Ultrasonic sensor alarm method, vehicle-mounted controller and vehicle

Abstract

A method, medium, program product, vehicle controller, system, and vehicle of ultrasonic sensor alerting is provided. The method includes detecting, by one or more ultrasonic sensors on a vehicle, an object, the one or more ultrasonic sensors configured to emit and receive ultrasonic signals, identifying, based on a predetermined criterion, one or more false positive ultrasonic sensors of the one or more ultrasonic sensors, suppressing direct measurements by the one or more false positive ultrasonic sensors within a first distance range, and enabling the one or more false positive ultrasonic sensors for: (i) direct measurements outside the first distance range; and / or (ii) indirect measurements within the first distance range and outside the first distance range.

Description

Technical Field

[0001] This invention relates to a method for alarming with an ultrasonic sensor, a computer-readable storage medium, a computer program product, an on-board controller, a system, and a vehicle. Background Technology

[0002] Ultrasonic sensor alarm systems are widely used in vehicles to detect surrounding obstacles and provide alarm information to assist drivers in parking or low-speed driving. Ultrasonic sensors emit ultrasonic signals and receive ultrasonic signals reflected from obstacles. However, due to vehicle structure (e.g., accessories attached to the vehicle) and the installation location of the ultrasonic sensors, ultrasonic sensor alarm systems sometimes experience false detections, such as misinterpreting license plates or car covers as obstacles, thus triggering incorrect alarms. Such alarm errors not only severely impact the driver's experience but may also lead to unintended driving actions, posing certain safety hazards.

[0003] In existing technologies, the aforementioned problems are primarily avoided through structural design. However, in actual vehicle use, the vehicle structure may undergo a certain degree of deformation. When abnormal reflected signals generated by this deformation are falsely detected by ultrasonic sensors, it can trigger erroneous alarms in the system. Additionally, there are solutions that address interference by completely disabling the direct measurement functions of certain sensors. However, this approach sacrifices sensor detection performance, creating a significant detection blind spot.

[0004] Therefore, in order to effectively reduce alarm errors without significantly affecting the overall detection performance, a more effective optimized processing method for ultrasonic sensor alarms is desired. Summary of the Invention

[0005] This disclosure discloses a method for alarming using an ultrasonic sensor. The method includes: detecting an object using one or more ultrasonic sensors on a vehicle, the one or more ultrasonic sensors being used to transmit and receive ultrasonic signals; identifying one or more false alarm ultrasonic sensors among the one or more ultrasonic sensors based on a preset standard; suppressing direct measurements by the one or more false alarm ultrasonic sensors within a first distance range; and enabling the one or more false alarm ultrasonic sensors to be used for: direct measurements outside the first distance range; and / or indirect measurements within and outside the first distance range.

[0006] According to embodiments of this disclosure, the preset criteria include the proximity of one or more ultrasonic sensors to an interfering area on the vehicle, wherein one or more ultrasonic sensors whose proximity to the interfering area exceeds a preset proximity threshold are identified as one or more false alarm ultrasonic sensors.

[0007] According to embodiments of this disclosure, the interference area is predetermined based on a predefined structure of the vehicle.

[0008] According to embodiments of this disclosure, the method further includes determining an interference area on the vehicle, wherein: during vehicle movement, when an object is detected within the detection range of one or more ultrasonic sensors and the distance information for the detected object does not change, the detected object is determined to be an interference area; and the area where the detected object is located is determined to be an interference area.

[0009] According to embodiments of this disclosure, the method further includes determining an interference region on the vehicle, wherein: during vehicle movement, when an object is detected within the detection range of one or more ultrasonic sensors and the change in distance information for the detected object is an unstable fluctuation, the detected object is determined to be an interference region; and the area where the detected object is located is determined to be an interference region.

[0010] According to embodiments of this disclosure, identifying one or more false alarm ultrasonic sensors further includes: identifying a predetermined number of ultrasonic sensors among the one or more ultrasonic sensors whose proximity to the interfering area exceeds a preset proximity threshold as one or more false alarm ultrasonic sensors.

[0011] According to embodiments of this disclosure, the preset standard includes the aftershock time of one or more ultrasonic sensors, wherein one or more ultrasonic sensors whose aftershock time exceeds a preset aftershock threshold are identified as one or more false alarm ultrasonic sensors.

[0012] According to embodiments of this disclosure, the first distance range is preset based on the vehicle's structure and at least one of the installation locations of one or more ultrasonic sensors, and the first distance range is calibrable.

[0013] According to embodiments of this disclosure, suppressing direct measurements by the one or more false alarm ultrasonic sensors within a first distance range includes at least one of the following: not alarming for direct measurement results within the first distance range, and filtering direct measurement signals within the first distance range.

[0014] According to embodiments of this disclosure, a computer-readable storage medium is provided having instructions stored thereon that, when executed by a processor, cause the processor to perform the method described above; for the sake of brevity, these instructions will not be repeated here to avoid redundancy.

[0015] According to embodiments of this disclosure, a computer program product is provided, including a computer program or instructions, wherein the computer program or instructions, when executed by a processor, implement the method described above, which will not be repeated here for the sake of brevity and to avoid redundancy.

[0016] According to embodiments of this disclosure, an in-vehicle controller is provided, configured to perform the methods described above, which will not be repeated here for the sake of brevity and to avoid redundancy.

[0017] According to embodiments of this disclosure, an ultrasonic sensor alarm system is provided, comprising: one or more ultrasonic sensors installed on a vehicle for transmitting and receiving ultrasonic signals; and an on-board controller as described above, which will not be repeated here for brevity to avoid redundancy.

[0018] According to embodiments of this disclosure, a vehicle is provided, including the computer-readable storage medium described above, the computer program product described above, the vehicle controller described above, or the ultrasonic sensor alarm system described above, or configured to perform the methods described above, which will not be repeated here for the sake of brevity and to avoid redundancy.

[0019] The ultrasonic sensor alarm method according to the embodiments of the present disclosure can effectively reduce alarm errors of the ultrasonic sensor alarm system by suppressing false alarms from direct measurements of the ultrasonic sensor within a first distance range, while maintaining good detection range and detection performance, and can improve the flexibility of system layout and reduce dependence on vehicle styling design. Attached Figure Description

[0020] The above and other aspects, features, and advantages of specific embodiments of the present disclosure will become clearer from the following description taken in conjunction with the accompanying drawings, in which:

[0021] Figure 1 This is a schematic diagram showing an ultrasonic sensor installed on a vehicle.

[0022] Figure 2 This is a schematic diagram illustrating the anomaly detection of an ultrasonic sensor.

[0023] Figure 3 This is a schematic diagram illustrating a method for alarming using an ultrasonic sensor according to an embodiment of the present disclosure.

[0024] Figure 4 This is a schematic diagram illustrating the detection range of an ultrasonic sensor alarm system according to an embodiment of the present disclosure.

[0025] Figure 5 This is a schematic diagram illustrating a non-transitory computer-readable storage medium according to an embodiment of the present disclosure.

[0026] Figure 6 This is a schematic diagram illustrating an ultrasonic sensor alarm system according to an embodiment of the present disclosure.

[0027] Figure 7 This is a schematic diagram illustrating a vehicle according to an embodiment of the present disclosure. Detailed Implementation

[0028] Before proceeding with the detailed description below, it may be advantageous to define certain words and phrases used throughout this disclosure. The terms “comprising” and “including” and their derivatives mean, but are not limited to, any of the following. The term “controller” or “control unit” means any device, system, or part thereof that controls at least one operation. Such a controller may be implemented in hardware, or a combination of hardware and software and / or firmware. For example, a controller may include, for instance, an application-specific integrated circuit (ASIC), a general-purpose or special-purpose central processing unit (CPU), a digital signal processor (DSP), and programmable logic devices such as a field-programmable gate array (FPGA). A controller may be manufactured as a single printed circuit board (PCB) or distributed across several interconnected PCBs. A controller may include other processing circuitry; for example, a controller may include two processing circuits such as an FPGA and a CPU interconnected on a PCB. The functionality associated with any particular controller may be centralized or distributed, local or remote. The phrase “at least one,” when used with a list of items, means that different combinations of one or more of the listed items may be used, and that only one item in the list may be required. For example, "at least one of A, B, and C" includes any one of the following combinations: A, B, C, A and B, A and C, B and C, A and B and C. Furthermore, in the description of this disclosure, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance or order. In embodiments of this disclosure, unless otherwise expressly stated, "connection" does not necessarily mean "direct connection" or "direct contact," but only requires electrical connection.

[0029] Definitions of other specific words and phrases are provided throughout this disclosure. Those skilled in the art will understand that, in many, if not most, cases, such definitions apply to the prior and future use of the words and phrases thus defined.

[0030] The various embodiments of the principles of this disclosure described below in conjunction with the accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this disclosure in any way. Those skilled in the art will understand that the principles of this disclosure can be implemented in any suitably arranged system or device. In some cases, the actions described in this disclosure may be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific order or sequential sequence to achieve the desired result. In certain embodiments, multitasking and parallel processing may be advantageous.

[0031] The text and accompanying drawings are provided by way of example only to aid in understanding this disclosure. They should not be construed as limiting the scope of the claims appended to this disclosure in any way. Throughout the drawings, the same reference numerals generally indicate the same elements. Although certain embodiments and examples have been provided, it will be apparent to those skilled in the art, based on the content of this disclosure, that changes may be made to the illustrated embodiments and examples without departing from the scope of this disclosure.

[0032] Ultrasonic sensors detect obstacles by emitting ultrasonic signals and receiving the reflected ultrasonic signals from obstacles, based on the time difference between the emission and reception of the ultrasonic waves. Due to their low cost and high accuracy at short range, ultrasonic sensors are widely used in applications such as reversing radar, automatic parking, and blind spot monitoring. For example, ultrasonic sensors are used as parking alarm devices in vehicles to detect objects in the direction of travel, determine the distance to the object, and issue a hazard warning.

[0033] Figure 1 This is a schematic diagram showing an ultrasonic sensor installed on a vehicle.

[0034] refer to Figure 1 An ultrasonic sensor 102 is installed on vehicle 101. The ultrasonic sensor 102 can be installed at any location on the vehicle, such as the front or rear. The ultrasonic sensor 102 and its corresponding controller constitute an ultrasonic sensor alarm system used to detect obstacles and issue a hazard warning.

[0035] To measure the distance between vehicle 101 and an object, vehicle 101 is typically equipped with multiple ultrasonic sensors 102. Each ultrasonic sensor 102 receives the direct signal of reflected waves generated by itself, but also receives the indirect signal of reflected waves generated by another ultrasonic sensor 102 located nearby. In other words, the ultrasonic sensors 102 can work together to detect obstacles, achieving both direct and indirect measurements by receiving both direct and indirect reflected wave signals.

[0036] However, due to the structure of vehicle 101 (e.g., accessories attached to the vehicle) and the installation location of ultrasonic sensor 102, the ultrasonic sensor alarm system may sometimes experience false detections. For example, the ultrasonic sensor alarm system may misjudge a distracting object as an obstacle, thus triggering an alarm error. Distracting objects may include accessories attached to the vehicle, such as license plate 103, car covers, decorations, etc., and may also include mud, ice, etc., that have accidentally adhered to the vehicle. The following will refer to... Figure 2 This section provides a specific example of an abnormal detection scenario that triggered an alarm error by an ultrasonic sensor.

[0037] Figure 2 This is a schematic diagram illustrating the anomaly detection of an ultrasonic sensor.

[0038] refer to Figure 2 Vehicle 101 is equipped with an ultrasonic sensor 102 and a license plate 103. Due to the vehicle's structure or deformation of the license plate 103 during vehicle use, a cavity may form between the license plate 103 and the license plate holder. Ultrasonic signals entering this cavity are reflected multiple times by the cavity walls before returning to the ultrasonic sensor 102, causing the distance information obtained through direct measurement to fail to reflect the actual distance. Furthermore, because the reflection paths of ultrasonic waves within the cavity are different, the detected distance information is not consistent, leading to false alarm areas, such as... Figure 2 As shown by the dashed circle in the image.

[0039] although Figure 2 The illustration shows an abnormal detection by an ultrasonic sensor due to vehicle license plate deformation, but this does not constitute a limitation on the application scenarios of this disclosure. Those skilled in the art can directly and clearly understand that the technical solutions of this disclosure are also applicable to other scenarios where there are false detections near the detection path.

[0040] To address the issue of false detections by ultrasonic sensors near their detection path, existing technologies employ a "decoupling" solution. Specifically, when an obstacle detected by an ultrasonic sensor is within a fixed area, no further alarms are triggered for any obstacles detected within that fixed area. However, in the scenario described above where false detections occur due to the variable ultrasonic reflection path, the fixed false alarm area cannot be determined, thus this solution cannot solve the problem of false detection by suppressing alarms in a fixed area. Furthermore, existing solutions, by directly suppressing detection within a certain distance range to avoid false alarms, result in an excessively large near-field blind zone, leading to significant losses in detection range and performance.

[0041] Figure 3 This is a schematic diagram illustrating a method for alarming using an ultrasonic sensor according to an embodiment of the present disclosure.

[0042] refer to Figure 3 Method 300 may include steps S310 to S330. As an example, it provides... Figure 3 Steps S310 to S330 in the above steps are included, but those skilled in the art will understand that some steps may be omitted, added, or at least some of steps S310 to S330 may be performed in reverse order or in parallel.

[0043] According to embodiments of this disclosure, it relates to Figure 3 The vehicle of method 300 shown may be equipped with one or more ultrasonic sensors for transmitting and receiving ultrasonic signals.

[0044] In step S310, an object can be detected by one or more ultrasonic sensors on the vehicle.

[0045] In some embodiments, some of the ultrasonic sensors may generate false alarms due to interference attached to the vehicle or malfunctions of the ultrasonic sensors. For example, interference attached to the vehicle may be incorrectly detected as an obstacle hindering the vehicle's movement, or incorrect distance information may be detected. In some embodiments, interference may include accessories attached to the vehicle, such as license plates, car covers, decorations, etc., and may include mud, ice, etc., accidentally attached to the vehicle. In some embodiments, the malfunction of the ultrasonic sensors may be due to abnormal measurements by the sensors themselves caused by being covered by mud, ice, etc., for example, an abnormally prolonged aftershock time.

[0046] In step S320, one or more false alarm ultrasonic sensors can be identified from one or more ultrasonic sensors based on preset criteria. These one or more false alarm ultrasonic sensors may be ultrasonic sensors that trigger alarms due to interference from objects attached to the vehicle or malfunctions of the ultrasonic sensor itself.

[0047] In some embodiments, the preset criteria may include the proximity of one or more ultrasonic sensors to a region of interference on the vehicle, wherein one or more ultrasonic sensors whose proximity to the region of interference exceeds a preset proximity threshold may be identified as one or more false alarm ultrasonic sensors.

[0048] In some embodiments, "adjacency exceeding a preset adjacency threshold" can refer to being within a threshold distance from the interference area. For example, the threshold distance can be M centimeters. That is, one or more ultrasonic sensors within an M-centimeter range from the interference area can be identified as one or more false alarm ultrasonic sensors. In some embodiments, the value of M can be 10. However, those skilled in the art will understand that the specific value of M described above is merely an example, and a larger or smaller value of M can be set depending on the specific application scenario, vehicle structure, hardware parameters, etc.

[0049] In some embodiments, the interfering region may be predetermined based on a predefined structure of the vehicle. The interfering region may be a fixed structure attached to the vehicle. For example, a fixed structure attached to the vehicle may be a vehicle license plate, but this disclosure is not limited thereto.

[0050] In some embodiments, the method may further include determining an interference region on the vehicle, wherein: during vehicle movement, when an object is detected within the detection range of one or more ultrasonic sensors and the distance information for the detected object remains unchanged, the detected object is determined to be an interference region; and the area where the detected object is located is determined to be an interference region. The detection range of the one or more ultrasonic sensors may be associated with at least one of the vehicle's structure and the mounting locations of the one or more ultrasonic sensors.

[0051] Typically, when an object is detected within the detection range of an ultrasonic sensor, it means that the detected object is likely an obstacle that could affect the normal driving of the vehicle. If the distance information to the detected object remains unchanged, it can be determined that the detected object is a distraction rather than an obstacle.

[0052] In some embodiments, "distance information not changing" can mean that the distance information of the detected object does not change within a certain threshold time period, or that the distance information of the detected object is the same as the threshold number of times.

[0053] In some embodiments, the method may further include determining an interference region on the vehicle, wherein: during vehicle movement, when an object is detected within the detection range of one or more ultrasonic sensors and the change in distance information for the detected object is an unstable fluctuation, the detected object is determined to be an interference region; and the area where the detected object is located is determined to be an interference region.

[0054] During vehicle operation, detected obstacles typically exhibit a gradual progression from far to near or from near to far, representing a predictable and stable change in the distance information of the detected object. When the change in the distance information of the detected object is an unstable fluctuation, it can be determined that the detected object is a disturbance rather than an obstacle.

[0055] In some embodiments, the change in the detected object's distance information is an unstable fluctuation, which can be the sudden appearance and disappearance of the object, or a sudden change in the distance information. For example, the continuously measured distance information is 10 cm, 20 cm, 12 cm, and 16 cm, exhibiting irregular and fluctuating characteristics. As an example, the unstable fluctuation in the detected object's distance information can be caused by cavities created by deformation of the vehicle license plate, loose installation, or insecure adhesion of the vehicle cover.

[0056] In some embodiments, identifying one or more false alarm ultrasonic sensors may further include: identifying a predetermined number of ultrasonic sensors among the one or more ultrasonic sensors whose proximity to the interfering area exceeds a preset proximity threshold as one or more false alarm ultrasonic sensors.

[0057] In some embodiments, N ultrasonic sensors that are within a range of M centimeters from the interference area and are closest to the interference area can be identified as one or more false alarm ultrasonic sensors. In some embodiments, the value of N can be 2. However, those skilled in the art will understand that the specific value of N described above is merely an example, and a larger or smaller value of N can be set depending on the specific application scenario, vehicle structure, hardware parameters, etc.

[0058] In some embodiments, the preset criteria include the aftershock time of one or more ultrasonic sensors, wherein one or more ultrasonic sensors whose aftershock time exceeds a preset aftershock threshold are identified as one or more false alarm ultrasonic sensors.

[0059] In some embodiments, the preset aftershock threshold value can be 2ms. That is, one or more ultrasonic sensors with an aftershock time exceeding 2ms can be identified as one or more false alarm ultrasonic sensors. However, those skilled in the art will understand that the specific value of the preset aftershock threshold mentioned above is merely an example, and a larger or smaller preset aftershock threshold value can be set depending on the specific application scenario and the specific ultrasonic sensor structure, hardware parameters, etc.

[0060] In step S330, direct measurements by one or more false alarm ultrasonic sensors within a first distance range can be suppressed.

[0061] In some embodiments, the first distance range may be preset based on at least one of the vehicle's structure and the installation locations of one or more ultrasonic sensors. In some embodiments, the value of the first distance range may be between 2 cm and 20 cm. However, those skilled in the art will understand that the specific values ​​of the above-mentioned first distance range are merely examples, and a larger or smaller first distance range may be set depending on the specific application scenario and the specific vehicle structure, hardware parameters, etc. In some embodiments, the first distance range may be calibrable. During vehicle use, the first distance range may be updated in real time based on changes in the vehicle's structure (e.g., the degree of deformation of the vehicle license plate).

[0062] In some embodiments, suppressing direct measurements from one or more false alarm ultrasonic sensors within a first distance range may include at least one of the following: not alarming for direct measurement results within the first distance range, and filtering direct measurement signals within the first distance range. However, this disclosure is not limited thereto.

[0063] Not triggering an alarm for direct measurement results within the first distance range can be manifested as software-level suppression. That is, the ultrasonic sensor normally receives the reflected wave direct signal and performs calculations and processing, but the ultrasonic sensor alarm system does not trigger an alarm for results based on the reflected wave direct signal within the first distance range. Filtering the direct measurement signal within the first distance range can be manifested as physical-level suppression. That is, when the ultrasonic sensor receives reflected waves, it filters out the reflected wave direct signal within the first distance range and does not perform subsequent calculations and processing.

[0064] In step S340, while suppressing direct measurements by one or more false alarm ultrasonic sensors within a first distance range, the one or more false alarm ultrasonic sensors can be enabled for: (i) direct measurements outside the first distance range; and / or (ii) indirect measurements within and outside the first distance range. The ultrasonic sensor alarm system can detect obstacles through indirect measurements by one or more false alarm ultrasonic sensors within and outside the first distance range, as well as direct measurements outside the first distance range, and through indirect and direct measurements by other ultrasonic sensors on the vehicle.

[0065] By suppressing direct measurements from false-alarm ultrasonic sensors within the first distance range, alarm errors in the ultrasonic sensor alarm system caused by the presence of interference and sensor malfunctions can be effectively reduced. Simultaneously, by enabling indirect measurements from false-alarm ultrasonic sensors and direct measurements outside the first distance range, as well as utilizing indirect and direct measurements from other ultrasonic sensors on the vehicle, good detection range and performance can be maintained. This improves system layout flexibility and reduces reliance on vehicle styling design.

[0066] Figure 4 This is a schematic diagram illustrating the detection range of an ultrasonic sensor alarm system according to an embodiment of the present disclosure.

[0067] refer to Figure 4 The detection range diagram 410 can indicate the detection range of the ultrasonic sensor alarm system before direct measurement is suppressed within the first distance range, and the detection range diagram 420 can indicate the detection range of the ultrasonic sensor alarm system after direct measurement is suppressed within the first distance range.

[0068] In the detection range diagrams 410 and 420, the thick black solid line indicates the vehicle's position. The area at the bottom of the diagram, close to the vehicle's position, indicates the first alarm range, and the area at the top indicates the second alarm range. When a detected obstacle is within the first alarm range, the system identifies it as a first alarm level; when a detected obstacle is within the second alarm range, the system identifies it as a second alarm level. The system can then execute corresponding alarm actions based on the first and second alarm levels, respectively.

[0069] from Figure 4 As can be seen, there is no significant difference in the detection range (including the first alarm range and the second alarm range) of the ultrasonic sensor alarm system before and after suppressing direct measurement within the first distance range. Therefore, the ultrasonic sensor alarm method of this disclosure can effectively reduce alarm errors of the ultrasonic sensor alarm system while maintaining good detection range and detection performance.

[0070] Figure 5 This is a schematic diagram illustrating a non-transitory computer-readable storage medium according to an embodiment of the present disclosure.

[0071] like Figure 5 As shown, a non-transitory readable storage medium 500 stores computer instructions 510, which, when executed by a processor, perform one or more steps of the various methods and their additional aspects as described above.

[0072] For example, the non-temporarily readable storage medium 500 may be any combination of one or more computer-readable storage media, such as a computer-readable storage medium containing program code for performing the various methods described above.

[0073] For example, when the program code is read by a computer, the computer can execute the program code stored in the computer storage medium to perform one or more steps of the various methods and additional aspects described above, such as those according to at least one embodiment of the present disclosure.

[0074] For example, the non-transitory readable storage medium may include a memory card of a smartphone, a storage component of a tablet computer, a hard disk of a personal computer, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), flash memory, and other non-transitory readable storage media or any combination thereof.

[0075] Embodiments of this disclosure also provide a computer program product. The computer program product may include a computer program or instructions. When executed by a processor, the computer program or instructions can implement the methods described above, which will not be repeated here for the sake of brevity.

[0076] Embodiments of this disclosure also provide an in-vehicle controller. The in-vehicle controller can be configured to perform the methods described above (e.g., Figure 3 The method described in 300 will not be repeated here for brevity to avoid redundancy. The vehicle controller may include an electronic control unit (ECU) or a domain controller (DCU).

[0077] Figure 6 This is a schematic diagram illustrating an ultrasonic sensor alarm system according to an embodiment of the present disclosure.

[0078] like Figure 6 As shown, the ultrasonic sensor alarm system 600 may include one or more ultrasonic sensors 610 and an on-board controller 620. The on-board controller 620 may include an electronic control unit (ECU), but this disclosure is not limited thereto. The on-board controller 620 may be configured to perform the methods described above (e.g., Figure 3 The method described in 300 will not be repeated here for the sake of brevity and to avoid redundancy.

[0079] Figure 7 This is a schematic diagram illustrating a vehicle according to an embodiment of the present disclosure.

[0080] Vehicle 700 may include, but is not limited to, cars, tractor-trailers (with or without trailers), buses, recreational vehicles, minivans, or sport utility vehicles (SUVs).

[0081] like Figure 7 As shown, vehicle 700 may include device 710, which may be the vehicle controller described above, the computer-readable storage medium shown in Figure 5, or as... Figure 6 The ultrasonic sensor alarm system 600 or device 710 shown may include the computer program product described above, or the vehicle 700 may execute such... Figure 3 The method described in 300. Although... Figure 7 The device 710 is shown above the vehicle 700, but this does not constitute a limitation on the position of the device 710 on the vehicle 700. Those skilled in the art can directly and clearly understand that the device 710 can be located at any position on the vehicle 700, such as in front or behind.

[0082] Although this disclosure has been described with reference to exemplary embodiments, various changes and modifications may be suggested to those skilled in the art. This disclosure is intended to cover such changes and modifications that fall within the scope of the appended claims.

[0083] Any description in this invention should not be construed as implying that any particular element, step, or function is an essential element that must be included within the scope of the claims. The scope of the patent subject matter is defined only by the claims.

Claims

1. A method for alarming using an ultrasonic sensor, the method comprising: An object is detected by one or more ultrasonic sensors on the vehicle, said ultrasonic sensors being used to emit and receive ultrasonic signals. Based on preset criteria, identify one or more false alarm ultrasonic sensors among the one or more ultrasonic sensors. Suppressing direct measurements by the one or more false alarm ultrasonic sensors within a first distance range, and Enabling the one or more false alarm ultrasonic sensors is used for: (i) direct measurement outside the first distance range; and / or (ii) Indirect measurements within and outside the first distance range.

2. The method according to claim 1, wherein, The preset standard includes the degree of adjacency between the one or more ultrasonic sensors and the interfering area on the vehicle, wherein... One or more ultrasonic sensors whose proximity to the interfering area exceeds a preset proximity threshold are identified as one or more false alarm ultrasonic sensors.

3. The method of claim 2, wherein, The interference area is predetermined based on the vehicle's predefined structure.

4. The method of claim 2, further comprising determining an interference area on the vehicle, wherein: During vehicle movement, when an object is detected within the detection range of the one or more ultrasonic sensors and the distance information for the detected object does not change, the detected object is determined to be an interfering object. as well as The area where the detected object is located is identified as the interference area.

5. The method of claim 2, further comprising determining an interference area on the vehicle, wherein: During vehicle movement, when an object is detected within the detection range of the one or more ultrasonic sensors and the change in distance information for the detected object is an unstable fluctuation, the detected object is determined to be an interfering object. as well as The area where the detected object is located is identified as the interference area.

6. The method of claim 2, wherein, The ultrasonic sensors that identify the one or more false alarms also include: A predetermined number of ultrasonic sensors among the one or more ultrasonic sensors whose proximity to the interfering area exceeds a preset proximity threshold are identified as the one or more false alarm ultrasonic sensors.

7. The method of claim 1, wherein, The preset standard includes the aftershock time of the one or more ultrasonic sensors, wherein, One or more ultrasonic sensors whose aftershock time exceeds a preset aftershock threshold are identified as one or more false alarm ultrasonic sensors.

8. The method according to claim 1, wherein, The first distance range is preset based on the vehicle's structure and at least one of the installation locations of one or more ultrasonic sensors, and the first distance range is calibrable.

9. The method of claim 1, wherein, Suppressing direct measurements by the one or more false alarm ultrasonic sensors within a first distance range includes at least one of the following: No alarm will be triggered for direct measurement results within the first distance range, and Filter out direct measurement signals within the first distance range.

10. A computer-readable storage medium having instructions stored thereon, which, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-9.

11. A computer program product comprising computer programs or instructions, wherein, The computer program or instructions, when executed by a processor, implement the method as described in any one of claims 1-9.

12. An on-board controller configured to perform the method as described in any one of claims 1-9.

13. An ultrasonic sensor alarm system, the system comprising: One or more ultrasonic sensors, mounted on a vehicle, are used to transmit and receive ultrasonic signals; as well as The vehicle controller as described in claim 12.

14. A vehicle comprising a computer-readable storage medium as claimed in claim 10, a computer program product as claimed in claim 11, an on-board controller as claimed in claim 12, or an ultrasonic sensor alarm system as claimed in claim 13, or configured to perform the method as claimed in any one of claims 1-9.

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