Ultrasonic radar parameter adjustment and ranging methods, electronic equipment, vehicles

Abstract

This invention belongs to the field of ultrasonic radar technology and discloses a parameter adjustment and ranging method for ultrasonic radar, an electronic device, and a vehicle. The ultrasonic radar includes an oscillator and an ultrasonic transducer. The method includes: acquiring the real-time temperature of the ultrasonic radar and the operating frequency of the oscillator; obtaining a first residual resonance time of the ultrasonic transducer based on the real-time temperature, and obtaining a second residual resonance time of the ultrasonic transducer based on the calibration temperature corresponding to the operating frequency; and adjusting the operating frequency of the oscillator to track the resonant frequency of the ultrasonic transducer in response to a time difference between the first and second residual resonance times exceeding a preset time threshold. This effectively improves the echo signal strength, avoids target misses due to temperature changes, significantly shortens the ringing time, reduces the detection blind zone, and improves the accuracy and reliability of the measurement.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic radar technology, and more particularly to a method for adjusting parameters and measuring distances of ultrasonic radar, electronic equipment, and vehicles. Background Technology

[0002] As an important environmental sensing sensor, the performance stability of ultrasonic radar is significantly affected by ambient temperature. Currently, the impact of temperature on ultrasonic radar is mainly reflected in two core aspects.

[0003] First, temperature changes alter the physical properties of ultrasonic transducers, causing their resonant frequency to drift. However, in existing systems, the oscillator frequency driving the transducer is typically fixed or adjusted with lag. This leads to a mismatch between the oscillator frequency and the actual resonant frequency of the transducer at non-calibrated temperatures, causing two key problems: first, reduced transmitted energy and weakened echo signal strength, potentially resulting in missed target detection in extreme cases; second, a significantly prolonged aftershock (ringing) time of the transducer, directly increasing the sensor's detection blind zone. Test data shows that compared to room temperature, the blind zone can increase by approximately 10 cm at low temperatures and 5 cm at high temperatures. This causes distance data drift within the blind zone, making collision avoidance strategies calibrated at room temperature risk of false triggering or failure in high and low temperature environments.

[0004] Existing technologies offer several optimization schemes to address the effects of temperature, but all have limitations. Some schemes rely solely on the vehicle's ambient temperature sensor to correct the speed of sound in the Time-of-Flight (TOF) algorithm, which fails to address the resonant frequency shift and ringing issues caused by temperature variations in the transducer chip itself. Other schemes attempt to improve sensitivity by simply lowering the detection threshold, but this method introduces significant clutter interference in complex scenarios, leading to false alarms for multiple targets and reducing system reliability. Summary of the Invention

[0005] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, the first objective of this invention is to propose a parameter adjustment method for ultrasonic radar that can effectively improve echo signal strength, avoid target misses due to temperature changes, significantly shorten ringing time, reduce detection blind zones, and improve measurement accuracy and reliability.

[0006] The second objective of this invention is to propose a ranging method based on ultrasonic radar.

[0007] A third objective of this invention is to provide a computer-readable storage medium.

[0008] The fourth objective of this invention is to provide an electronic device.

[0009] The fifth objective of this invention is to provide a vehicle.

[0010] To achieve the above objectives, a first aspect of the present invention provides a parameter adjustment method for an ultrasonic radar, wherein the ultrasonic radar includes an oscillator and an ultrasonic transducer, and the method includes: acquiring the real-time temperature of the ultrasonic radar and the operating frequency of the oscillator; obtaining a first residual resonance time of the ultrasonic transducer based on the real-time temperature, and obtaining a second residual resonance time of the ultrasonic transducer based on a calibration temperature corresponding to the operating frequency; and adjusting the operating frequency of the oscillator to track the resonant frequency of the ultrasonic transducer in response to a time difference between the first residual resonance time and the second residual resonance time being greater than a preset time threshold.

[0011] According to the parameter adjustment method of the ultrasonic radar according to the embodiments of the present invention, the real-time temperature and the operating frequency of the ultrasonic radar are obtained, and the first residual vibration time of the ultrasonic transducer is obtained according to the real-time temperature, and the second residual vibration time of the ultrasonic transducer is obtained according to the calibration temperature corresponding to the operating frequency. Then, in response to the time difference between the first residual vibration time and the second residual vibration time being greater than a preset time threshold, the operating frequency of the oscillator is adjusted to track the resonant frequency of the ultrasonic transducer. As a result, the echo signal strength can be effectively improved, the target missed detection caused by temperature changes can be avoided, and the ringing time can be significantly shortened, the detection blind zone can be reduced, and the accuracy and reliability of the measurement can be improved.

[0012] In addition, the parameter adjustment method for ultrasonic radar according to the above embodiments of the present invention may further include the following additional technical features: According to one embodiment of the present invention, the resonant frequency of the ultrasonic transducer is determined based on the real-time temperature.

[0013] According to one embodiment of the present invention, adjusting the operating frequency of the oscillator to track the resonant frequency of the ultrasonic transducer includes: calculating the frequency difference between the operating frequency and the resonant frequency; and controlling the oscillator according to the frequency difference.

[0014] According to one embodiment of the present invention, controlling the oscillator based on the frequency difference includes: terminating the adjustment of the oscillator operating frequency in response to the frequency difference being less than a first preset frequency threshold.

[0015] According to an embodiment of the present invention, controlling the oscillator based on the frequency difference further includes: issuing a fault reminder message in response to the frequency difference being greater than or equal to the first preset frequency threshold and the number of adjustments to the operating frequency reaching a preset number threshold, or the frequency difference being greater than the second preset frequency threshold.

[0016] According to an embodiment of the present invention, the method further includes: in response to the time difference between the first residual oscillation time and the second residual oscillation time being less than or equal to the preset time threshold, determining that the operating frequency of the oscillator does not need to be adjusted.

[0017] To achieve the above objectives, a second aspect of the present invention provides a ranging method based on ultrasonic radar, wherein the method includes: after adjusting the parameters of the ultrasonic radar using the parameter adjustment method of the ultrasonic radar described in the foregoing embodiments of the present invention, acquiring the ambient temperature and / or ambient humidity; adjusting the sound velocity parameters of the ultrasonic radar according to the ambient temperature and / or the ambient humidity, and performing ranging of the ultrasonic radar according to the adjusted sound velocity parameters.

[0018] The ultrasonic radar ranging method according to embodiments of the present invention improves the accuracy and reliability of measurement by acquiring ambient temperature and / or ambient humidity, adjusting the sound velocity parameters of the ultrasonic radar according to the ambient temperature and / or ambient humidity, and performing ultrasonic radar ranging based on the adjusted sound velocity parameters.

[0019] To achieve the above objectives, a third aspect of the present invention provides a computer-readable storage medium storing a parameter adjustment program for an ultrasonic radar, wherein the parameter adjustment program for the ultrasonic radar, when executed by a processor, implements the parameter adjustment method for the ultrasonic radar described in the preceding embodiments of the present invention.

[0020] According to the computer-readable storage medium of the present invention, by executing the parameter adjustment program of the ultrasonic radar through a processor, the echo signal strength can be effectively improved, the target missed detection caused by temperature changes can be avoided, and the ringing time can be significantly shortened, the detection blind zone can be reduced, and the accuracy and reliability of the measurement can be improved.

[0021] To achieve the above objectives, a fourth aspect of the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory, wherein when the computer program is executed by the processor, it implements the parameter adjustment method of the ultrasonic radar described in the preceding embodiments of the present invention.

[0022] The electronic device according to embodiments of the present invention can effectively improve the echo signal strength by executing a computer program through a processor, avoid missing target detection due to temperature changes, and significantly shorten the ringing time, reduce the detection blind zone, and improve the accuracy and reliability of measurement.

[0023] To achieve the above objectives, a fifth aspect of the present invention provides a vehicle comprising an ultrasonic radar and the electronic equipment described in the aforementioned embodiments of the present invention.

[0024] The vehicle according to the embodiments of the present invention, by employing the ultrasonic radar and electronic equipment of the embodiments of the present invention, can effectively improve the echo signal strength, avoid target missed detection due to temperature changes, and at the same time, significantly shorten the ringing time, reduce the detection blind zone, and improve the accuracy and reliability of measurement.

[0025] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] Figure 1 This is a flowchart illustrating the parameter adjustment method of an ultrasonic radar according to an embodiment of the present invention; Figure 2 This is a block diagram of an electronic device according to an embodiment of the present invention; Figure 3 This is a block diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below, examples of which are illustrated 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 the present invention, and should not be construed as limiting the present invention.

[0028] The following description, with reference to the accompanying drawings, describes an ultrasonic radar parameter adjustment method, an ultrasonic radar-based ranging method, a computer-readable storage medium, an electronic device, and an electronic device according to embodiments of the present invention.

[0029] Figure 1 This is a flowchart illustrating the parameter adjustment method for an ultrasonic radar according to an embodiment of the present invention.

[0030] Specifically, in some embodiments of the present invention, the ultrasonic radar includes an oscillator and an ultrasonic transducer, such as... Figure 1 As shown, the parameter adjustment methods for ultrasonic radar include: S101 acquires the real-time temperature of the ultrasonic radar and the operating frequency of the oscillator.

[0031] Specifically, in this embodiment, the real-time temperature of the ultrasonic radar can be directly measured by the temperature sensor integrated inside the ultrasonic radar chip. After the system is powered on and initialized, a fixed frequency preset at the calibrated temperature can be read from a non-volatile memory (such as EEPROM). This frequency is the operating frequency of the oscillator.

[0032] S102, the first residual vibration time of the ultrasonic transducer is obtained based on the real-time temperature, and the second residual vibration time of the ultrasonic transducer is obtained based on the calibration temperature corresponding to the operating frequency.

[0033] Specifically, in this embodiment, based on pre-stored data relationships, the measured real-time temperature can be used as input to query the "temperature-residual vibration time" corresponding model or data table to obtain the expected residual vibration time at the current temperature, which is then used as the first residual vibration time. Similarly, the residual vibration time corresponding to the calibration temperature can be retrieved from the memory to serve as the second residual vibration time. It should be noted that the "temperature-residual vibration time" corresponding model or data table was established through extensive experimental calibration in the early stages and is stored in the memory.

[0034] S103, in response to the time difference between the first and second after-vibration times being greater than a preset time threshold, adjust the operating frequency of the oscillator to track the resonant frequency of the ultrasonic transducer.

[0035] Specifically, in this embodiment, the absolute difference between the first and second aftershock times is calculated. When this absolute difference exceeds a preset time threshold, the system uses the currently acquired real-time temperature as an index to find the optimal resonant frequency of the ultrasonic transducer at the current temperature from a pre-stored "temperature-resonant frequency" lookup table. Then, this resonant frequency is configured into the oscillator's frequency register via a drive command, thereby dynamically tracking and matching the transducer's resonant point as temperature changes, ensuring it always operates at or near its optimal state. It should be noted that setting a preset time threshold prevents the system from frequently entering the frequency tuning process due to minor temperature fluctuations or measurement noise. The "temperature-resonant frequency" lookup table was established through extensive prior experimental calibration.

[0036] Furthermore, in some embodiments of the present invention, the resonant frequency of the ultrasonic transducer is determined based on the real-time temperature.

[0037] Specifically, in this embodiment, when the system obtains the current real-time temperature, it will use this temperature value as an input keyword to directly search in the "temperature-resonance frequency" lookup table. The system will find the temperature point closest to the real-time temperature and read its corresponding pre-calibrated resonance frequency value, and determine this frequency value as the target resonance frequency that the oscillator needs to be configured at the current temperature.

[0038] Furthermore, in some embodiments of the present invention, adjusting the operating frequency of the oscillator to track the resonant frequency of the ultrasonic transducer includes: calculating the frequency difference between the operating frequency and the resonant frequency; and controlling the oscillator based on the frequency difference.

[0039] Specifically, in this embodiment, the system measures and acquires the oscillator's current actual operating frequency in real time by sending a command to the oscillator's frequency measurement register. Then, this measured value is compared with the target resonant frequency determined based on temperature, and a precise frequency difference is calculated. This frequency difference is then input to a controller (e.g., a proportional-integral (PI) controller). The controller, based on a preset control algorithm, calculates a frequency adjustment amount in real time that effectively eliminates the frequency deviation. Finally, the system converts the generated frequency adjustment amount into a specific drive command and writes it to the oscillator's frequency configuration register, thereby achieving dynamic fine-tuning of the operating frequency. This allows the oscillator's output frequency to quickly and smoothly stabilize at the target resonant frequency, achieving precise and adaptive tracking of the ultrasonic transducer's resonant frequency.

[0040] Furthermore, in some embodiments of the present invention, controlling the oscillator based on the frequency difference includes: in response to the frequency difference being less than a first preset frequency threshold, ending the adjustment of the oscillator operating frequency.

[0041] Specifically, in this embodiment, the first preset frequency threshold is a set accuracy tolerance, with a small value representing the maximum acceptable deviation for successful frequency matching. When the calculated frequency difference is less than the first preset frequency threshold, it indicates that the actual output frequency of the oscillator has matched the target resonant frequency at the current temperature accurately enough, and the frequency tuning target has been achieved. At this point, the system will exit the current frequency tuning cycle, ending this adjustment, thereby avoiding unnecessary repeated adjustments and improving system efficiency.

[0042] Furthermore, in some embodiments of the present invention, controlling the oscillator based on the frequency difference further includes: issuing a fault reminder message in response to the frequency difference being greater than or equal to a first preset frequency threshold and the number of times the operating frequency has been adjusted reaching a preset number threshold, or the frequency difference being greater than a second preset frequency threshold.

[0043] Specifically, in this embodiment, for the case where "the frequency difference is greater than or equal to the first preset frequency threshold and the number of adjustments reaches the preset number threshold," this typically indicates a "soft fault" or persistent misalignment in the system. The system will enter a fine-tuning loop, that is, based on the current frequency difference, issue a fine-tuning command to slightly correct the oscillator frequency, and then remeasure and compare. The preset number threshold (e.g., 3-5 times) is used to prevent the system from falling into an infinite loop when matching fails due to individual reasons. When the number of fine-tunings reaches this upper limit and the frequency difference still has not converged to within the first preset frequency threshold, it is determined to be an anomaly that cannot be resolved by conventional fine-tuning. At this time, it needs to be reported and a fault alert message needs to be issued.

[0044] For cases where the frequency difference is greater than the second preset frequency threshold: The second preset frequency threshold is a critical value that is much larger than the first preset frequency threshold. It is used to identify serious, sudden "hard faults". Once the frequency difference exceeds this threshold, the system will immediately determine it as a major anomaly (such as oscillator phase-locked loop loss, hardware connection failure, etc.) without entering a time-consuming fine-tuning loop, and directly trigger the fault reporting mechanism for rapid diagnosis and maintenance.

[0045] Furthermore, in some embodiments of the present invention, the method further includes: in response to the time difference between the first residual oscillation time and the second residual oscillation time being less than or equal to a preset time threshold, determining that the operating frequency of the oscillator does not need to be adjusted.

[0046] Specifically, in this embodiment, when the time difference between the first and second residual vibration times is less than or equal to a preset time threshold, it indicates that the current temperature change has an acceptable impact on the performance of the ultrasonic transducer. It can be directly determined that the operating frequency of the oscillator does not need to be adjusted, thus avoiding unnecessary and frequent frequency reconfiguration operations under slight environmental fluctuations. This not only reduces the computational overhead and power consumption of the system, but also prevents the risk of transient instability that may be introduced by frequent adjustments.

[0047] In summary, the parameter adjustment method for ultrasonic radar according to embodiments of the present invention obtains the real-time temperature and operating frequency of the ultrasonic radar, and obtains the first residual vibration time of the ultrasonic transducer based on the real-time temperature, and obtains the second residual vibration time of the ultrasonic transducer based on the calibration temperature corresponding to the operating frequency. Then, in response to the time difference between the first residual vibration time and the second residual vibration time being greater than a preset time threshold, the operating frequency of the oscillator is adjusted to track the resonant frequency of the ultrasonic transducer. Thus, the echo signal strength can be effectively improved, the target missed detection caused by temperature changes can be avoided, and the ringing time can be significantly shortened, the detection blind zone can be reduced, and the accuracy and reliability of the measurement can be improved.

[0048] Based on the parameter adjustment method for ultrasonic radar proposed in the foregoing embodiments of the present invention, the present invention also proposes a ranging method based on ultrasonic radar, wherein the method includes: after adjusting the parameters of ultrasonic radar using the parameter adjustment method of ultrasonic radar proposed in the foregoing embodiments of the present invention, obtaining the ambient temperature and / or ambient humidity; adjusting the sound velocity parameters of ultrasonic radar according to the ambient temperature and / or ambient humidity, and performing ranging of ultrasonic radar according to the adjusted sound velocity parameters.

[0049] Specifically, in this embodiment, the aforementioned parameter adjustment method is first executed to optimize the transmitting end—that is, by adaptively adjusting the frequency to precisely match the oscillator frequency with the resonant frequency of the transducer at the current chip temperature, ensuring the strongest ultrasonic emission energy and the shortest residual vibration time. Based on this, this step further compensates for the propagation medium by acquiring air temperature and humidity data measured by the vehicle's ambient temperature and humidity sensors, and dynamically correcting the sound velocity parameter in the TOF (Time of Flight) algorithm.

[0050] Based on the real-time acquired ambient temperature and humidity, the system uses a pre-stored sound velocity and temperature and humidity lookup table to calculate or retrieve the precise sound velocity value under the current environment, and loads this updated sound velocity parameter into the signal processing unit of the ultrasonic radar.

[0051] After completing the dual calibration of the transmission frequency and propagation speed of sound, the ultrasonic radar performs target detection. The processing of its echo signal calculates the target's flight time based on the adjusted speed of sound parameters, thereby determining a more accurate detection range. This process effectively eliminates ranging errors introduced by sound speed fluctuations caused by changes in ambient temperature and humidity, thus achieving better measurement accuracy.

[0052] In summary, the ultrasonic radar ranging method according to embodiments of the present invention improves the accuracy and reliability of measurement by acquiring ambient temperature and / or ambient humidity, adjusting the sound velocity parameters of the ultrasonic radar according to the ambient temperature and / or ambient humidity, and performing ultrasonic radar ranging based on the adjusted sound velocity parameters.

[0053] Based on the vehicle control method proposed in the foregoing embodiments of the present invention, the present invention also proposes a computer-readable storage medium storing a parameter adjustment program for an ultrasonic radar. When the parameter adjustment program for the ultrasonic radar is executed by a processor, it implements the parameter adjustment method for the ultrasonic radar of the above embodiments of the present invention.

[0054] According to the computer-readable storage medium of the present invention, by executing the parameter adjustment program of the ultrasonic radar through a processor, the echo signal strength can be effectively improved, the target missed detection caused by temperature changes can be avoided, and the ringing time can be significantly shortened, the detection blind zone can be reduced, and the accuracy and reliability of the measurement can be improved.

[0055] Figure 2 This is a block diagram of an electronic device according to an embodiment of the present invention.

[0056] Specifically, such as Figure 2 As shown, the electronic device 100 includes a memory 10, a processor 20, and a computer program stored in the memory 10. When the computer program is executed by the processor 20, it implements the parameter adjustment method of the ultrasonic radar according to the above embodiment of the present invention.

[0057] The electronic device according to embodiments of the present invention can effectively improve the echo signal strength by executing a computer program through a processor, avoid missing target detection due to temperature changes, and significantly shorten the ringing time, reduce the detection blind zone, and improve the accuracy and reliability of measurement.

[0058] Figure 3 This is a block diagram of a vehicle according to an embodiment of the present invention.

[0059] Specifically, such as Figure 3 As shown, the vehicle 1000 includes an ultrasonic radar 200 and the electronic device 100 described in the above embodiment of the present invention.

[0060] The vehicle according to the embodiments of the present invention, by employing the ultrasonic radar and electronic equipment of the embodiments of the present invention, can effectively improve the echo signal strength, avoid target missed detection due to temperature changes, and at the same time, significantly shorten the ringing time, reduce the detection blind zone, and improve the accuracy and reliability of measurement.

[0061] Furthermore, other components and functions of the vehicle in the embodiments of the present invention are known to those skilled in the art, and will not be described in detail here to reduce redundancy.

[0062] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0063] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0064] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0065] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0066] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0067] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0068] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0069] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for adjusting parameters of an ultrasonic radar, characterized in that, The ultrasonic radar includes an oscillator and an ultrasonic transducer, and the method includes: The real-time temperature of the ultrasonic radar and the operating frequency of the oscillator are obtained; The first residual vibration time of the ultrasonic transducer is obtained based on the real-time temperature, and the second residual vibration time of the ultrasonic transducer is obtained based on the calibration temperature corresponding to the operating frequency. In response to the time difference between the first residual vibration time and the second residual vibration time being greater than a preset time threshold, the operating frequency of the oscillator is adjusted to track the resonant frequency of the ultrasonic transducer.

2. The parameter adjustment method for ultrasonic radar according to claim 1, characterized in that, The resonant frequency of the ultrasonic transducer is determined based on the real-time temperature.

3. The parameter adjustment method for ultrasonic radar according to claim 1 or 2, characterized in that, Adjusting the operating frequency of the oscillator to track the resonant frequency of the ultrasonic transducer includes: Calculate the frequency difference between the operating frequency and the resonant frequency; The oscillator is controlled based on the frequency difference.

4. The parameter adjustment method for ultrasonic radar according to claim 3, characterized in that, The step of controlling the oscillator based on the frequency difference includes: In response to the frequency difference being less than a first preset frequency threshold, the adjustment of the oscillator operating frequency is terminated.

5. The parameter adjustment method for ultrasonic radar according to claim 4, characterized in that, The step of controlling the oscillator based on the frequency difference further includes: In response to the frequency difference being greater than or equal to the first preset frequency threshold and the number of times the operating frequency has been adjusted reaching a preset number threshold, or the frequency difference being greater than the second preset frequency threshold, a fault reminder message is issued.

6. The parameter adjustment method for ultrasonic radar according to claim 1, characterized in that, The method further includes: If the time difference between the first residual vibration time and the second residual vibration time is less than or equal to the preset time threshold, it is determined that the operating frequency of the oscillator does not need to be adjusted.

7. A ranging method based on ultrasonic radar, characterized in that, The method includes: After adjusting the parameters of the ultrasonic radar using the parameter adjustment method of any one of claims 1-6, the ambient temperature and / or ambient humidity are obtained. The sound velocity parameters of the ultrasonic radar are adjusted according to the ambient temperature and / or the ambient humidity, and the ultrasonic radar is used for ranging based on the adjusted sound velocity parameters.

8. A computer-readable storage medium, characterized in that, It stores a parameter adjustment program for an ultrasonic radar, which, when executed by a processor, implements the parameter adjustment method for an ultrasonic radar according to any one of claims 1-6.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory, wherein the computer program, when executed by the processor, implements the parameter adjustment method for the ultrasonic radar according to any one of claims 1-6.

10. A vehicle, characterized in that, Includes ultrasonic radar and the electronic device as described in claim 9.

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