Distance signal processing method and device of vehicle, vehicle and medium

Abstract

This application provides a method, apparatus, vehicle, and medium for processing distance signals for a vehicle. The method includes: in response to entering a near-field signal processing mode, acquiring the current distance measurement value of a target object; calculating the distance change rate of the target object based on multiple consecutive valid distance measurement values; calculating the deviation of the distance measurement value based on the distance change rate, the current distance measurement value, and the previous valid distance measurement value of the target object; and in response to the deviation of the distance measurement value and the distance change rate satisfying a preset anomaly judgment condition, using the previous valid distance measurement value as the current valid distance measurement value of the target object, and controlling the vehicle to display the current valid distance measurement value. This solves the problem of abnormal jumps in distance values ​​caused by the inherent physical characteristics of ultrasonic sensors, significantly improving the stability, continuity, and reliability of distance prompts.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method, apparatus, vehicle, and medium for processing distance signals of a vehicle. Background Technology

[0002] As an important component of vehicle safety assistance, the reversing radar system uses ultrasonic sensors to detect the distance of obstacles in front of and behind the vehicle and provides real-time feedback to the user through visual and audible means. In particular, when an obstacle enters the system's detection blind spot (usually within 30cm), it will maintain a fixed blind spot warning state and will no longer update the distance value to ensure safe operation by the user.

[0003] However, due to the inherent detection characteristics and limitations of data processing logic of ultrasonic sensors, when the distance to an obstacle continues to decrease but it remains within the blind zone, the distance value may suddenly jump outside the blind zone. This causes the visual and auditory cues to become abnormally amplified, leading users to misjudge the actual distance and continue approaching the obstacle, thus increasing the risk of collision. Related technologies, by reducing the blind zone alarm distance to 20cm and stopping distance reporting when the distance falls below this value, can avoid the misleading effect of distance jumps. However, this also means that obstacles within 20cm cannot be effectively detected, posing a risk of missed detections and failing to balance accuracy and safety in the warning system. Summary of the Invention

[0004] This application provides a method, apparatus, vehicle, and medium for processing vehicle distance signals, aiming to improve the technical problem of collision risk caused by user misjudgment due to abrupt changes in ultrasonic sensor distance values.

[0005] To achieve the above objectives, a first aspect of this application proposes a vehicle distance signal processing method, comprising: in response to entering a near-range signal processing mode, acquiring a current distance measurement value of a target object; calculating a distance change rate of the target object based on multiple consecutive valid distance measurement values ​​of the target object; calculating a deviation of the distance measurement value based on the distance change rate, the current distance measurement value, and the previous valid distance measurement value of the target object; and in response to the deviation of the distance measurement value and the distance change rate satisfying a preset outlier judgment condition, using the previous valid distance measurement value as the current valid distance measurement value of the target object, and controlling the vehicle to display the current valid distance measurement value.

[0006] This application introduces a near-field signal processing mode. After the vehicle enters this mode, it collects the current distance measurement value of the target object in real time, calculates the distance change rate based on multiple consecutive valid distance measurements, and then calculates the deviation by combining it with the valid value of the previous cycle. Finally, when the deviation and distance change rate meet preset anomaly judgment conditions, the valid value of the previous cycle is displayed as the current valid value. This effectively solves the technical problem of frequent jumps in distance measurement values ​​caused by the inherent physical characteristics of ultrasonic sensors in the near-field detection area, such as multipath reflection, specular reflection, sidelobe interference, or multiple echoes. In this way, abnormal jump data can be accurately identified and suppressed, avoiding the direct use of erroneous data for visual and auditory prompts to a certain extent. This ensures that the distance information presented to the user by the in-vehicle display or dashboard remains stable, continuous, and reliable, fundamentally improving the collision risk caused by users misjudging the true distance due to jumps in distance values. This significantly enhances vehicle safety and user experience in parking and low-speed driving scenarios.

[0007] According to one embodiment of this application, the preset outlier judgment conditions include: the sign of the deviation of the distance measurement value is opposite to the sign of the distance change rate, and the absolute value of the deviation of the distance measurement value is greater than the preset trend deviation threshold.

[0008] This application intelligently identifies abnormal fluctuations that contradict the actual direction of vehicle movement based on the overall trend of effective data. Distance measurement values ​​that deviate significantly from the expected trend are judged as abnormal and masked, thereby effectively solving the technical problem of abnormal increase or jump in distance values ​​caused by the physical characteristics of ultrasonic sensors. This ensures that the prompt information is always consistent with the actual movement trend of the vehicle approaching the obstacle, and to a certain extent avoids the risk of collision caused by data abnormalities misleading user operations, significantly improving the reliability and safety of distance prompts.

[0009] According to one embodiment of this application, the method further includes: when the absolute value of the distance change rate is greater than a first slope threshold, increasing a preset trend deviation threshold based on a preset adjustment amount; when the absolute value of the distance change rate is less than a second slope threshold, decreasing the preset trend deviation threshold based on a preset adjustment amount; wherein the first slope threshold is greater than the second slope threshold.

[0010] In this way, the threshold for anomaly detection can adapt to the actual motion state of the target object, effectively reducing the false alarm rate while ensuring detection sensitivity, thereby further improving the accuracy and robustness of distance signal processing.

[0011] According to one embodiment of this application, the deviation of a distance measurement value is calculated based on the distance change rate, the current distance measurement value, and the previous valid distance measurement value of the target object, including: calculating the current expected distance measurement value based on the distance change rate and the previous valid distance measurement value; and calculating the deviation of the distance measurement value based on the difference between the current distance measurement value and the current expected distance measurement value.

[0012] According to one embodiment of this application, before entering the near-field signal processing mode, the method further includes: acquiring a distance measurement value of the target object and a gear position signal; and controlling the vehicle to enter the near-field signal processing mode in response to the distance measurement value of the target object being less than or equal to a first preset blind zone threshold and the gear position signal being a non-parking gear.

[0013] According to one embodiment of this application, it further includes: controlling the vehicle to exit the near-field signal processing mode in response to the distance change rate being non-negative and multiple consecutive effective distance measurements being greater than a second preset blind zone threshold.

[0014] According to one embodiment of this application, it further includes: determining an alarm level based on the current effective distance measurement; and controlling the vehicle to issue an alarm according to the alarm level.

[0015] To achieve the above objectives, a second aspect of this application provides a vehicle distance signal processing device, comprising: a data acquisition module for acquiring a current distance measurement value of a target object in response to entering a near-field signal processing mode; a first calculation module for calculating a distance change rate of the target object based on multiple consecutive valid distance measurement values ​​of the target object; a second calculation module for calculating a deviation of the distance measurement value based on the distance change rate, the current distance measurement value, and the previous valid distance measurement value of the target object; and a control module for using the previous valid distance measurement value as the current valid distance measurement value of the target object as the deviation of the distance measurement value and the distance change rate satisfying a preset abnormal value judgment condition, and controlling the vehicle to display the current valid distance measurement value.

[0016] To achieve the above objectives, a third aspect of this application provides a computer-readable storage medium storing a vehicle distance signal processing program thereon, which, when executed by a processor, implements the aforementioned vehicle distance signal processing method.

[0017] To achieve the above objectives, a fourth aspect of this application provides a vehicle, including a memory, a processor, and a vehicle distance signal processing program stored in the memory and capable of running on the processor. When the processor executes the vehicle distance signal processing program, it implements the aforementioned vehicle distance signal processing method. Attached Figure Description

[0018] Figure 1 This is a flowchart of a vehicle distance signal processing method according to some embodiments of this application; Figure 2 This is a flowchart of a vehicle distance signal processing method according to other embodiments of this application; Figure 3 This is a block diagram of a distance signal processing device for a vehicle according to some embodiments of this application; Figure 4 This is a block diagram of a vehicle according to some embodiments of this application. Detailed Implementation

[0019] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0021] The following describes in detail, with reference to the accompanying drawings, the vehicle distance signal processing method, apparatus, vehicle, and medium according to embodiments of this application.

[0022] Figure 1 This is a flowchart of a vehicle distance signal processing method according to some embodiments of this application. (Refer to...) Figure 1 The vehicle distance signal processing method in this application embodiment may include the following steps: S110, in response to entering the near-field signal processing mode, acquires the current distance measurement value of the target object. The target object can be a static or dynamic obstacle around the vehicle, including but not limited to other vehicles, pedestrians, pillars, walls, shoulders, green belts, and speed bumps, or any object that may interfere with or pose a collision risk to the vehicle's movement or parking.

[0023] Specifically, after the vehicle enters the near-field signal processing mode, it can continuously emit ultrasonic pulses towards the target obstacle at fixed time intervals (such as 20ms to 50ms) through the on-board ultrasonic sensor, and record the propagation time of the sound wave from emission to reception after reflection by the obstacle. Based on the speed of sound in the air, the current distance measurement value of the target object is calculated and collected in real time.

[0024] S120 calculates the rate of change of distance of the target object based on multiple consecutive valid distance measurements of the target object.

[0025] Specifically, mathematical methods such as linear regression can be used to fit multiple continuous and valid distance measurements of the target object to obtain a straight line that reflects the overall trend of these measurements. The slope of this line is the distance change rate. The distance change rate reflects whether the target object is moving closer to or further away from the sensor and how quickly the change occurs. A positive slope indicates that the target object is moving away from the vehicle, while a negative slope indicates that the target object is moving closer to the vehicle. The larger the absolute value of the slope, the faster the movement speed.

[0026] For example, assuming that the effective distance measurements collected during the reversing process are 80 cm, 78 cm, 75 cm, 73 cm, and 70 cm respectively, the slope obtained by linear regression is -2.5, indicating that the obstacle is approaching the vehicle at an average speed of 2.5 cm per cycle.

[0027] S130, based on the distance change rate, the current distance measurement value, and the previous valid distance measurement value of the target object, calculates the deviation of the distance measurement value.

[0028] Specifically, the deviation of a distance measurement refers to the degree of difference between the current actual measurement and the expected measurement based on historical trends. The expected measurement for the current period can be calculated based on the effective measurement and distance change rate of the previous period. This expected value is then compared with the current actual measurement; the difference between the two is the deviation. The smaller the absolute value of the deviation, the more closely the current measurement conforms to the expected pattern of change, and the higher the data reliability. Conversely, a larger absolute value of the deviation indicates that the current measurement may have been affected by interference or experienced an abnormal jump.

[0029] S140, in response to the deviation of the distance measurement value and the rate of change of distance satisfying the preset abnormal value judgment condition, the previous valid distance measurement value is used as the current valid distance measurement value of the target object, and the vehicle is controlled to display the current valid distance measurement value.

[0030] Specifically, after calculating the deviation and rate of change of the distance measurement value, it is determined whether the deviation and rate of change of the distance measurement value meet the preset anomaly judgment conditions in order to identify whether there is an abnormal distance value. This avoids abnormal data fluctuations caused by the inherent physical characteristics of ultrasonic sensors (such as multipath reflection, specular reflection, sidelobe interference or multiple echoes), and to a certain extent avoids using such erroneous data directly for visual and auditory cues.

[0031] Specifically, if the deviation of the distance measurement value and the rate of change of distance do not meet the preset anomaly judgment conditions, the current distance measurement value of the target object will be used as the current valid distance measurement value of the target object, and the vehicle's in-vehicle display screen or instrument panel will be controlled to display it. If the deviation of the distance measurement value and the rate of change of distance meet the preset anomaly judgment conditions, such as the deviation exceeding a preset threshold and the rate of change being within a specific range, the current measurement value is considered unreliable jump data. The abnormal measurement value will not be directly output. Instead, the valid distance measurement value of the previous cycle will be used as the valid value of the current cycle, and the vehicle's in-vehicle display screen or instrument panel will be controlled to display this valid distance value. This ensures that the distance information presented to the user remains stable, continuous, and reliable, and to a certain extent avoids misleading the user's operation due to abnormal jump data.

[0032] This application introduces a near-field signal processing mode. After the vehicle enters this mode, it collects the current distance measurement value of the target object in real time, calculates the distance change rate based on multiple consecutive valid distance measurements, and then calculates the deviation by combining it with the valid value of the previous cycle. Finally, when the deviation and distance change rate meet preset anomaly judgment conditions, the valid value of the previous cycle is displayed as the current valid value. This effectively solves the technical problem of frequent jumps in distance measurement values ​​caused by the inherent physical characteristics of ultrasonic sensors in the near-field detection area, such as multipath reflection, specular reflection, sidelobe interference, or multiple echoes. In this way, abnormal jump data can be accurately identified and suppressed, avoiding the direct use of erroneous data for visual and auditory prompts to a certain extent. This ensures that the distance information presented to the user by the in-vehicle display or dashboard remains stable, continuous, and reliable, fundamentally improving the collision risk caused by users misjudging the true distance due to jumps in distance values. This significantly enhances vehicle safety and user experience in parking and low-speed driving scenarios.

[0033] In some embodiments, the preset outlier judgment criteria include: the sign of the deviation of the distance measurement value is opposite to the sign of the distance change rate, and the absolute value of the deviation of the distance measurement value is greater than a preset trend deviation threshold. The preset trend deviation threshold can be calibrated according to actual conditions, and no specific limitation is made here.

[0034] Specifically, the sign of the deviation from the distance measurement is opposite to the sign of the rate of change of distance, meaning that the direction of change of the current actual measurement is contrary to the historical trend. For example, a negative rate of change of distance indicates that the target is approaching, while a positive deviation indicates that the actual distance is actually increasing. This directional contradiction is usually difficult to achieve physically and is often caused by sensor interference. Furthermore, the absolute value of the deviation must exceed a preset trend deviation threshold. This threshold measures the allowable fluctuation range; only when the deviation is sufficiently large is it considered abnormal, thus avoiding misinterpreting normal, minor fluctuations as abrupt changes.

[0035] For example, suppose the reversing radar system recently collected and confirmed four valid historical distance measurements as follows: 150 cm, 145 cm, 140 cm, and 135 cm. Linear regression calculations show this data exhibits a continuous downward trend, resulting in a negative distance change rate (e.g., -5 cm / cycle), indicating the vehicle is approaching the obstacle at a constant speed. Based on this trend slope (-5) and the valid value of the previous cycle (135 cm), the expected distance measurement for the current cycle can be predicted to be 130 cm. However, the actual distance measurement collected in the current cycle is 150 cm, deviating from the expected value of 130 cm by +20 cm. In this case, the deviation is positive, while the distance change rate is negative, the two being opposite. Furthermore, the absolute deviation of 20 cm far exceeds the preset trend deviation threshold (e.g., 5 cm), indicating that the actual data significantly deviates from the original approach trend, and the current distance measurement is determined to be an anomaly.

[0036] This application intelligently identifies abnormal fluctuations that contradict the actual direction of vehicle movement based on the overall trend of effective data. Distance measurement values ​​that deviate significantly from the expected trend are judged as abnormal and masked, thereby effectively solving the technical problem of abnormal increase or jump in distance values ​​caused by the physical characteristics of ultrasonic sensors. This ensures that the prompt information is always consistent with the actual movement trend of the vehicle approaching the obstacle, and to a certain extent avoids the risk of collision caused by data abnormalities misleading user operations, significantly improving the reliability and safety of distance prompts.

[0037] In some embodiments, when the absolute value of the distance change rate is greater than a first slope threshold, a preset trend deviation threshold is increased based on a preset adjustment amount; when the absolute value of the distance change rate is less than a second slope threshold, the preset trend deviation threshold is decreased based on a preset adjustment amount; wherein the first slope threshold is greater than the second slope threshold. The preset adjustment amount, the first slope threshold, and the second slope threshold can all be determined according to actual conditions, and no specific restrictions are imposed here.

[0038] Specifically, to further optimize the adaptability of anomaly detection, a preset trend deviation threshold can be dynamically adjusted based on the absolute value of the distance change rate. When the absolute value of the distance change rate is large (i.e., the obstacle is rapidly approaching or moving away, exceeding the first slope threshold), it indicates that the target is moving quickly, and the normal fluctuation range of the actual measured value may increase accordingly. In this case, appropriately increasing the trend deviation threshold by a preset adjustment step can, to some extent, avoid misjudging normal fluctuations in rapid movement as anomalies. When the absolute value of the distance change rate is small (i.e., the obstacle is moving slowly or relatively stationary, below the second slope threshold), it indicates that the target's movement is relatively stable, and the measured value should remain highly stable. In this case, appropriately decreasing the trend deviation threshold by a preset adjustment step can more sensitively identify minute abnormal jumps. In this way, the anomaly detection threshold can adapt to the actual movement state of the target object, effectively reducing the false alarm rate while ensuring detection sensitivity, thereby further improving the accuracy and robustness of distance signal processing.

[0039] In some embodiments, the deviation of the distance measurement value is calculated based on the distance change rate, the current distance measurement value, and the previous valid distance measurement value of the target object, including: calculating the current expected distance measurement value based on the distance change rate and the previous valid distance measurement value; and calculating the deviation of the distance measurement value based on the difference between the current distance measurement value and the current expected distance measurement value.

[0040] For example, suppose a vehicle is reversing, with a wall behind it as the target object. The distance between the vehicle and the wall is continuously measured using ultrasonic radar. The effective distance measurement value in the previous cycle is known to be 100 cm. The distance change rate calculated using linear regression is -5 cm / cycle, indicating that the vehicle is approaching the wall at a speed of 5 cm per cycle. Based on this, the current expected distance measurement value is first calculated based on the distance change rate and the effective value of the previous cycle: 100 cm plus -5 cm equals 95 cm, meaning that according to the current movement trend, the measurement should reach 95 cm in this cycle. Then, the current actual distance measurement value is collected. Assuming the collected result is 120 cm, the deviation is obtained by subtracting the expected value from the current actual value: 120 cm minus 95 cm equals +25 cm.

[0041] In some embodiments, the distance change of the target object between adjacent detection cycles is calculated based on vehicle speed and detection cycle duration; if the difference between the current distance measurement value of the target object and the previous valid distance measurement value is greater than the distance change, the current distance measurement value is determined to be an abnormal value.

[0042] Specifically, in the physical probability assessment process, firstly, based on the vehicle's current speed and the fixed detection cycle of the ultrasonic sensor, the theoretical distance change of the target object within two adjacent detection cycles is calculated. Then, the currently collected distance measurement value is compared with the previously confirmed valid distance measurement value. If the difference between the two is greater than the theoretically calculated distance change, it indicates that the current distance value does not conform to the laws of physical motion, and the current distance measurement value is thus determined to be an abnormal value. If the difference between the two is less than or equal to the theoretically calculated distance change, it indicates that the current distance value conforms to the laws of physical motion, and the current distance measurement value is thus determined to be a normal value.

[0043] For example, suppose a vehicle is reversing towards an obstacle at a speed of 0.5 m / s, and the ultrasonic sensor's detection cycle is 50 ms (i.e., 20 measurements per second). Based on the vehicle speed and cycle length, the theoretical maximum change in obstacle distance between adjacent detection cycles is 0.5 m / s × 0.05 s = 0.025 m (i.e., 2.5 cm). If the distance measured in the previous valid cycle was 25 cm, and the original distance measured in the current cycle suddenly jumps to 40 cm, the actual difference is 15 cm, which is much greater than the theoretical maximum change of 2.5 cm. This indicates that the data does not conform to the physical movement law of the vehicle continuously approaching the obstacle. Therefore, the current distance measurement value of 40 cm is determined to be an anomaly and is masked.

[0044] This application, by conducting a physical probability assessment of the current distance measurement value based on vehicle speed and detection cycle, can accurately identify discontinuous distance jump anomalies caused by physical characteristics such as multipath reflection, sidelobe interference, specular reflection, or multiple echoes of ultrasonic sensors. Data exceeding the theoretical maximum change amount is promptly identified as anomalies and masked, thereby avoiding the collision risk caused by a single abnormal jump data misleading the user to continue approaching the obstacle, and significantly improving the output stability and physical accuracy of distance information.

[0045] In some embodiments, before entering the proximity signal processing mode, the method further includes: acquiring a distance measurement value of the target object and a gear position signal; and controlling the vehicle to enter the proximity signal processing mode in response to the target object's distance measurement value being less than or equal to a first preset blind zone threshold and the gear position signal being a non-parking gear. The preset first blind zone threshold can be calibrated according to actual conditions; for example, the preset first blind zone threshold can be 20cm, and no specific limitation is made here.

[0046] Specifically, before the vehicle enters the near-field signal processing mode, the distance measurement value of the target object and the current gear signal are collected in real time. Only when the distance measurement value of the target object is detected to be less than or equal to the preset first blind zone threshold, and the gear signal is confirmed to be in a non-parking gear (such as reverse or drive), will the vehicle determine that the triggering conditions for the near-field signal processing mode are met, and thus officially enter the near-field signal processing mode and start the targeted data processing logic.

[0047] In some embodiments, the method further includes: controlling the vehicle to exit the near-field signal processing mode in response to a non-negative distance change rate and multiple consecutive effective distance measurements being greater than a second preset blind zone threshold. The preset second blind zone threshold can be calibrated according to actual conditions; for example, the preset second blind zone threshold can be 20cm, and no specific limitation is made here.

[0048] Specifically, in the near-field signal processing mode, based on multiple consecutive confirmed valid distance measurements, the distance change trend slope is calculated using a linear regression method. When the rate of distance change is detected to be non-negative (i.e., the obstacle is approaching stillness or moving away from the vehicle), and all of these consecutive valid distance measurements are greater than the preset second blind zone threshold (e.g., greater than 20 centimeters, indicating that the obstacle has left the blind zone), it is determined that the current near-field signal processing condition has been terminated, and the near-field signal processing mode is automatically exited, restoring the normal radar detection and warning logic.

[0049] For example, suppose a vehicle is reversing into a parking space and gradually approaches the rear wall. After entering the close-range signal processing mode, it continuously outputs valid distance values. As the vehicle begins to move forward away from the wall, the five most recent consecutive valid distance measurements are: 28 cm, 29 cm, 31 cm, 33 cm, and 35 cm. Through linear regression calculation, the distance change rate of this set of data is positive (approximately +1.8 cm / cycle), indicating that the obstacle is moving away; at the same time, all five values ​​are greater than the preset second blind zone threshold (e.g., 20 cm). Therefore, it is determined that the obstacle has completely left the blind zone, the blind zone condition is resolved, and the close-range signal processing mode is automatically exited, resuming the normal radar distance broadcasting and display logic.

[0050] In this way, frequent mode switching caused by short-term data fluctuations or critical states is avoided to a certain extent, ensuring a seamless connection between near-field signal processing mode prompts and regular prompts, while preventing false prompts caused by the near-field signal processing state remaining locked even when the obstacle has moved away.

[0051] In some embodiments, the method further includes: determining an alarm level based on the current effective distance measurement; and controlling the vehicle to issue an alarm according to the alarm level.

[0052] Specifically, after obtaining the current effective distance measurement value, the system automatically matches the corresponding alarm level according to the preset distance classification standards (such as long distance, medium distance, short distance, blind spot, etc.), and controls the vehicle to issue graded warnings to the user through various means such as visual (such as changes in dashboard color or flashing distance bars), auditory (such as the beeping frequency of the buzzer), or tactile (such as steering wheel vibration) to intuitively remind the driver of the degree of danger of the current obstacle, thereby assisting them in safe driving or parking operations.

[0053] As a concrete example, refer to Figure 2 The vehicle distance signal processing method in this application embodiment may further include the following steps: S201, the entire vehicle is powered on.

[0054] S202, the reversing radar has started working.

[0055] S203, collects distance measurements and gear position signals of the target object.

[0056] S204: Determine whether the distance measurement value of the target object is less than or equal to the preset first preset blind zone threshold and whether the gear signal is in non-parking gear. If yes, execute S205; otherwise, execute S203.

[0057] S205, the vehicle enters the near-field signal processing mode to calculate the rate of change of distance to the target object and the deviation of the distance measurement value.

[0058] S206, determine whether the deviation of the distance measurement value and the rate of change of distance meet the preset outlier judgment conditions. If yes, proceed to S207; otherwise, proceed to S208.

[0059] S207, take the previous effective distance measurement value of the target object as the current effective distance measurement value of the target object.

[0060] S208, use the current distance measurement value as the current valid distance measurement value of the target object.

[0061] S209, controls the vehicle to display the current effective distance measurement value.

[0062] Corresponding to the above embodiments, this application also proposes a vehicle distance signal processing device.

[0063] Reference Figure 3 The vehicle distance signal processing device 300 includes: a data acquisition module 310, a first calculation module 320, a second calculation module 330, and a control module 340.

[0064] The acquisition module 310 is used to acquire the current distance measurement value of the target object in response to entering the near-field signal processing mode. The first calculation module 320 is used to calculate the distance change rate of the target object based on multiple consecutive valid distance measurement values. The second calculation module 330 is used to calculate the deviation of the distance measurement value based on the distance change rate, the current distance measurement value, and the previous valid distance measurement value of the target object. The control module 340 is used to, in response to the distance measurement value deviation and the distance change rate satisfying a preset abnormal value judgment condition, use the previous valid distance measurement value as the current valid distance measurement value of the target object, and control the vehicle to display the current valid distance measurement value.

[0065] According to one embodiment of this application, the preset outlier judgment conditions include: the sign of the deviation of the distance measurement value is opposite to the sign of the distance change rate, and the absolute value of the deviation of the distance measurement value is greater than the preset trend deviation threshold.

[0066] According to one embodiment of this application, when the absolute value of the distance change rate is greater than a first slope threshold, a preset trend deviation threshold is increased based on a preset adjustment amount; when the absolute value of the distance change rate is less than a second slope threshold, a preset trend deviation threshold is decreased based on a preset adjustment amount; wherein, the first slope threshold is greater than the second slope threshold.

[0067] According to one embodiment of this application, the second calculation module 330 is specifically used to calculate the current expected distance measurement value based on the distance change rate and the previous valid distance measurement value; and to calculate the deviation of the distance measurement value based on the difference between the current distance measurement value and the current expected distance measurement value.

[0068] According to one embodiment of this application, in response to entering the near-field signal processing mode, the distance measurement value of the target object and the gear position signal are collected; in response to the distance measurement value of the target object being less than or equal to a first preset blind zone threshold and the gear position signal being a non-parking gear, the vehicle is controlled to enter the near-field signal processing mode.

[0069] According to one embodiment of this application, in response to a non-negative distance change rate and multiple consecutive effective distance measurements being greater than a second preset blind zone threshold, the vehicle is controlled to exit the near-field signal processing mode.

[0070] According to one embodiment of this application, an alarm level is determined based on the current effective distance measurement; and the vehicle is controlled to issue an alarm according to the alarm level.

[0071] It should be noted that the above explanation of the embodiments and beneficial effects of the vehicle distance signal processing method also applies to the vehicle distance signal processing device of the present application embodiments. To avoid redundancy, it will not be elaborated in detail here.

[0072] Corresponding to the above embodiments, this application also proposes a computer-readable storage medium.

[0073] The present application provides a computer-readable storage medium storing a vehicle distance signal processing program thereon, which, when executed by a processor, implements the aforementioned vehicle distance signal processing method.

[0074] It should be noted that the above explanation of the embodiments and beneficial effects of the vehicle distance signal processing method also applies to the computer-readable storage medium of the embodiments of this application. To avoid redundancy, it will not be elaborated in detail here.

[0075] Corresponding to the above embodiments, this application also proposes a vehicle.

[0076] See Figure 4 As shown, the vehicle 400 of this application includes a memory 410, a processor 420, and a vehicle distance signal processing program stored in the memory 410 and executable on the processor 420. When the processor executes the vehicle distance signal processing program, it implements the aforementioned vehicle distance signal processing method.

[0077] It should be noted that the above-described embodiments and explanations of the beneficial effects of the vehicle distance signal processing method are also applicable to the vehicles in the embodiments of this application. To avoid redundancy, they will not be elaborated in detail here.

[0078] In this application, "multiple" refers to two or more.

[0079] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0080] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0081] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0082] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0083] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for processing vehicle distance signals, characterized in that, include: In response to entering near-field signal processing mode, the current distance measurement value of the target object is acquired; Based on multiple consecutive valid distance measurements of the target object, the distance change rate of the target object is calculated; Based on the distance change rate, the current distance measurement value, and the previous valid distance measurement value of the target object, the deviation of the distance measurement value is calculated; In response to the deviation of the distance measurement value and the rate of change of the distance satisfying the preset outlier judgment condition, the previous valid distance measurement value is taken as the current valid distance measurement value of the target object, and the vehicle is controlled to display the current valid distance measurement value.

2. The vehicle distance signal processing method according to claim 1, characterized in that, The preset outlier judgment conditions include: The sign of the deviation of the distance measurement value is opposite to the sign of the distance change rate, and the absolute value of the deviation of the distance measurement value is greater than a preset trend deviation threshold.

3. The distance signal processing method according to claim 2, characterized in that, Also includes: When the absolute value of the distance change rate is greater than the first slope threshold, the preset trend deviation threshold is increased based on a preset adjustment amount; When the absolute value of the distance change rate is less than the second slope threshold, the preset trend deviation threshold is reduced based on the preset adjustment amount; Wherein, the first slope threshold is greater than the second slope threshold.

4. The vehicle distance signal processing method according to claim 1, characterized in that, The deviation of the distance measurement value calculated based on the distance change rate, the current distance measurement value, and the previous valid distance measurement value of the target object includes: Based on the distance change rate and the previous effective distance measurement value, the current expected distance measurement value is calculated; The deviation of the distance measurement value is calculated based on the difference between the current distance measurement value and the current expected distance measurement value.

5. The vehicle distance signal processing method according to claim 1, characterized in that, In response to entering near-field signal processing mode, it also includes: Collect the distance measurement value and gear signal of the target object; In response to the distance measurement value of the target object being less than or equal to a first preset blind zone threshold and the gear signal being a non-parking gear, the vehicle is controlled to enter a close-range signal processing mode.

6. The vehicle distance signal processing method according to claim 1, characterized in that, Also includes: In response to the distance change rate being non-negative and the plurality of consecutive effective distance measurements being greater than a second preset blind zone threshold, the vehicle is controlled to exit the near-field signal processing mode.

7. The vehicle distance signal processing method according to claim 1, characterized in that, Also includes: The alarm level is determined based on the current effective distance measurement value; The vehicle is controlled to issue an alarm based on the alarm level.

8. A distance signal processing device for a vehicle, characterized in that, include: The acquisition module is used to acquire the current distance measurement value of the target object in response to entering the near-field signal processing mode; The first calculation module is used to calculate the distance change rate of the target object based on multiple consecutive valid distance measurements of the target object; The second calculation module is used to calculate the deviation of the distance measurement value based on the distance change rate, the current distance measurement value, and the previous valid distance measurement value of the target object; The control module is configured to, in response to the deviation of the distance measurement value and the distance change rate satisfying a preset abnormal value judgment condition, take the previous valid distance measurement value as the current valid distance measurement value of the target object, and control the vehicle to display the current valid distance measurement value.

9. A computer-readable storage medium, characterized in that, It stores a vehicle distance signal processing program, which, when executed by a processor, implements the vehicle distance signal processing method according to any one of claims 1-7.

10. A vehicle, characterized in that, The system includes a memory, a processor, and a vehicle distance signal processing program stored in the memory and capable of running on the processor. When the processor executes the vehicle distance signal processing program, it implements the vehicle distance signal processing method according to any one of claims 1-7.

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