Vehicle vicinity fluid information detection method, vehicle and medium

Abstract

The present application relates to a new type of automobile technical scheme and its driving assistance technology, belongs to the field of automobile technology, and discloses a vehicle nearby fluid information detection method, a vehicle and a medium, the vehicle comprises at least one ultrasonic sensor array, the vehicle nearby fluid information detection method comprises: controlling at least one ultrasonic sensor array to carry out ultrasonic signal excitation and collection, obtaining first ultrasonic echo signal and second ultrausal echo signal, wherein the first ultrasonic echo signal is collected based on the first fluid direction, and the second ultrasonic echo signal is collected based on the second fluid direction;Determine the information difference of the first ultrasonic echo signal and the second ultrasonic echo signal;Based on the information difference, determine the fluid velocity.The method does not need to increase the complexity of the vehicle system, reduces the cost, realizes the flow velocity and flow direction detection of the fluid near the vehicle, so as to reduce the risk when the vehicle drives in water.

Description

Technical Field

[0001] This invention relates to novel automotive technical solutions and their driving assistance technologies, belonging to the field of automotive technology, and particularly to a method for detecting fluid information near a vehicle, the vehicle, and the medium. Background Technology

[0002] In scenarios such as flooding and off-road driving, wading is unavoidable. In complex real-world driving environments where the flow field around the vehicle is unknown, wading carries high risks such as loss of vehicle control and being swept away. Therefore, detecting fluid information near vehicles has become a key research focus.

[0003] The proposed flow field detection schemes (mechanical sensing) have complex architectures and increase additional costs. Another related technology mainly focuses on pipeline flow meters, which are mainly for measuring the flow inside pipelines and do not involve the detection of flow fields, especially flow direction, near cars in open water. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to provide a method for detecting fluid information near a vehicle, a vehicle, and a medium. The vehicle includes at least one ultrasonic sensor array. The method for detecting fluid information near a vehicle includes: controlling the at least one ultrasonic sensor array to excite and acquire ultrasonic signals to obtain a first ultrasonic echo signal and a second ultrasonic echo signal, wherein the first ultrasonic echo signal is acquired based on a first fluid direction, and the second ultrasonic echo signal is acquired based on a second fluid direction; determining the information difference between the first and second ultrasonic echo signals; and determining the fluid velocity based on the information difference. This method does not increase the complexity of the vehicle system, reduces costs, and achieves the detection of the flow velocity and direction of fluid near the vehicle, thereby reducing the risk of driving through water.

[0005] The second objective of this invention is to provide a vehicle.

[0006] A third objective of this invention is to provide a computer-readable storage medium.

[0007] To achieve the above objectives, a first aspect of the present invention proposes a method for detecting fluid information near a vehicle, comprising: controlling at least one ultrasonic sensor array to excite and acquire ultrasonic signals to obtain a first ultrasonic echo signal and a second ultrasonic echo signal, wherein the first ultrasonic echo signal is acquired based on a first fluid direction, and the second ultrasonic echo signal is acquired based on a second fluid direction; determining the information difference between the first ultrasonic echo signal and the second ultrasonic echo signal; and determining the fluid velocity based on the information difference. This method does not increase the complexity of the vehicle system, reduces costs, and achieves the detection of the flow velocity and direction of fluid near the vehicle, thereby reducing the risk of driving through water.

[0008] In addition, the vehicle vicinity fluid information detection method 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, each ultrasonic sensor array includes a first ultrasonic sensor and a second ultrasonic sensor; controlling at least one ultrasonic sensor array to excite and acquire ultrasonic signals to obtain a first ultrasonic echo signal and a second ultrasonic echo signal includes: controlling the first ultrasonic sensor to excite a first ultrasonic signal and acquiring the first ultrasonic echo signal generated by the first ultrasonic signal based on the second ultrasonic sensor; controlling the second ultrasonic sensor to excite a second ultrasonic signal and acquiring the second ultrasonic echo signal generated by the second ultrasonic signal based on the first ultrasonic sensor.

[0009] According to one embodiment of the present invention, determining fluid velocity based on information difference includes: determining relative fluid velocity based on information difference; acquiring vehicle velocity; and determining fluid velocity by performing absolute calculation based on relative fluid velocity and vehicle velocity.

[0010] According to one embodiment of the present invention, at least one ultrasonic sensor array includes a first ultrasonic sensor array and a second ultrasonic sensor array. The first ultrasonic sensor array is disposed on a first side of the vehicle, and the second ultrasonic sensor array is disposed on a second side of the vehicle. The first side and the second side are adjacent to each other. The information difference includes a first information difference and a second information difference. The first information difference is obtained based on the first ultrasonic sensor array, and the second information difference is obtained based on the second ultrasonic sensor array. Determining the fluid velocity based on the information difference includes: determining a first fluid velocity based on the first information difference; determining a second fluid velocity based on the second information difference; and performing vector calculation based on the first fluid velocity and the second fluid velocity to determine the fluid velocity. According to one embodiment of the present invention, the first surface includes a front surface and a back surface, the second surface includes a left side surface and a right side surface, the first ultrasonic sensor array includes a front ultrasonic sensor array disposed on the front surface and a back ultrasonic sensor array disposed on the back surface, and the second ultrasonic sensor array includes a left ultrasonic sensor array disposed on the left side surface and a right ultrasonic sensor array disposed on the right side surface; determining the fluid velocity based on a first fluid velocity and a second fluid velocity by performing vector calculation, including: selecting the first fluid velocity with the largest absolute value information from the first fluid velocity corresponding to the front ultrasonic sensor array and the first fluid velocity corresponding to the back ultrasonic sensor array to obtain the selected first fluid velocity; selecting the second fluid velocity with the largest absolute value information from the second fluid velocity corresponding to the left ultrasonic sensor array and the second fluid velocity corresponding to the right ultrasonic sensor array to obtain the selected second fluid velocity; and determining the fluid velocity by performing vector calculation based on the selected first fluid velocity and the selected second fluid velocity. According to one embodiment of the present invention, the information difference includes a time difference and / or a frequency difference; determining the fluid velocity based on the information difference further includes: determining the fluid velocity based on the time difference, the ultrasonic wave propagation speed in the fluid, and the horizontal distance between the ultrasonic sensors in the excited state and the ultrasonic sensors in the acquisition state in the ultrasonic sensor array; or determining the fluid velocity based on the frequency difference, the ultrasonic wave propagation speed in the fluid, and the horizontal distance between the ultrasonic sensors in the excited state and the ultrasonic sensors in the acquisition state in the ultrasonic sensor array; or determining a third fluid velocity based on the time difference, the ultrasonic wave propagation speed in the fluid, and the horizontal distance between the ultrasonic sensors in the excited state and the ultrasonic sensors in the acquisition state in the ultrasonic sensor array; determining a fourth fluid velocity based on the frequency difference, the ultrasonic wave propagation speed in the fluid, and the horizontal distance between the ultrasonic sensors in the excited state and the ultrasonic sensors in the acquisition state in the ultrasonic sensor array; and calibrating the third fluid velocity based on the fourth fluid velocity to obtain the fluid velocity.

[0011] According to one embodiment of the present invention, the method for detecting fluid information near a vehicle further includes: generating alarm information and / or controlling at least one ultrasonic sensor array to excite and acquire ultrasonic signals based on the fluid velocity and a preset velocity threshold.

[0012] According to one embodiment of the present invention, each ultrasonic sensor array includes multiple ultrasonic sensors. Based on the fluid velocity and a preset velocity threshold, at least one ultrasonic sensor array is controlled in reverse to excite and acquire ultrasonic signals. This includes: when the fluid velocity is less than the preset velocity threshold, controlling at least one ultrasonic sensor array in the ultrasonic sensor array to excite and acquire ultrasonic signals, and judging the validity of ultrasonic echo signals from other ultrasonic sensors in the same ultrasonic sensor array, excluding the ultrasonic sensor in the excited state, so as to determine the fluid velocity based on the ultrasonic echo signal when the ultrasonic echo signal is judged to be valid.

[0013] To achieve the above objectives, a second aspect of the present invention provides a vehicle, the vehicle including at least a controller and an on-board ultrasonic system, the on-board ultrasonic system including at least one ultrasonic sensor array, and the controller for implementing the steps of any of the above methods.

[0014] To achieve the above objectives, a third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above methods. 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

[0015] Figure 1 This is a flowchart of the method for detecting fluid information near a vehicle in an embodiment of the present invention; Figure 2 This is a schematic diagram of the connection of internal vehicle equipment according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the installation of an ultrasonic sensor array according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the installation of ultrasonic sensors in two ultrasonic sensor arrays according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the installation of four ultrasonic sensor arrays according to one embodiment of the present invention. Figure 6 This is a schematic diagram illustrating the calculation of the first fluid velocity and the second fluid velocity using four ultrasonic sensor arrays according to one embodiment of the present invention; Figure 7 This is a schematic diagram of vector synthesis based on a first fluid velocity and a second fluid velocity according to an embodiment of the present invention; Figure 8 This is a top view of a vehicle according to an embodiment of the present invention, showing an ultrasonic sensor array comprising multiple ultrasonic sensors. Figure 9 This is a schematic diagram of the connection of an in-vehicle device comprising a plurality of ultrasonic sensors according to an embodiment of the present invention. Figure 10(a) is a schematic side view of the installation of the right ultrasonic sensor array according to an embodiment of the present invention; Figure 10(b) is a schematic front view of the installation of a front ultrasonic sensor array according to an embodiment of the present invention; Figure 10(c) is a schematic rear view of the installation of the back ultrasonic sensor array according to an embodiment of the present invention; Figure 11 This is a schematic diagram illustrating the working principle of multiple excitation-reception modes of an ultrasonic sensor array according to an embodiment of the present invention; Figure 12 This is a flowchart of a method for detecting fluid information near a vehicle according to another embodiment of the present invention; Figure 13 This is a schematic diagram of a GUI interface for displaying flow velocity and direction information according to an embodiment of the present invention; Figure 14 This is a flowchart of a method for calculating the flow rate of the same array according to another embodiment of the present invention; Figure 15 This is a schematic diagram of the time-domain echo signal waveforms in the downstream and upstream states according to an embodiment of the present invention; Figure 16 This is a schematic diagram of the frequency domain Fourier spectrum of the downstream and upstream states according to an embodiment of the present invention; Figure 17 This is a flowchart of a flow direction calculation method according to another embodiment of the present invention. Detailed Implementation 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.

[0016] In scenarios such as flooding and off-road driving, wading is unavoidable. In complex real-world driving environments where the flow field around the vehicle is unknown, wading carries high risks such as loss of vehicle control and being swept away. Flow field detection technologies near vehicles are scarce, and existing flow field detection solutions in open waters (mechanical sensing) have complex architectures and incur additional costs. Furthermore, autonomous driving systems need to be extended to underwater scenarios (such as bridges, tunnels, and flooded road sections), relying on environmental perception capabilities to ensure safety.

[0017] The proposed flow field detection schemes (mechanical sensing) have complex architectures and increase additional costs. Another related technology mainly focuses on pipeline flow meters, which are mainly for measuring the flow inside pipelines and do not involve the detection of flow fields, especially flow direction, near cars in open water.

[0018] One major reason for these problems is that in the past, driving scenarios were mostly limited to non-water-bound environments. With the current state of intelligent driver assistance technology, the industry has not paid much attention to safety issues when driving through water. However, with extreme weather events becoming increasingly frequent, water-bound driving scenarios will be unavoidable in the future. In water-bound driving scenarios, vehicles need to obtain information on the flow speed and direction near the vehicle to find a safe driving route; at the same time, this information also helps in the rational distribution of four-wheel drive braking force.

[0019] This invention addresses the safety hazards caused by unknown water flow velocity and the problem of intelligent four-wheel drive braking distribution caused by unknown flow direction in scenarios where vehicles are driven through water. It provides a method, vehicle, and medium for detecting fluid flow velocity and direction information near the vehicle. Based on existing vehicle-mounted GPS (Global Positioning System), ultrasonic systems, and warning systems, it can detect the flow velocity and direction information of the flow field near the vehicle and issue warnings to the driver and passengers when the flow velocity exceeds a certain threshold, thereby reducing the risks of driving through water. The method utilizes the flow-sound coupling effect between ultrasound and fluid for flow field detection, reusing the vehicle-mounted GPS system, ultrasonic system, and warning system to detect flow velocity and direction during vehicle operation. It is compatible with existing intelligent driving systems in mass-produced vehicles (including GPS, ultrasonic sensors, warning modules, etc.), and has the advantages of low system complexity and low manufacturing cost, making it more conducive to market promotion and application.

[0020] The main differences between this invention and related technical solutions are as follows: First, related vehicle-mounted technologies do not address the detection of water flow fields near the vehicle body during wading driving scenarios. This invention cleverly utilizes the vehicle's existing GPS and ultrasonic systems to achieve real-time updates of the flow velocity and direction information of the water flow field near the vehicle body when wading. Second, most related open water flow field detection technologies employ mechanical sensing schemes or multi-sensor fusion techniques, which are costly and cannot detect the flow direction. Compared to these technologies, this invention utilizes an array of sensors located at different positions within the vehicle to detect the flow direction of the water flow field near the vehicle.

[0021] Figure 1 This is a flowchart of the method for detecting fluid information near a vehicle in an embodiment of the present invention.

[0022] like Figure 1As shown, the first aspect of the present invention provides a method 100 for detecting fluid information near a vehicle, including steps S110-S130.

[0023] Step S110: Control at least one ultrasonic sensor array to excite and acquire ultrasonic signals to obtain a first ultrasonic echo signal and a second ultrasonic echo signal, wherein the first ultrasonic echo signal is acquired based on a first fluid direction and the second ultrasonic echo signal is acquired based on a second fluid direction.

[0024] Specifically, the directions of the first fluid and the second fluid are different, and the directions of the first fluid and the second fluid can be opposite. For example, the first fluid direction can be the fluid flow direction, and the second fluid direction can be the fluid flow direction, or the first fluid direction can be the fluid flow direction and the second fluid direction can be the fluid flow direction, or the first fluid direction and the fluid flow direction are at a certain angle (e.g., 15°), and the second fluid direction and the fluid flow direction are at a certain angle (e.g., 15°). The ultrasonic sensor array can include one or more. When the ultrasonic sensor array includes multiple ultrasonic sensor arrays, the multiple ultrasonic sensor arrays can work simultaneously or not simultaneously, or multiple ultrasonic sensor arrays can work independently. Each ultrasonic sensor array includes at least two ultrasonic sensors. When one ultrasonic sensor is in the ultrasonic information excitation state, the other ultrasonic sensor in the same ultrasonic sensor array is in the acquisition state. At this time, a first ultrasonic echo signal based on the fluid flow direction can be obtained, where the fluid flow direction means that the ultrasonic propagation direction is the same as the fluid flow direction. Similarly, when the two ultrasonic sensors are sequentially exchanged, a second ultrasonic echo signal based on the fluid flow direction can be obtained, where the fluid flow direction means that the ultrasonic propagation direction is opposite to the fluid flow direction. The first ultrasonic echo signal and the second ultrasonic echo signal can include arrival time information and frequency information.

[0025] Step S120: Determine the information difference between the first ultrasonic echo signal and the second ultrasonic echo signal.

[0026] Specifically, the information difference includes a time difference and / or a frequency difference. The first ultrasonic echo signal includes a first arrival time information and a first frequency information, and the second ultrasonic echo signal includes a second arrival time information and a second frequency information. The time difference can be obtained by calculating the difference between the first arrival time information and the second arrival time information, and the frequency difference can be obtained by calculating the difference between the first frequency information and the second frequency information.

[0027] Step S130: Determine the fluid velocity based on the information difference.

[0028] Specifically, fluid velocity includes fluid flow rate and fluid direction. The relative fluid velocity can be calculated based on the time difference and / or frequency difference, the horizontal distance between the ultrasonic sensors in the excitation and acquisition states, and the propagation speed of ultrasonic waves in the fluid. When the vehicle speed is zero, the calculated relative fluid velocity is used as the fluid velocity. When the vehicle speed is not zero, the difference between the calculated relative fluid velocity and the vehicle speed data is calculated, and the result is used as the fluid velocity.

[0029] The present invention proposes a method for detecting fluid information near vehicles. This method does not increase the complexity of the vehicle system and reduces costs. It realizes the detection of the flow velocity and direction of fluid near the vehicle, thereby reducing the risk of driving through water.

[0030] Figure 2 This is a schematic diagram of the connection of internal equipment in a vehicle according to an embodiment of the present invention.

[0031] The present invention proposes a vehicle, which includes at least a controller and an on-board ultrasonic system, the on-board ultrasonic system including at least one ultrasonic sensor array.

[0032] Specifically, in some embodiments of the present invention, such as Figure 2 As shown, the vehicle includes a domain controller, a GPS positioning system, an onboard ultrasonic system, an onboard display unit (intelligent display screen), and an onboard warning module. The GPS positioning system, onboard ultrasonic system, intelligent display screen, and onboard warning module are all connected to the domain controller. The GPS system transmits information such as the vehicle's speed to the domain controller via CAN (Controller Area Network). After obtaining the GPS speed information, the domain controller transmits it to the onboard ultrasonic system. The onboard ultrasonic system includes an onboard ultrasonic system drive module and onboard ultrasonic radar sensors. The drive module controls the sensor to transmit and receive signals, while the sensors transmit the received signals to the drive module for data processing. After comprehensively processing the ultrasonic signal information and the vehicle speed data provided by GPS, the onboard ultrasonic system drive module calculates the fluid flow velocity and direction information near the vehicle body. This information is then transmitted to the domain controller via the onboard ultrasonic system. The domain controller transmits information such as flow velocity and direction to the display unit and the warning module. The display screen shows the current flow velocity and direction information near the vehicle. At the same time, when the flow velocity exceeds a certain threshold, the domain controller controls the warning module to issue a corresponding warning, reminding the driver to drive the vehicle away from the danger zone. All functional modules in this system can fully reuse the existing hardware system inside the car in low-speed parking scenarios (the GPS system provides the vehicle's speed information to determine whether the ultrasonic obstacle detection system is activated, and the warning module inside the car issues a warning when the ultrasonic detector detects an obstacle nearby).

[0033] According to one embodiment of the present invention, each ultrasonic sensor array includes a first ultrasonic sensor and a second ultrasonic sensor; controlling at least one ultrasonic sensor array to excite and acquire ultrasonic signals to obtain a first ultrasonic echo signal and a second ultrasonic echo signal includes: controlling the first ultrasonic sensor to excite a first ultrasonic signal and acquiring the first ultrasonic echo signal generated by the first ultrasonic signal based on the second ultrasonic sensor; controlling the second ultrasonic sensor to excite a second ultrasonic signal and acquiring the second ultrasonic echo signal generated by the second ultrasonic signal based on the first ultrasonic sensor.

[0034] Specifically, such as Figure 3 As shown, the ultrasonic sensor array 30 includes a first ultrasonic sensor ( Figure 3 1) and the second ultrasonic sensor ( Figure 3 In step 2), when the first ultrasonic sensor excites the first ultrasonic signal, the second ultrasonic sensor performs signal acquisition to obtain the first ultrasonic echo signal. Similarly, when the second ultrasonic sensor excites the second ultrasonic signal, the first ultrasonic sensor performs signal acquisition to obtain the second ultrasonic echo signal. The first and second ultrasonic sensors are excited in sequence. After the first ultrasonic sensor is excited, the second ultrasonic sensor performs signal acquisition. After the acquisition is completed, the second ultrasonic sensor excites the signal, and the first ultrasonic sensor performs signal acquisition.

[0035] According to one embodiment of the present invention, determining fluid velocity based on information difference includes: determining relative fluid velocity based on information difference; acquiring vehicle velocity; and determining fluid velocity by performing absolute calculation based on relative fluid velocity and vehicle velocity.

[0036] Specifically, based on the first ultrasonic echo signal (first arrival time information) obtained above and first frequency information ), second ultrasonic echo signal (second arrival time information) Second frequency information The relationship between signal arrival time, signal frequency, and fluid velocity is shown in formulas (1) and (2): (1) (2) Where c represents the speed at which ultrasound propagates within the fluid, and v represents the relative fluid velocity. This represents the horizontal distance between the ultrasonic sensor's excitation and receiving probes. This represents the dominant frequency of the ultrasonic signal excited by the vehicle-mounted ultrasonic system. The above formula reflects the time-domain characteristics (i.e., echo arrival time) of the direct wave echo signal under downstream and upstream conditions; and reflects the frequency-domain characteristics (i.e., echo frequency information) of the direct wave echo signal under downstream and upstream conditions based on the Doppler effect. The flow-sound coupling effect caused by fluid flow will cause differences in the arrival time and dominant frequency of the echo signal under the two different transmitting and receiving conditions.

[0037] Based on the above formulas (1) and (2), the formulas for calculating the relative fluid velocity can be obtained, as shown in formulas (3) and (4): (3) (4) in, Indicates time difference, Indicates frequency difference and time difference By calculating the first arrival time information Second arrival time information The difference can be obtained as the frequency difference. By calculating the first frequency information Second frequency information Yes, it can be obtained.

[0038] When the vehicle speed is zero, the relative fluid velocity v is taken as the fluid velocity. Taking into account the car's own speed After the influence of (vehicle speed), the fluid velocity The following formula (5) yields: (5) For example, the information difference includes a time difference and / or a frequency difference; determining the fluid velocity based on the information difference further includes: determining the fluid velocity based on the time difference, the ultrasonic wave propagation speed in the fluid, and the horizontal distance between the ultrasonic sensors in the excited state and the ultrasonic sensors in the acquisition state in the ultrasonic sensor array; or determining the fluid velocity based on the frequency difference, the ultrasonic wave propagation speed in the fluid, and the horizontal distance between the ultrasonic sensors in the excited state and the ultrasonic sensors in the acquisition state in the ultrasonic sensor array; or determining a third fluid velocity based on the time difference, the ultrasonic wave propagation speed in the fluid, and the horizontal distance between the ultrasonic sensors in the excited state and the ultrasonic sensors in the acquisition state in the ultrasonic sensor array; determining a fourth fluid velocity based on the frequency difference, the ultrasonic wave propagation speed in the fluid, and the horizontal distance between the ultrasonic sensors in the excited state and the ultrasonic sensors in the acquisition state in the ultrasonic sensor array; and calibrating the third fluid velocity based on the fourth fluid velocity to obtain the fluid velocity.

[0039] Specifically, as described in formula (5), the fluid velocity can be calculated based on the time difference of the ultrasonic sensor array, the ultrasonic propagation velocity in the fluid, and the horizontal distance between the ultrasonic sensors in the excited state and the ultrasonic sensors in the acquisition state in the ultrasonic sensor array. Alternatively, the fluid velocity can be calculated based on the frequency difference of the ultrasonic sensor array, the propagation velocity of ultrasonic waves in the fluid, and the horizontal distance between the ultrasonic sensors in the excited state and the ultrasonic sensors in the acquisition state within the ultrasonic sensor array. When the third fluid velocity and the fourth fluid velocity are calculated simultaneously using time difference and frequency difference, the flow velocity (fourth fluid velocity) calculated by frequency can be used to calibrate the flow velocity calculation result (third fluid velocity) of the time difference method.

[0040] The fluid velocity calculated above is based on an ultrasonic sensor array. The embodiments of the present invention provide cases where the ultrasonic sensor array includes a first ultrasonic sensor array and a second ultrasonic sensor array.

[0041] According to one embodiment of the present invention, at least one ultrasonic sensor array includes a first ultrasonic sensor array and a second ultrasonic sensor array. The first ultrasonic sensor array is disposed on a first side of the vehicle, and the second ultrasonic sensor array is disposed on a second side of the vehicle. The first side and the second side are adjacent to each other. The information difference includes a first information difference and a second information difference. The first information difference is obtained based on the first ultrasonic sensor array, and the second information difference is obtained based on the second ultrasonic sensor array. Determining the fluid velocity based on the information difference includes: determining a first fluid velocity based on the first information difference; determining a second fluid velocity based on the second information difference; and performing vector calculation based on the first fluid velocity and the second fluid velocity to determine the fluid velocity. Specifically, such as Figure 4 As shown, the ultrasonic sensor array 30 includes a first ultrasonic sensor array 40 and a second ultrasonic sensor array 41, which are adjacent to each other. For each ultrasonic sensor array, following the calculation method described above for an ultrasonic sensor array, the first information difference (including time difference and frequency difference) of the first ultrasonic sensor array 40 and the second information difference (including time difference and frequency difference) of the second ultrasonic sensor array 41 can be calculated. Based on the first information difference and the second information difference, the first fluid velocity corresponding to the first surface can be calculated respectively. And the second fluid velocity corresponding to the second surface According to fluid velocity and By performing vector calculations, the total fluid velocity V (including fluid velocity and fluid direction) can be obtained. As shown in formulas (6) and (7): (6) (7) The fluid velocity calculated above is based on two ultrasonic sensor arrays. In this embodiment of the invention, the ultrasonic sensor array includes a first ultrasonic sensor array and a second ultrasonic sensor array. The first ultrasonic sensor array includes a front ultrasonic sensor array disposed on the front and a back ultrasonic sensor array disposed on the back. The second ultrasonic sensor array includes a left ultrasonic sensor array disposed on the left side and a right ultrasonic sensor array disposed on the right side.

[0042] According to one embodiment of the present invention, the first surface includes a front surface and a back surface, the second surface includes a left side surface and a right side surface, the first ultrasonic sensor array includes a front ultrasonic sensor array disposed on the front surface and a back ultrasonic sensor array disposed on the back surface, and the second ultrasonic sensor array includes a left ultrasonic sensor array disposed on the left side surface and a right ultrasonic sensor array disposed on the right side surface; determining the fluid velocity based on a first fluid velocity and a second fluid velocity by performing vector calculation, including: selecting the first fluid velocity with the largest absolute value information from the first fluid velocity corresponding to the front ultrasonic sensor array and the first fluid velocity corresponding to the back ultrasonic sensor array to obtain the selected first fluid velocity; selecting the second fluid velocity with the largest absolute value information from the second fluid velocity corresponding to the left ultrasonic sensor array and the second fluid velocity corresponding to the right ultrasonic sensor array to obtain the selected second fluid velocity; and determining the fluid velocity by performing vector calculation based on the selected first fluid velocity and the selected second fluid velocity. Specifically, such as Figure 5 , Figure 6 , Figure 7 As shown, the first ultrasonic sensor array 40 includes a front ultrasonic sensor array 50 disposed on the front and a back ultrasonic sensor array 51 disposed on the back. The second ultrasonic sensor array 41 includes a left ultrasonic sensor array 52 disposed on the left side and a right ultrasonic sensor array 53 disposed on the right side. The first ultrasonic sensor array is illustrated using four ultrasonic sensor arrays as an example, and the second ultrasonic sensor array is illustrated using two ultrasonic sensors as an example. For the front ultrasonic sensor array 50, the back ultrasonic sensor array 51, the left ultrasonic sensor array 52, and the right ultrasonic sensor array 53, the fluid velocity corresponding to each ultrasonic sensor array is calculated according to the above individual ultrasonic sensor array. For example, the first fluid velocity is calculated from the front ultrasonic sensor array 50. ( Figure 6 The first fluid velocity is calculated by the back ultrasonic sensor array 51 (4) and the flow velocity in the middle. ( Figure 6 The flow velocity 2) and the second fluid velocity calculated by the ultrasonic sensor array 52 on the left side. ( Figure 6 The second fluid velocity is calculated from the flow velocity 1) in the middle and the ultrasonic sensor array 53 on the right. ( Figure 6 The flow velocity in the middle (3), where, Figure 6 The length of the arrow in the diagram represents the magnitude of the flow velocity, and the direction of the arrow represents the direction of the flow velocity. The first fluid velocity is obtained by selecting the one with the largest absolute velocity value from the first fluid velocity corresponding to the front ultrasonic sensor array 50 and the first fluid velocity corresponding to the back ultrasonic sensor array 51. Figure 6 The second fluid velocity (2) is obtained by selecting the one with the largest absolute velocity value from the second fluid velocity corresponding to the left ultrasonic sensor array 52 and the second fluid velocity corresponding to the right ultrasonic sensor array 53. Figure 6 The flow velocity 1), according to formula (6) and formula (7) Figure 7 Vector calculations are performed as shown to obtain the total flow velocity and flow direction (fluid velocity).

[0043] According to one embodiment of the present invention, the method for detecting fluid information near a vehicle further includes: generating alarm information and / or controlling at least one ultrasonic sensor array to excite and acquire ultrasonic signals based on the fluid velocity and a preset velocity threshold.

[0044] Specifically, a preset speed threshold is set, for example, 1.5 m / s. The calculated fluid velocity is compared with the preset speed threshold. When the fluid velocity is greater than the preset speed threshold, the vehicle is determined to be in a dangerous area of ​​the water flow field. At this time, the domain control warning module issues an alarm message, urging the driver and passengers to leave the area as soon as possible. When the fluid velocity is less than or equal to the preset speed threshold, at least one ultrasonic sensor array is controlled to excite and collect ultrasonic signals.

[0045] According to one embodiment of the present invention, each ultrasonic sensor array includes multiple ultrasonic sensors. Based on the fluid velocity and a preset velocity threshold, at least one ultrasonic sensor array is controlled in reverse to excite and acquire ultrasonic signals. This includes: when the fluid velocity is less than the preset velocity threshold, controlling at least one ultrasonic sensor array in the ultrasonic sensor array to excite and acquire ultrasonic signals, and judging the validity of ultrasonic echo signals from other ultrasonic sensors in the same ultrasonic sensor array, excluding the ultrasonic sensor in the excited state, so as to determine the fluid velocity based on the ultrasonic echo signal when the ultrasonic echo signal is judged to be valid.

[0046] Specifically, such as Figure 8 , Figure 9As shown, the first ultrasonic sensor array is illustrated using a four-sensor array as an example, and the second ultrasonic sensor array is illustrated using a two-sensor array as an example. The front ultrasonic sensor array 50 includes front bumper ultrasonic sensor 1F, front bumper ultrasonic sensor 2F, front bumper ultrasonic sensor 3F, and front bumper ultrasonic sensor 4F; the rear ultrasonic sensor array 51 includes rear bumper ultrasonic sensor 1B, rear bumper ultrasonic sensor 2B, rear bumper ultrasonic sensor 3B, and rear bumper ultrasonic sensor 4B; the left ultrasonic sensor array 52 includes left side wall ultrasonic sensor 1L and left side wall ultrasonic sensor 2L; and the right ultrasonic sensor array 53 includes right side wall ultrasonic sensor 1R and right side wall ultrasonic sensor 2R. The installation height of each ultrasonic sensor array is shown in Figures 10(a), 10(b), and 10(c). The ultrasonic arrays at the front and rear bumper positions are installed at the front and rear bumper positions of the vehicle, respectively, and their installation height from the ground does not exceed the bumper height. In this embodiment, the horizontal mounting distance between the ultrasonic sensors 2F / B and 3F / B on the front and rear bumpers is 66 cm, and the distance between the outer sensors 1F / B and 4F / B is 132 cm. The sensors on the left and right sidewalls are located inside the wheel axles of the two wheels, 420 cm apart, and their mounting height is slightly less than the height of the front and rear bumpers. The vehicle-mounted ultrasonic drive module is installed inside the vehicle.

[0047] The ultrasonic sensors reuse the APA (Automatic Parking Assistant) ultrasonic sensor arrays located on the left and right side walls of the vehicle (operating at a frequency of 40 kHz in this embodiment) and the UPA (Ultrasonic Parking Assistant) ultrasonic sensor arrays located at the front and rear bumpers of the vehicle (operating at a frequency of 58 kHz in this embodiment). Each sensor array operates independently but is connected to the onboard ultrasonic drive module (ECU, Ultrasonic Sensor Control Unit). The onboard ultrasonic drive module includes a control unit and a data processing unit, both located inside the drive module. The GPS system is located at the top rear of the vehicle, while the domain control, onboard ultrasonic system drive module, and warning module are located inside the passenger compartment (in actual situations, the locations of different systems may differ from this embodiment, but this will not affect the flow field detection function near the vehicle body).

[0048] When the fluid velocity is less than or equal to a preset velocity threshold, at least one ultrasonic sensor array is controlled to excite and acquire ultrasonic signals. A total of four ultrasonic sensor arrays operate independently at the front and rear bumpers and side walls. During operation, all probes in the system are in self-transmission / reception mode; correspondingly, the vehicle-mounted ultrasonic array will have multiple sensor excitation-reception modes, including but not limited to... Figure 11 The array exhibits various operating modes, including the excitation-reception mode shown. All of these arrays can guarantee flow rate measurement. Figure 11 The sensor excitation-reception mode (a) is described in section (a). First, the first probe of each array is controlled to excite the ultrasonic signal. At this time, all other probes in each array except the first probe can and can only collect the ultrasonic echo signal generated by the excitation of the first probe of that array. The data processing module of the system records the signal data (ultrasonic echo signal) received by the fourth probe of the front and rear bumpers and the second probe at the side wall position. After the above acquisition process is completed, the system controls the fourth probe at the front and rear bumper positions and the second probe at the left and right side wall positions to excite the ultrasonic signal and collect the echo data (ultrasonic echo signal) of the first probe of each ultrasonic array.

[0049] The drive module in the vehicle-mounted ultrasonic system determines whether other sensors in each array can receive echo signals with significant amplitude. In this embodiment, the amplitude threshold for sensor signals located at the front and rear bumper positions is set to 400 mV, and the amplitude threshold for sensor signals located at the left and right sidewall positions is set to 250 mV. If each ultrasonic array can receive echo signals that meet the above amplitude values, the fluid velocity is determined based on the ultrasonic echo signals.

[0050] For ease of understanding, this invention provides a specific implementation of a method for detecting fluid information near vehicles, such as... Figure 12 As shown, the method for detecting fluid information near a vehicle includes steps S01-S07.

[0051] Step S01: GPS data is transmitted, and the ultrasonic system is in A transmit B receive mode.

[0052] Specifically, from the moment the vehicle is powered on and started, the GPS system transmits the vehicle's speed and direction information (vehicle speed) to the domain control unit. The domain control unit activates the ultrasonic system and imports the data acquired by the GPS into the data processing unit aggregated by the ultrasonic system drive module. Under the control of the ultrasonic system drive module, the ultrasonic sensor arrays on the front and rear bumpers and the two side walls operate independently, with each ultrasonic sensor operating independently in a self-transmitting and receiving mode. An ultrasonic sensor in a particular array can only receive and identify ultrasonic echo signals emitted by other sensors in the same array. Within each array, the ultrasonic system randomly selects a sensor to excite an ultrasonic signal.

[0053] Step S02: Determine whether other sensors in each array have received echo signals. If yes, proceed to step S03; otherwise, proceed to step S01.

[0054] Specifically, the drive module in the ultrasonic system determines whether other sensors in each array can receive echo signals with significant amplitude. In this embodiment, the amplitude threshold for sensor signals located at the front and rear bumper positions is set to 400 mV, and the amplitude threshold for sensor signals located at the left and right sidewall positions is set to 250 mV. If each ultrasonic array can receive echo signals that meet the above amplitude values, the process jumps to step S03; otherwise, it returns to step S01.

[0055] Step S03, same as array flow rate calculation.

[0056] Specifically, the ultrasonic system calculates the water velocity (first fluid velocity, second fluid velocity) at each sidewall location based on GPS data and ultrasonic signals received by each array.

[0057] Step S04: Compare the flow rates of each array, calculate the final total flow rate and direction, and send the final result to the domain controller.

[0058] Specifically, the data processing unit in the ultrasonic system compares the calculated flow velocities at the opposite sidewall arrays to derive the flow velocities along the vehicle's forward direction and perpendicular to its path (the first selected fluid velocity and the second selected fluid velocity). Based on the obtained flow velocity values, the ultrasonic system performs a vector sum operation to calculate the final total flow velocity and direction (fluid velocity), and sends the final result to the domain controller.

[0059] In step S05, the domain controller transmits the flow velocity and flow direction results to the display unit, which displays the current flow velocity and flow direction information around the vehicle body.

[0060] Specifically, the domain controller transmits the flow velocity and direction results sent by the ultrasonic system to the display unit, which then displays the flow velocity and direction information around the vehicle. The specific UI interface in this embodiment is as follows: Figure 13 As shown, the interface displays that the total flow velocity near the vehicle is 1 m / s, and the angle is 30 degrees to the direction of the vehicle's movement. The curved arrows represent the direction of water flow when it impacts the vehicle. In this embodiment, the water flows from the left rear of the vehicle, therefore, the curved arrows cover the left side wall and rear of the vehicle. Meanwhile, the spacing between the curved wavy lines in the UI represents the water flow velocity: the smaller the spacing, the greater the flow velocity. Furthermore, due to the influence of the single-column flow, the front and right side walls of the vehicle are less affected by the water flow; therefore, the UI does not display curved arrows or wavy lines representing the water flow direction and velocity on the front and right side walls of the vehicle.

[0061] Step S06: Determine whether the flow rate exceeds a certain threshold. If yes, proceed to step S07; otherwise, proceed to step S01.

[0062] Specifically, the domain controller simultaneously determines whether the total flow velocity at the current vehicle location exceeds a certain threshold (preset speed threshold). In this embodiment, the calculated total flow velocity is 1 m / s, and the safety threshold (preset speed threshold) is selected as 1.5 m / s. Since the calculated total flow velocity is less than the set safety threshold, the system returns to step S01; otherwise, the system proceeds to step S07.

[0063] In step S07, the domain control warning module issues an alarm message to remind drivers and passengers to leave the area as soon as possible.

[0064] Specifically, when the flow velocity calculated by the system exceeds a safety threshold, the system determines that the vehicle is now in a dangerous area of ​​the water flow field. At this time, the domain control and early warning module issues an alarm message, urging the driver and passengers to leave the area as soon as possible.

[0065] In practical implementation, in order to calculate the flow velocity of the water body near the vehicle, the specific process of step S03 is as follows: Figure 14 As shown, step S03 includes steps S031-S035.

[0066] In step S031, the drive module in the vehicle ultrasonic system sequentially controls the excitation signals of the sensors located at the front 1F, the rear bumper 1B, the left side wall 1L, and the right side wall 1R.

[0067] Specifically, in the ultrasonic system, the drive module sequentially excites signals from sensors located at the front 1F, rear bumper 1B, left side wall 1L, and right side wall 1R. Each array is excited 10 times, with an excitation every 100 ms. After one array completes its excitation process, it switches to the next array for the excitation and reception process.

[0068] In step S032, according to the aforementioned excitation sequence, the ultrasonic system sequentially collects echo signal data from the sensors located at the front 4F and rear bumper 4B, as well as the left side wall 2L and right side wall 2R sensors, and stores the data in the data processing unit.

[0069] Specifically, following the excitation sequence in S031, the ultrasonic system sequentially acquires echo signal data from sensors located at the front 4F and rear bumper 4B, as well as the left wall 2L and right wall 2R sensors, and records the arrival time and dominant frequency of the echo signal data. In this embodiment, the echo times received by the sensors at the front 4F and rear bumper 4B, and the left wall 2L and right wall 2R sensors are 880 μs, 879.7 μs, 2798.4 μs, and 2800 μs, respectively. Simultaneously, the dominant frequency of the UPA probes located at the front and rear bumpers is 58 kHz, and the dominant frequency of the APA probes on the left and right side walls is 40 kHz. Correspondingly, the dominant frequencies of the echo signals from the sensors at the front 4F and rear bumper 4B, and the left wall 2L and right wall 2R sensors are 58.00 kHz, 58.02 kHz, 40.02 kHz, and 40.00 kHz, respectively.

[0070] Step S033: Replace the array excitation and reception probes. The controller sequentially controls the excitation signals of the front 4F, rear bumper 4B sensors, left side wall 2L, and right side wall 2R sensors.

[0071] Specifically, the ultrasonic system drive module adjusts the excitation and reception modes of each ultrasonic array. The control unit in the drive module sequentially controls the excitation signals of the 4F front and 4B rear bumper sensors, as well as the 2L left and 2R right side wall sensors. The remaining sensors in the corresponding arrays are only used for receiving signals.

[0072] In step S034, the ultrasonic system sequentially collects echo signal data from the array sensors at the front 1F, rear bumper 1B, left side wall 1L, and right side wall, and stores the data in the data processing unit in the drive module.

[0073] Specifically, the sensor transmits the received signal data to the drive module. The data processing unit in the module sequentially stores the echo signal data from the array 1R sensors at the front 1F, rear bumper 1B, left side wall 1L, and right side wall of the vehicle, and records their echo arrival time and main frequency. In this embodiment, the echo times received by the array 1R sensors at the front 1F, rear bumper 1B, left side wall 1L, and right side wall are 880 μs, 880.3 μs, 2801.6 μs, and 2800 μs, respectively; the corresponding signal main frequencies are 58.00 kHz, 57.98 kHz, 39.97 kHz, and 40.00 kHz, respectively. The time-domain echo signal waveform diagrams and frequency-domain Fourier spectrum diagrams for both downstream and upstream states are shown below. Figure 15 , Figure 16As shown, due to fluid flow, the echo signal collected by the receiver in the counter-current state has a time delay in arrival compared to the downstream state; at the same time, the Fourier spectrum in the counter-current state shifts to lower frequencies compared to the downstream state.

[0074] In step S035, the data processing unit calculates the flow velocity and direction of the fluid at each side wall and front and rear bumper position based on the vehicle's own driving speed data provided by GPS and the signals in two different transmission and reception states.

[0075] Specifically, the two transmission and reception states described above correspond to two different ultrasonic propagation states (with the current and against the current). The data processing module in the ultrasonic system calculates the velocity and direction of the water relative to the vehicle body at each sensor array based on the echo arrival time and signal frequency under these two different ultrasonic propagation states. Simultaneously, the ultrasonic system calculates the water's own flow velocity based on the real-time driving speed data provided by GPS. In this embodiment, the calculated water flow velocities along the front and rear bumpers and the left and right sidewalls are 0 m / s (first fluid velocity), 0.5 m / s (first fluid velocity), 0.866 m / s (second fluid velocity), and 0 m / s (second fluid velocity), respectively.

[0076] After calculating the flow velocity of the water body on each side wall, in order to calculate the total flow velocity and direction of the water body near the vehicle, the specific process of step S04 is as follows: Figure 17 As shown, step S04 includes steps S041-S042.

[0077] In step S041, the data processing unit compares the flow velocity values ​​of the front and rear bumpers of the vehicle and selects the larger value as the flow velocity value along the left and right directions; it also compares the flow velocity values ​​of the left and right sidewalls and selects the larger value as the flow velocity along the front and rear directions.

[0078] Specifically, after calculating the water flow velocity (first fluid velocity, second fluid velocity) at each array position in step S035, the ultrasonic system compares the flow velocity values ​​at the front and rear bumper positions and selects the larger value as the flow velocity value in the left-right direction (the first fluid velocity selected). In this embodiment, the flow velocity value in the left-right direction is 0.5 m / s. Similarly, based on the flow velocity values ​​of the left and right sidewalls, the system selects the larger value as the flow velocity in the front-back direction (the second fluid velocity selected). In this embodiment, the flow velocity value in the front-back direction is 0.866 m / s.

[0079] In step S042, the data processing unit calculates the vector sum based on the flow velocity results obtained in the previous step, calculates the final total flow velocity and flow direction, and sends the final result to the domain controller.

[0080] Specifically, the data processing unit in the ultrasonic system calculates the vector sum of the flow velocities (the first fluid velocity and the second fluid velocity) along the front-back and left-right directions calculated in step S041, and calculates the final total flow velocity and flow direction result (fluid velocity). In this embodiment, the calculated total flow velocity is 1 m / s, and its direction is at a 30° angle to the vehicle's forward direction. Angle. The ultrasonic system transmits the calculated results, such as flow velocity and direction, to the domain controller.

[0081] This invention provides a method for detecting fluid information near a vehicle, as well as the vehicle and the medium. This invention utilizes the flow-sound coupling effect to calculate flow velocity and direction. The corresponding system can reuse existing GPS, ultrasonic, and early warning systems without increasing system complexity. Furthermore, the vehicle equipped with this measurement system requires no hardware modifications, offering a significant advantage in terms of low cost and facilitating market promotion and application.

[0082] This invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of any of the above methods. 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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 detecting fluid information near a vehicle, characterized in that, The vehicle includes at least one ultrasonic sensor array, and the method includes: The at least one ultrasonic sensor array is controlled to excite and acquire ultrasonic signals to obtain a first ultrasonic echo signal and a second ultrasonic echo signal, wherein the first ultrasonic echo signal is acquired based on a first fluid direction and the second ultrasonic echo signal is acquired based on a second fluid direction. Determine the information difference between the first ultrasonic echo signal and the second ultrasonic echo signal; Based on the information difference, the fluid velocity is determined.

2. The method according to claim 1, characterized in that, Each of the ultrasonic sensor arrays includes a first ultrasonic sensor and a second ultrasonic sensor; controlling the at least one ultrasonic sensor array to excite and acquire ultrasonic signals to obtain a first ultrasonic echo signal and a second ultrasonic echo signal includes: The first ultrasonic sensor is controlled to excite a first ultrasonic signal, and the second ultrasonic sensor is used to collect the first ultrasonic echo signal generated by the first ultrasonic signal. The second ultrasonic sensor is controlled to excite a second ultrasonic signal, and the second ultrasonic echo signal generated by the second ultrasonic signal is acquired based on the first ultrasonic sensor.

3. The method according to claim 1, characterized in that, Determining the fluid velocity based on the information difference includes: Based on the information difference, the relative fluid velocity is determined; Obtain the vehicle speed; The fluid velocity is determined by absolute calculation based on the relative fluid velocity and the vehicle velocity.

4. The method according to claim 1, characterized in that, The at least one ultrasonic sensor array includes a first ultrasonic sensor array and a second ultrasonic sensor array. The first ultrasonic sensor array is disposed on a first side of the vehicle, and the second ultrasonic sensor array is disposed on a second side of the vehicle. The first side and the second side are adjacent to each other. The information difference includes a first information difference and a second information difference. The first information difference is obtained based on the first ultrasonic sensor array, and the second information difference is obtained based on the second ultrasonic sensor array. Determining the fluid velocity based on the information difference includes: Based on the first information difference, the first fluid velocity is determined; Based on the second information difference, the second fluid velocity is determined; The fluid velocity is determined by vector calculation based on the first fluid velocity and the second fluid velocity.

5. The method according to claim 4, characterized in that, The first surface includes a front surface and a back surface, the second surface includes a left side surface and a right side surface, the first ultrasonic sensor array includes a front ultrasonic sensor array disposed on the front surface and a back ultrasonic sensor array disposed on the back surface, and the second ultrasonic sensor array includes a left ultrasonic sensor array disposed on the left side surface and a right ultrasonic sensor array disposed on the right side surface. The step of determining the fluid velocity by performing vector calculation based on the first fluid velocity and the second fluid velocity includes: The first fluid velocity is obtained by selecting the one with the largest absolute value of velocity information from the first fluid velocity corresponding to the front ultrasonic sensor array and the first fluid velocity corresponding to the rear ultrasonic sensor array. The second fluid velocity with the largest absolute value is selected from the second fluid velocity corresponding to the left ultrasonic sensor array and the second fluid velocity corresponding to the right ultrasonic sensor array; The fluid velocity is determined by vector calculation based on the first fluid velocity and the second fluid velocity selected.

6. The method according to claim 1, characterized in that, The information difference includes a time difference and / or a frequency difference; determining the fluid velocity based on the information difference further includes: The fluid velocity is determined based on the time difference, the propagation velocity of ultrasound in the fluid, and the horizontal distance between the ultrasound sensors in the excited state and the ultrasound sensors in the acquisition state in the ultrasound sensor array; or The fluid velocity is determined based on the frequency difference, the propagation velocity of ultrasound in the fluid, and the horizontal distance between the ultrasound sensors in the excited state and the ultrasound sensors in the acquisition state in the ultrasound sensor array; or Based on the time difference, the propagation speed of ultrasonic waves in the fluid, and the horizontal distance between the ultrasonic sensors in the excited state and the ultrasonic sensors in the acquisition state in the ultrasonic sensor array, a third fluid velocity is determined. Based on the frequency difference, the propagation speed of ultrasonic waves in the fluid, and the horizontal distance between the ultrasonic sensors in the excited state and the ultrasonic sensors in the acquisition state in the ultrasonic sensor array, a fourth fluid velocity is determined. The third fluid velocity is calibrated based on the fourth fluid velocity to obtain the fluid velocity.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: Based on the fluid velocity and a preset velocity threshold, an alarm message is generated and / or the at least one ultrasonic sensor array is controlled to excite and acquire ultrasonic signals.

8. The method according to claim 7, characterized in that, Each of the ultrasonic sensor arrays includes multiple ultrasonic sensors. Based on the fluid velocity and a preset velocity threshold, the at least one ultrasonic sensor array is controlled in reverse to excite and acquire ultrasonic signals, including: When the fluid velocity is less than the preset velocity threshold, at least one ultrasonic sensor array in the ultrasonic sensor array is controlled to excite and acquire ultrasonic signals, and the validity of ultrasonic echo signals of other ultrasonic sensors in the same ultrasonic sensor array, except for the ultrasonic sensor in the excited state, is judged so that the fluid velocity can be determined based on the ultrasonic echo signal when the ultrasonic echo signal is judged to be valid.

9. A vehicle, characterized in that, The vehicle includes at least a controller and an onboard ultrasonic system, the onboard ultrasonic system including at least one ultrasonic sensor array, and the controller is used to implement the method according to any one of claims 1-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1-8.

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