a second piezoelectric vibrator. For example, the second driving circuit is configured to provide a second output voltage to the second piezoelectric vibrator through a second transformer in the second driving circuit, so that the second piezoelectric vibrator emits a second ultrasonic wave based on the second output voltage. Figure 7 The second piezoelectric vibrator is configured to emit a second ultrasonic wave based on the second output voltage provided by the second driving circuit. Figure 7 The second piezoelectric vibrator is configured to emit a second ultrasonic wave based on the second output voltage provided by the second driving circuit.

[0131] In some possible implementation, the first ultrasonic radar can provide, through the first driving circuit, a first output voltage to the first piezoelectric vibrator in a third time period, so that the first piezoelectric vibrator emits a first ultrasonic wave based on the first output voltage. The second ultrasonic radar can provide, through the second driving circuit, a second output voltage to the second piezoelectric vibrator in the third time period, so that the second piezoelectric vibrator emits a second ultrasonic wave based on the second output voltage.

[0132] For example, when the radar system includes a plurality of ultrasonic radars, in the same time period, a part of the ultrasonic radars can be configured to provide a higher output voltage to the piezoelectric vibrator through the first transformer in the first driving circuit, so that the piezoelectric vibrator emits a larger-intensity ultrasonic wave to increase the detection distance of the part of the ultrasonic radars. Another part of the ultrasonic radars can be configured to provide a lower output voltage to the piezoelectric vibrator through the second transformer in the second driving circuit, so that the piezoelectric vibrator emits a smaller-intensity ultrasonic wave to reduce the detection blind area of the ultrasonic radars. In this way, the detection blind area of the radar system can be reduced while the detection distance of the radar system is ensured, and the detection performance of the radar system can be improved.

[0133] As a possible example, Table 5 is a working mode table of a radar system provided by an embodiment of the present application.

[0134] Table 5

[0135]

[0136]

[0137] As shown in Table 5, the ultrasonic radar 1 and the ultrasonic radar 3 emit ultrasonic waves by driving the piezoelectric vibrator at low voltage in the time period 11, that is, a lower output voltage is provided to the piezoelectric vibrator through the second transformer in the time period 11, so that the detection blind area of the ultrasonic radar 1 and the ultrasonic radar 3 can be reduced. The ultrasonic radar 2 and the ultrasonic radar 4 emit ultrasonic waves by driving the piezoelectric vibrator at high voltage in the time period 11, that is, a higher output voltage is provided to the piezoelectric vibrator through the first transformer in the time period 11, so that the detection distance of the ultrasonic radar 2 and the ultrasonic radar 4 can be increased. In this way, the detection blind area of the radar system can be reduced while the detection distance of the radar system is ensured, and the detection performance of the radar system can be improved.

[0138] In time period 12, the ultrasonic radar 1, the ultrasonic radar 2, the ultrasonic radar 3 and the ultrasonic radar 4 all receive the echo of the ultrasonic wave and do not emit the ultrasonic wave.

[0139] In time period 13, the ultrasonic radar 1 and the ultrasonic radar 3 emit the ultrasonic wave by driving the piezoelectric vibrator at high voltage, i.e. in time period 13, the first transformer provides a higher output voltage to the piezoelectric vibrator, which can increase the detection distance of the ultrasonic radar 1 and the ultrasonic radar 3. In time period 13, the ultrasonic radar 2 and the ultrasonic radar 4 emit the ultrasonic wave by driving the piezoelectric vibrator at low voltage, i.e. in time period 13, the second transformer provides a lower output voltage to the piezoelectric vibrator, which can reduce the detection blind area of the ultrasonic radar 2 and the ultrasonic radar 4. In this way, the detection blind area of the radar system can be reduced while the detection distance of the radar system is guaranteed, and the detection performance of the radar system can be improved.

[0140] In time period 14, the ultrasonic radar 1, the ultrasonic radar 2, the ultrasonic radar 3 and the ultrasonic radar 4 all do not receive the echo of the ultrasonic wave and do not emit the ultrasonic wave.

[0141] In time period 15, the ultrasonic radar 1 and the ultrasonic radar 3 emit the ultrasonic wave by driving the piezoelectric vibrator at low voltage, i.e. in time period 15, the second transformer provides a lower output voltage to the piezoelectric vibrator, which can reduce the detection blind area of the ultrasonic radar 1 and the ultrasonic radar 3. In time period 15, the ultrasonic radar 2 and the ultrasonic radar 4 emit the ultrasonic wave by driving the piezoelectric vibrator at high voltage, i.e. in time period 15, the first transformer provides a higher output voltage to the piezoelectric vibrator, which can increase the detection distance of the ultrasonic radar 2 and the ultrasonic radar 4. In this way, the detection blind area of the radar system can be reduced while the detection distance of the radar system is guaranteed, and the detection performance of the radar system can be improved.

[0142] Optionally, in the radar system, the ultrasonic radar in two adjacent time periods can not provide the output voltage to the piezoelectric vibrator by the transformer at the same time, i.e. the operation of emitting the ultrasonic wave by the ultrasonic radar is not triggered at the same time, for example, after emitting the ultrasonic wave in the first time period, in the second time period adjacent to the first time period, the ultrasonic radar can only receive the ultrasonic wave without emitting the ultrasonic wave, or neither receive the ultrasonic wave nor emit the ultrasonic wave, which can reduce the influence of the residual vibration caused by the continuous emission of the ultrasonic wave by the ultrasonic radar on the detection performance of the ultrasonic radar.

[0143] It should be noted that Table 5 is only an example of a possible working mode table of the ultrasonic radar in the radar system, and in actual use, the number of ultrasonic radars included in the radar system can have more possible cases, for example, including 6, 8, 12 ultrasonic radars, etc., and the working modes of these ultrasonic radars corresponding to each time period can have more different combinations.

[0144] It should be understood that, as long as, in the same time period, a part of the ultrasonic radars provides a higher output voltage to the piezoelectric vibrator through the first transformer in the driving circuit, so that the piezoelectric vibrator emits ultrasonic waves of a larger intensity, to increase the detection distance of the part of the ultrasonic radars, and another part of the ultrasonic radars provides a lower output voltage to the piezoelectric vibrator through the second transformer in the driving circuit, so that the piezoelectric vibrator emits ultrasonic waves of a smaller intensity, to reduce the detection blind area of the ultrasonic radars, it is considered that the embodiments of the present application are used.

[0145] The method provided by the embodiments of the present application is described below.

[0146] Please refer to Figure 8 , Figure 8 is a flowchart of a detection method provided by the embodiments of the present application. The method can be applied to the ultrasonic radar and / or the driving circuit described above, for example, the driving circuit shown in the embodiments of Figure 4 , Figure 5 , Figure 6 , Figure 7 and the like, for example, the first driving source 4011 and the second driving source 4012 shown in Figure 4 or Figure 5 , or the driving source 4015 shown in Figure 6 or Figure 7 . For ease of description, the first driving source and the second driving source are taken as examples for description below.

[0147] The detection method shown in Figure 8 may include steps S801 to S804. It should be understood that, for ease of description, the steps S801 to S804 are described in this order, and it is not intended to limit the execution of the steps in the above order. The embodiments of the present application do not limit the order of execution, the time of execution, the number of execution, etc. of one or more steps described above. S801 to S804 are as follows:

[0148] Step S801: The first driving source receives a first control signal from the controller.

[0149] The driving source is used to drive the transformer to work so that the transformer provides voltage to the piezoelectric vibrator. For example, the first driving source is, for example, the first driving source 4011 shown in the foregoing Figure 4 or Figure 5 , or the driving source 4015 shown in Figure 6 and Figure 7 .

[0150] The controller is a device with control capability (e.g., outputting control information, generating control instructions, etc.) for controlling the operation of the ultrasonic radar. For example, the controller can be the controller 202 shown in Figure 2 Figure 3 Figure 5 Figure 7 For example, the first driving source is connected to the controller and can receive the first control signal sent (or output) by the controller through a connection line therebetween. In combination with the foregoing, the first control signal is used to instruct the first driving source to provide the first trigger signal to the first transformer in the first time period, and the related description can be referred to the foregoing related description of the first control signal.

[0151] Step S802: The second driving source receives the second control signal from the controller.

[0152] For example, the second driving source is, for example, the second driving source 4012 in the ultrasonic radar shown in Figure 4 Figure 5 or the driving source 4015 shown in Figure 6 Figure 7

[0153] For example, the second driving source is connected to the controller and can receive the second control signal sent (or output) by the controller through a connection line therebetween.

[0154] In combination with the foregoing, the second control signal is used to instruct the driving source to provide the second trigger signal to the second transformer in the second time period, and the related description can be referred to the foregoing related description of the second control signal.

[0155] Step S803: The first driving source provides the first trigger signal to the first transformer in the first time period based on the first control signal.

[0156] For example, the first driving source is connected to the first transformer, and the first driving source can send (or output) the first trigger signal to the first transformer through a connection line therebetween.

[0157] In combination with the foregoing, the first trigger signal is used to make the first transformer provide the first output voltage to the piezoelectric vibration piece, so that the piezoelectric vibration piece emits the first ultrasonic wave based on the first output voltage. Optionally, the first trigger signal can be the first input voltage.

[0158] The piezoelectric vibration piece is used to emit ultrasonic waves based on the voltage provided by the transformer. For example, the piezoelectric vibration piece can be the piezoelectric vibration piece 402 shown in Figure 4 Figure 5

[0159] ​​​​​​​​Optionally, the first driving source and the second driving source can be the same driving source. For example, the piezoelectric vibrator can be Figure 6 or Figure 7 as shown in the piezoelectric vibrator 402.

[0160] Step S804: The second driving source provides a second trigger signal to the second transformer in a second time period based on a second control signal.

[0161] For example, the second driving source is connected with the second transformer, and the second trigger signal can be sent (or output) to the second transformer through the connection line between the second driving source and the second transformer.

[0162] In combination with the foregoing, the second trigger signal is used to make the second transformer provide a second output voltage to the piezoelectric vibrator, and the piezoelectric vibrator can emit a second ultrasonic wave based on the second output voltage. Optionally, the second trigger signal can be a second input voltage. The piezoelectric vibrator is used to emit an ultrasonic wave based on the voltage provided by the transformer. For example, the piezoelectric vibrator can be Figure 4 、 Figure 5 、 Figure 6 or Figure 7 the piezoelectric vibrator 402 as shown.

[0163] In the embodiments of the present application, the output voltage provided by the first transformer and the output voltage provided by the second transformer are different, that is, the first output voltage is different from the second output voltage. As a possible implementation example, the first output voltage is higher than the second output voltage, that is, the output voltage provided by the first transformer is higher than the output voltage provided by the second transformer. Correspondingly, the intensity of the first ultrasonic wave is greater than the intensity of the second ultrasonic wave.

[0164] The ultrasonic wave radar provides a higher output voltage to the piezoelectric vibrator through the first transformer in the first time period, so that the piezoelectric vibrator emits an ultrasonic wave with a larger intensity, thereby increasing the detection distance of the ultrasonic wave radar. In the second time period, a lower output voltage is provided to the piezoelectric vibrator through the second transformer, so that the piezoelectric vibrator emits an ultrasonic wave with a smaller intensity, thereby reducing the detection blind area of the ultrasonic wave radar, and the detection performance of the ultrasonic wave radar can be improved.

[0165] Optionally, the lengths of the first time period and the second time period can be different, and can be flexibly adjusted according to different scene requirements. Optionally, the lengths of the first time period and the second time period can be the same, for example, both are 160 ms. 160 ms is a possible example, and in actual use, the lengths can be flexibly adjusted according to different scene requirements.

[0166] As a possible example, the ultrasonic radar can use the first transformer and the second transformer alternately to provide the output voltage to the piezoelectric sheet, for example, Table 2 in the foregoing, the ultrasonic radar uses the two transformers alternately for 1 cycle to provide the output voltage to the piezoelectric sheet, which can not only guarantee the detection distance of the ultrasonic radar, but also reduce the detection blind area of the ultrasonic radar, thereby improving the detection performance of the ultrasonic radar. For related description, please refer to the foregoing related description.

[0167] As a possible implementation, the first driving source can also receive a second signal from the controller, and provide the first trigger signal to the first transformer in the sweep mode based on the second signal, so that the first transformer provides the first output voltage to the piezoelectric sheet. The piezoelectric sheet can emit the first ultrasonic wave based on the first output voltage in the sweep mode. The second driving source can also receive a third signal from the controller, and provide the second trigger signal to the second transformer in the sweep mode based on the third signal, so that the second transformer provides the second output voltage to the piezoelectric sheet. The piezoelectric sheet can emit the second ultrasonic wave based on the second output voltage in the sweep mode. For related description, please refer to the foregoing related description.

[0168] Thus, when the ultrasonic radar needs to use the fixed frequency mode to emit ultrasonic waves and also needs to use the sweep mode to emit ultrasonic waves in a certain period of time, for example, Table 4 in the foregoing. Since the driving voltage required by the ultrasonic radar to emit ultrasonic waves in the fixed frequency mode is usually lower than the driving voltage required to emit ultrasonic waves in the sweep mode, limiting the second transformer to provide a lower output voltage to the piezoelectric sheet in the fixed frequency mode makes the piezoelectric sheet emit ultrasonic waves with greater intensity, which not only reduces the detection blind area of the ultrasonic radar, but also reduces redundancy and reduces the use cost of the ultrasonic radar. Limiting the first transformer to provide a higher output voltage to the piezoelectric sheet in the sweep mode makes the piezoelectric sheet emit ultrasonic waves with greater intensity, which can increase the detection distance of the ultrasonic radar.

[0169] As a possible implementation, the first driving source can also receive a fourth signal from the controller, the fourth signal being used to indicate the time length for the first driving source to provide the first trigger signal to the first transformer. The second driving source can also receive a fifth signal from the controller, the fifth signal being used to indicate the time length for the second driving source to provide the second trigger signal to the second transformer. Wherein, the fourth signal and the fifth signal are related to the working scene of the ultrasonic radar.

[0170] For example, when the working scenario of the ultrasonic radar requires maximizing its detection range, a fourth signal can be used to instruct the ultrasonic radar to primarily provide a higher output voltage to the piezoelectric transducer through the first transformer. For instance, the duration of the first trigger signal provided by the first driving source to the first transformer can be greater than the duration of the second trigger signal provided by the second driving source to the second transformer, thereby increasing the detection range of the ultrasonic radar.

[0171] For another example, when the working scenario of the ultrasonic radar requires minimizing the detection blind zone of the ultrasonic radar, the fifth signal can be used to instruct the ultrasonic radar to mainly provide a lower output voltage to the piezoelectric transducer through the second transformer. For example, the duration of the second trigger signal provided by the second driving source to the second transformer can be greater than the duration of the first trigger signal provided by the first driving source to the first transformer, thereby reducing the detection blind zone of the ultrasonic radar.

[0172] exist Figure 8 In the illustrated embodiment, the first driving source can provide a higher output voltage (i.e., the first output voltage) to the piezoelectric vibrator through the first transformer during a first time period, which can increase the detection range of the ultrasonic radar. The second driving source can provide a lower output voltage (i.e., the second output voltage) to the piezoelectric vibrator through the second transformer during a second time period, which can reduce the detection blind zone of the ultrasonic radar and improve its detection performance.

[0173] Furthermore, ultrasonic radar uses different transformers to supply different voltages to the piezoelectric transducer at different times. Compared to changing the output voltage of the same transformer, it has a faster response speed when switching voltages, which can reduce the delay of the piezoelectric transducer's driving voltage switching and improve the detection performance of ultrasonic radar.

[0174] Please see Figure 9 , Figure 9 This is a flowchart illustrating another detection method provided in an embodiment of this application. This method can be applied to the aforementioned radar system, for example, including multiple such... Figure 4 , Figure 5 , Figure 6 , Figure 7 The ultrasonic radar system shown in the embodiments, for example, is composed of... Figure 4 or Figure 5 The ultrasonic radar shown executes this method, as exemplified by... Figure 6 or Figure 7 The ultrasonic radar shown executes this method. For ease of description, the following explanation uses the first and second ultrasonic radars as the executing entities.

[0175] like Figure 9The illustrated detection method can include steps S901 to S902. It should be understood that, for the convenience of description, the steps S901 to S902 are described in this order, and it is not intended to limit the execution of the steps in the above order. The embodiments of the present application do not limit the order of execution, the time of execution, the number of execution, etc. of one or more steps described above. S901 to S902 are as follows:

[0176] Step S901: The first ultrasonic radar provides a first output voltage to the first piezoelectric vibrator through the first driving circuit in the third time period.

[0177] The first ultrasonic radar is an ultrasonic radar as shown in Figure 5 or Figure 7 The first ultrasonic radar includes a first driving circuit and a first piezoelectric vibrator. For example, the first driving circuit is a driving circuit 401 as shown in Figure 7 , and the first piezoelectric vibrator is a piezoelectric vibrator 402 as shown in Figure 7 .

[0178] As a possible implementation, the first ultrasonic radar provides a first output voltage to the first piezoelectric vibrator through the first driving circuit in the third time period, so that the first piezoelectric vibrator emits a first ultrasonic wave based on the first output voltage.

[0179] Step S902: The second ultrasonic radar provides a second output voltage to the second piezoelectric vibrator through the second driving circuit in the third time period.

[0180] The second ultrasonic radar is an ultrasonic radar as shown in Figure 5 or Figure 7 The second ultrasonic radar includes a second driving circuit and a second piezoelectric vibrator. For example, the second driving circuit is a driving circuit 401 as shown in Figure 7 , and the second piezoelectric vibrator is a piezoelectric vibrator 402 as shown in Figure 7 .

[0181] As a possible implementation, the second ultrasonic radar provides a second output voltage to the second piezoelectric vibrator through the second driving circuit in the third time period, so that the second piezoelectric vibrator emits a second ultrasonic wave based on the second output voltage.

[0182] In the embodiments of the present application, the output voltage provided by the first transformer and the output voltage provided by the second transformer are different, i.e. the first output voltage is different from the second output voltage. As a possible implementation example, the first output voltage is higher than the second output voltage. Correspondingly, the intensity of the first ultrasonic wave is greater than the intensity of the second ultrasonic wave.

[0183] Optionally, the number of ultrasonic radars included in the first ultrasonic radar and the second ultrasonic radar is not limited here. For example, the first ultrasonic radar may include one or more ultrasonic radars, and the second ultrasonic radar may include one or more ultrasonic radars.

[0184] For example, as shown in Table 5 above, when a radar system includes multiple ultrasonic radars, within the same time period, some ultrasonic radars can have a higher output voltage supplied to the piezoelectric transducer through the first transformer, causing the transducer to emit ultrasonic waves of higher intensity, thereby increasing the detection range of these ultrasonic radars. Conversely, another portion of the ultrasonic radars can have a lower output voltage supplied to the piezoelectric transducer through the second transformer, causing the transducer to emit ultrasonic waves of lower intensity, thereby reducing the detection blind zone of the ultrasonic radars. In this way, while maintaining the detection range of the radar system, the detection blind zone can be reduced, thus improving the detection performance of the radar system.

[0185] exist Figure 9 In the illustrated embodiment, within the same time period, the first ultrasonic radar provides a higher output voltage to the piezoelectric vibrator through the first driving circuit, causing the piezoelectric vibrator to emit ultrasonic waves of higher intensity, thereby increasing the detection range of the first ultrasonic radar. The second ultrasonic radar provides a lower output voltage to the piezoelectric vibrator through the second driving circuit, causing the piezoelectric vibrator to emit ultrasonic waves of lower intensity, thereby reducing the detection blind zone of the ultrasonic radar. This reduces the detection blind zone of the radar system while ensuring its detection range, thus improving the detection performance of the radar system.

[0186] The methods of the embodiments of this application have been described in detail above. Below, some apparatuses for implementing the foregoing methods are described. It should be understood that the division of units in the apparatuses provided in the embodiments of this application is only a logical functional division; in actual implementation, they can be fully or partially integrated onto a single physical entity, or they can be physically separated.

[0187] Furthermore, the units in the device can be implemented in the form of processor calling software. For example, the device includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit of the device. The processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is either internal or external to the device.

[0188] Alternatively, the units in the apparatus can be implemented in the form of hardware circuitry, and part or all of the units can be implemented through design of hardware circuitry, which can be understood as one or more processors. For example, in one implementation, the hardware circuitry is an application-specific integrated circuit (ASIC) that is designed through logical relationship of elements in the circuit to implement part or all of the units. For another example, in another implementation, the hardware circuitry is a programmable logic device (PLD) that can be implemented through a field programmable gate array (FPGA). The FPGA can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured through a configuration file, so as to implement part or all of the units. All the units of the above apparatus can be implemented in the form of calling software by the processor, or in the form of hardware circuit, or part of them are implemented in the form of calling software by the processor, and the remaining part is implemented in the form of hardware circuit.

[0189] In the embodiments of the present application, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a central processing unit (CPU) or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationship of hardware circuit, which is fixed or can be reconfigured. For example, the processor is an application-specific integrated circuit (ASIC) or a hardware circuit implemented by a programmable logic device (PLD), such as an FPGA. In the reconfigurable hardware circuit, the processor loads the configuration document to implement the hardware circuit configuration. The process can be understood as the process in which the processor loads instructions to implement part or all of the units. It can be seen that each unit in the apparatus can be one or more processors (or processing circuits) configured to implement the above method, such as a CPU, a GPU, a microprocessor, a DSP, an ASIC, an FPGA, or a combination of at least two of these processor forms.

[0190] In addition, all or some of the units in the above apparatus can be integrated or can be independent. In one implementation, the units are integrated together to be implemented in the form of a system on a chip (SOC). The SOC can include at least one processor for implementing the functions of the above methods or implementing the functions of the units of the apparatus. The at least one processor can be of different types, such as CPUs and FPGAs.

[0191] The following lists several possible apparatuses.

[0192] See Figure 10 , Figure 10 is a structural schematic diagram of a data processing apparatus provided by an embodiment of the present application, that is, a data processing apparatus 100. Optionally, the data processing apparatus 100 can be a stand-alone device, for example, the data processing apparatus 100 can be Figure 4 or Figure 5 the first driving source 4011 and the second driving source 4012 in the ultrasonic radar shown in Figure 6 or Figure 7 the driving source 4015 in the ultrasonic radar shown in. Alternatively, the data processing apparatus 100 can also be a device in a stand-alone device (such as a node), for example, a chip or an integrated circuit, etc. The data processing apparatus 100 is used to implement the detection method shown in Figure 8 .

[0193] As shown in Figure 10 , the data processing apparatus 100 includes a communication unit 1001 and a processing unit 1002. The communication unit 1001 is used to implement one or more operations of obtaining, receiving, listening, transmitting, etc., for example, to receive a first control signal from a controller, and / or to receive a second control signal from a controller. Further, it also includes other operations for implementing the detection method.

[0194] The processing unit 1002 is used to implement one or more operations of processing, calculating, determining, generating, updating, etc., for example, to provide a first trigger signal to a first transformer within a first time period based on a first control signal, and / or to provide a second trigger signal to a second transformer within a second time period based on a second control signal. Further, it also includes other operations for implementing the detection method.

[0195] The related description can refer to the description of the embodiments shown in Figure 8 , which will not be described one by one here.

[0196] See Figure 11 , Figure 11Fig. 1 is a structural schematic diagram of a computing device provided by an embodiment of the present application. The computing device is a device with processing capability. Here, the device can be a physical device, such as a server (e.g., a rack-mounted server), a host, etc., or a virtual device, such as a virtual machine, a container, etc.

[0197] As shown in Fig. 1, the computing device 110 includes a processor 1101 and a memory 1102, and one or more programs, and can include a communication interface 1103. It should be understood that the present application does not limit the number of processors and memories in the computing device 110. Figure 11

[0198] The processor 1101 is a module for performing operations, and can include a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a micro controller unit (MCU), or one or more integrated circuits for controlling the execution of programs of the above solutions.

[0199] The memory 1102 is configured to provide a storage space, in which application data, user data, an operating system, and computer programs, etc. can be stored. The memory 1102 can include a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, and can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, an optical disk storage (including a compact disk, a laser disk, an optical disk, a digital versatile disk, a Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program codes in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0200] The memory 1102 can exist independently and be connected to the processor 1101 through a bus. The memory 1102 can also be integrated with the processor 1101.

[0201] ​The communication interface 1103 is configured to provide information input or output for the at least one processor. The communication interface 1103 can be configured to receive data transmitted from outside and / or transmit data to outside. The communication interface 1103 can be a wired link interface including an Ethernet cable, or a wireless link (Bluetooth, general wireless transmission, and other wireless communication technologies) interface. Optionally, the communication interface 1103 can further include a transmitter (such as a radio frequency transmitter, an antenna, etc.) coupled to the interface, or a receiver, etc.

[0202] In the embodiments of the present application, the one or more programs described above are stored in the memory 1102 in the form of program codes, and are configured to be executed by the processor 1101. The programs include instructions for implementing the steps of the detection method described above. That is, the memory 1102 stores executable instructions, and the processor 1101 executes the executable instructions to implement the instructions of the steps of the detection method described above. Figure 8 The memory 1102 stores executable instructions, and the processor 1101 executes the executable instructions to implement the instructions of the steps of the detection method described above. Figure 8 The memory 1102 stores executable instructions, and the processor 1101 executes the executable instructions to implement the instructions of the steps of the detection method described above. Figure 8 The memory 1102 stores executable instructions, and the processor 1101 executes the executable instructions to implement the instructions of the steps of the detection method described above.

[0203] The embodiments of the present application also provide a terminal, which includes the radar system described above. Optionally, the terminal is one of a vehicle, a drone, or a robot.

[0204] The embodiments of the present application also provide a computer program product including instructions. The computer program product can be a software or program product including instructions, which can be run on a computing device or stored in any available medium. The computer program instructions are used to implement the detection method described above, for example, the detection method described above. Figure 8 The embodiments of the present application also provide a computer program product including instructions. The computer program product can be a software or program product including instructions, which can be run on a computing device or stored in any available medium. The computer program instructions are used to implement the detection method described above, for example, the detection method described above.

[0205] The embodiments of the present application also provide a computer readable storage medium. The computer readable storage medium includes instructions, which are used to implement the detection method described above, for example, the detection method described above. Figure 8 The embodiments of the present application also provide a computer readable storage medium. The computer readable storage medium includes instructions, which are used to implement the detection method described above, for example, the detection method described above.

[0206] The computer readable storage medium can be any available medium that the information interaction device and / or the computing device can store, or a data storage device including one or more available media, such as a data center. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium, or a semiconductor medium (for example, a solid state disk), etc.

[0207] In the present application, the word "exemplary" or "for example" is used to mean "an example of" or "an example, only. Any embodiment or design solution described as "exemplary" or "for example" in the present application should not be construed as preferred or advantageous over other embodiments or design solutions. In fact, the use of the word "exemplary" or "for example" is intended to present related concepts in a concrete manner.

[0208] In the present application, "at least one" refers to one or more, and "multiple" refers to two or more. "At least one of the following (one)" or the like refers to any combination of the items, including any combination of single or multiple items. For example, at least one of a, b, or c can mean a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. "And / or" describes the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can mean that A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects.

[0209] In addition, unless otherwise stated, the ordinal numbers "first", "second", etc. used in the embodiments of the present application are used to distinguish a plurality of objects, and are not used to limit the order, time sequence, priority or importance of the plurality of objects.

[0210] Those of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by programs instructing relevant hardware to complete, and the programs can be stored in a computer readable storage medium, which can be a read-only memory, a magnetic disk or an optical disk, etc.

[0211] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the protection scope of the technical solutions of the embodiments of the present application.

Claims

1. A driving circuit, characterized in that, The driving circuit is used to drive the piezoelectric transducer of the ultrasonic radar. The driving circuit includes a first driving source, a second driving source, a first transformer, and a second transformer. The input terminal of the first transformer is connected to the first driving source, and the output terminal of the first transformer is connected to the piezoelectric vibrator. The input terminal of the second transformer is connected to the second drive source, and the output terminal of the second transformer is connected to the piezoelectric vibrator; At the same time, the first driving source is used to provide a first trigger signal to the first transformer, or the second driving source is used to provide a second trigger signal to the second transformer; The first transformer is used to provide a first output voltage to the piezoelectric vibrator based on the first trigger signal; The second transformer is used to provide a second output voltage to the piezoelectric vibrator based on the second trigger signal; The first output voltage is higher than the second output voltage.

2. The driving circuit according to claim 1, characterized in that, The first driving source and the second driving source are the same driving source. At the same time, the first driving source is used to provide the first trigger signal to the first transformer, or to provide the second trigger signal to the second transformer.

3. The driving circuit according to claim 2, characterized in that, The driving circuit further includes a selection module, the input of which is connected to the first driving source. The output of the selection module is connected to the first transformer and the second transformer. The selection module is used to receive a first signal from the first driving source and select the first transformer or the second transformer based on the first signal.

4. The driving circuit according to any one of claims 1-3, characterized in that, The first driving source is used to provide the first trigger signal to the first transformer during a first time period; The second drive source is used to provide the second trigger signal to the second transformer during the second time period.

5. The driving circuit according to any one of claims 1-4, characterized in that, The first driving source is used to provide the first trigger signal to the first transformer in frequency sweep mode; The second drive source is used to provide the second trigger signal to the second transformer in fixed frequency mode.

6. The driving circuit according to claim 5, characterized in that, The first drive source and the second drive source are connected to the controller. The first driving source is also configured to receive a second signal from the controller, the second signal being configured to indicate activation or deactivation of the frequency sweep mode; The second drive source is also used to receive a third signal from the controller, the third signal being used to indicate activation or deactivation of the fixed-frequency mode.

7. The driving circuit according to any one of claims 1-6, characterized in that, The first drive source and the second drive source are connected to the controller. The first driving source is also configured to receive a fourth signal from the controller. The fourth signal is used to indicate the duration for which the driving circuit outputs the first output voltage; The second drive source is also used to receive a fifth signal from the controller. The fifth signal is used to indicate the duration for which the driving circuit outputs the second output voltage; The fourth and fifth signals are related to the operating scenario of the ultrasonic radar.

8. The driving circuit according to any one of claims 1-7, characterized in that, The first driving source includes a first chip, and the second driving source includes a second chip. The first chip and the second chip are powered by an energy source and can output trigger signals to the outside through an interface.

9. The driving circuit according to claim 8, characterized in that, The first chip includes a first interface and a second interface. The positive terminal of the first transformer's input is connected to the first interface. The negative terminal of the first transformer's input is connected to the second interface. The second chip includes a third interface and a fourth interface. The positive terminal of the second transformer's input is connected to the third interface. The negative terminal of the second transformer's input is connected to the fourth interface. The first chip is used to provide the first trigger signal to the first transformer through the first interface and the second interface; The second chip is used to provide the second trigger signal to the second transformer through the third interface and the fourth interface.

10. The driving circuit according to claim 9, characterized in that, The first chip and the second chip are the same chip. The first interface and the third interface are the same interface. The second interface and the fourth interface are the same interface. The first chip is used to provide a first trigger signal to the first transformer through the first interface and the second interface. Alternatively, it can be used to provide a second trigger signal to the second transformer through the first interface and the second interface.

11. The driving circuit according to claim 10, characterized in that, The driving circuit also includes a selection module. The first chip also includes a fifth interface. The selection module is connected to the fifth interface. The first chip is used to select the first transformer through the fifth interface and the selection module, and to provide a first trigger signal to the first transformer; Alternatively, the first chip is used to select the second transformer through the fifth interface and the selection module, and to provide a second trigger signal to the second transformer.

12. The driving circuit according to any one of claims 8-11, characterized in that, The first drive source and the second drive source are connected to the controller, and the controller is the energy source.

13. An ultrasonic radar, characterized in that, The ultrasonic radar includes the driving circuit and piezoelectric transducer as described in any one of claims 1-12. The driving circuit is used to provide voltage to the piezoelectric vibrator; The piezoelectric vibrator is used to emit ultrasonic waves based on the voltage provided by the driving circuit.

14. The ultrasonic radar according to claim 13, characterized in that, The first transformer and the piezoelectric vibrator are connected by a first positive wire and a first negative wire. The second transformer is connected to the piezoelectric vibrator via a second positive wire and a first negative wire.

15. The ultrasonic radar according to claim 13 or 14, characterized in that, The driving circuit is used to provide the first output voltage to the piezoelectric vibrator during a first time period; The piezoelectric vibrator is used to emit a first ultrasonic wave based on the first output voltage during a first time period. The driving circuit is used to provide the second output voltage to the piezoelectric vibrator during a second time period; The piezoelectric vibrator is used to emit a second ultrasonic wave based on the second output voltage during a second time period.

16. The ultrasonic radar according to any one of claims 13-15, characterized in that, The driving circuit is used to provide the first output voltage to the piezoelectric vibrator in frequency sweep mode; The piezoelectric vibrator is used to emit a first ultrasonic wave based on the first output voltage; The driving circuit is used to provide the second output voltage to the piezoelectric vibrator in a fixed-frequency mode; The piezoelectric vibrator is used to emit a second ultrasonic wave based on the second output voltage.

17. A radar system, characterized in that, The radar system includes a first ultrasonic radar and a second ultrasonic radar, wherein the first ultrasonic radar is the ultrasonic radar as described in claim 13, and the second ultrasonic radar is the ultrasonic radar as described in claim 13. The first ultrasonic radar includes a first driving circuit and a first piezoelectric vibrator, and the second ultrasonic radar includes a second driving circuit and a second piezoelectric vibrator. The first ultrasonic radar is used to provide the first output voltage to the first piezoelectric vibrator through the first driving circuit during the third time period, so that the first piezoelectric vibrator emits the first ultrasonic wave based on the first output voltage; The second ultrasonic radar is used to provide the second output voltage to the second piezoelectric vibrator through the second driving circuit during the third time period, so that the second piezoelectric vibrator emits a second ultrasonic wave based on the second output voltage.

18. A terminal, characterized in that, The terminal includes the radar system as described in claim 17.

19. The terminal according to claim 18, characterized in that, The terminal is one of a vehicle, a drone, or a robot.

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