CN113534704A - System and process for detecting foreign matters on surface of ultrasonic sensor - Google Patents
System and process for detecting foreign matters on surface of ultrasonic sensor Download PDFInfo
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- CN113534704A CN113534704A CN202110771771.0A CN202110771771A CN113534704A CN 113534704 A CN113534704 A CN 113534704A CN 202110771771 A CN202110771771 A CN 202110771771A CN 113534704 A CN113534704 A CN 113534704A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000012545 processing Methods 0.000 claims abstract description 22
- 239000000523 sample Substances 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 3
- 238000012790 confirmation Methods 0.000 claims description 15
- 238000011084 recovery Methods 0.000 claims description 9
- 230000009191 jumping Effects 0.000 claims description 3
- 239000000356 contaminant Substances 0.000 claims 1
- 206010063385 Intellectualisation Diseases 0.000 abstract description 3
- 238000001914 filtration Methods 0.000 abstract 1
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention relates to a foreign matter detection system on the surface of an ultrasonic sensor, which comprises a controller, a voltage regulator, a frequency generator, a probe driver, a main memory and a DSP digital signal processing module, wherein the voltage regulator, the frequency generator, the probe driver, the main memory and the DSP digital signal processing module are in bidirectional connection with the controller, the DSP digital signal processing module is connected to a receiver, the controller receives a sensor signal through an I O interface, the receiver receives an analog signal of a probe, simultaneously amplifies and converts the analog signal into a digital signal, compares the signal with the DSP digital signal processing module, and amplifies and detects the digital signal after filtering, records aftershock time and calculates aftershock frequency and aftershock frequency offset ratio. The system and the process for detecting the foreign matters on the surface of the ultrasonic sensor have the advantages of improving the recognition degree, improving the reliability, improving the intellectualization, being easy to operate and the like.
Description
Technical Field
The invention relates to the technical field of automobile active safety systems, in particular to a system and a process for detecting foreign matters on the surface of an ultrasonic sensor.
Background
Currently, an ultrasonic radar is a vehicle-mounted electronic device for assisting parking. Distance information between the vehicle and the obstacle can be provided for the driver in various environments.
However, in the actual operation of the vehicle, mud and water on the ground may splash to the surface of the probe, and eventually adhere to the surface or freeze due to low temperature. In this state, the detection capability of the ultrasound system is attenuated or even lost. This condition must be detected and reported to the driver in a timely manner, otherwise a collision accident may occur, which may cause damage to the property and life safety of the user.
The conventional detection means can not effectively detect the abnormal state or fails to detect due to the incomplete design of a detection mechanism, thereby causing more troubles to a driver.
Therefore, we have developed a system and a process for detecting foreign objects on the surface of an ultrasonic sensor to solve the above disadvantages.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a system and a process for detecting foreign matters on the surface of an ultrasonic sensor, which have the advantages of improving the identification degree and reliability, improving the intellectualization, being easy to operate and the like.
In order to achieve the purpose, the invention adopts the technical scheme that: a foreign matter detection system on the surface of an ultrasonic sensor comprises a controller, a voltage regulator, a frequency generator, a probe driver, a main memory and a DSP digital signal processing module, wherein the voltage regulator, the frequency generator, the probe driver, the main memory and the DSP digital signal processing module are connected with the controller in a bidirectional mode;
the controller controls the frequency sent by the frequency generator and compares the received sensor signal with the signal of the DSP digital signal processing module;
the probe driver vibrates for a plurality of cycles at a fixed drive frequency;
the receiver receives an analog signal of the probe, amplifies and converts the analog signal into a digital signal, and compares the digital signal with the DSP digital signal processing module;
the DSP digital signal processing module filters, amplifies and detects the digital signal, records aftershock time, calculates aftershock frequency and aftershock frequency offset rate, and the aftershock frequency offset rate is equal to the difference between the driving frequency and the aftershock frequency of the probe driver.
Preferably, the receiver includes an AMP amplifier, an a/D converter and/or a CMP comparator, the AMP amplifier amplifies the received frequency signal and transmits the amplified frequency signal to the a/D converter, and the a/D converter converts the amplified analog signal into a digital signal.
Preferably, the CMP comparator is an external independent comparator or an IC internal integrated comparator.
Preferably, the DSP digital signal processing module includes a digital filter, a digital amplifier and a detector, and the digital filter filters the digital signal, amplifies the digital signal by the digital amplifier, and compares the digital signal with the reference voltage value of the CMP comparator.
Preferably, the aftershock time is less than or equal to 0.8 ms.
Preferably, the offset rate of the aftershock frequency is equal to or greater than 9.36%.
Preferably, a process of the system for detecting foreign objects on the surface of an ultrasonic sensor includes the following steps:
step S71, detecting wave emitted by the sensor;
step S72, the host computer obtains the aftershock time and frequency offset of the sensor;
step S73, determining whether the aftershock time is greater than 0.8 ms:
if the time is less than or equal to 0.8ms, clearing the fault flag state;
if the offset rate of the aftershock frequency is more than 0.8ms, judging whether the offset rate of the aftershock frequency is more than 9.36%, and if the offset rate of the aftershock frequency is more than 9.36%, setting a fault flag state; if less than or equal to 9.36%, the fault flag status is cleared.
Preferably, the method further comprises the following steps:
step S81, inquiring the fault flag;
step S82, determine whether the failure flag is set;
step S83, if yes, the failure confirmation counter is increased by 1;
step S84, clearing 0 the failure recovery counter;
step S85, if the fault flag is not set in step S82, the fault recovery counter is incremented by 1;
a step S86, in which step S85, the failure confirmation counter is cleared by 0;
a step S87, in which step S84 and step S86, it is determined whether the failure confirmation counter has counted a threshold value;
step S88, if the failure confirmation counter reaches the threshold value, the failure is determined to be generated;
step S89, if the failure confirmation counter does not count the threshold, judging whether the failure recovery counter counts the threshold;
and step S810, if yes, the failure is confirmed to be recovered, and if not, jumping is carried out.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1. the recognition degree is improved, and if the surface of the ultrasonic wave is covered by the foreign matters, the abnormality can be detected in percentage;
2. the reliability is improved, the sensor is not influenced by the environment, and misjudgment cannot be caused even if the working temperature environment of the sensor changes;
3. the intellectualization is improved, and the abnormity is warned to the user through display, sound and fault codes, so that the user operation is facilitated;
4. the method of dual factors of aftershock frequency monitoring and aftershock time monitoring is used for achieving effective judgment aiming at foreign matter coverage and reducing the target of misjudgment.
Drawings
FIG. 1 is a functional block diagram of a system for detecting foreign matter on the surface of an ultrasonic sensor according to the present invention;
FIG. 2 is a flow chart of setting a fault semaphore by the system for detecting foreign matter on the surface of an ultrasonic sensor according to the present invention;
fig. 3 is a flow chart of the fault determination of the ultrasonic sensor surface foreign matter detection system according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
In fig. 1 to 3, an ultrasonic sensor surface foreign object detection system includes a controller, and a voltage regulator, a frequency generator, a probe driver, a main memory and a DSP digital signal processing module, which are bidirectionally connected to the controller. The DSP digital signal processing module is connected to the receiver, and the controller receives the sensor signal through an IO interface.
The controller controls the frequency sent by the frequency generator and compares the received sensor signal with the signal of the DSP digital signal processing module.
The probe driver oscillates at a fixed drive frequency for a number of cycles.
First, a command is sent to the host by the controller to force the sensor to vibrate for several cycles at some fixed drive frequency (Fdrv).
Secondly, after the probe is forcibly driven, the frequency of the aftershock signal within a certain time is monitored. Specifically, a signal of the ultrasonic probe is input to a CMP comparator in the circuit as an input signal. A certain reference voltage is set for the comparator, and the software monitors and records the output of the comparator. And collecting a plurality of edge types (rising edges and falling edges) of results after comparison with the reference voltage of the comparator and time points of corresponding edges. After collecting a plurality of periods, the aftershock frequency (frig) can be calculated through the collected edge information. The difference between the drive frequency and the aftershock frequency (abbreviated as aftershock frequency offset) is further calculated. The analog signals are amplified and converted to analog through a Digital Signal Processing (DSP) circuit. The post-DSP aftershock time (Tring) is monitored and recorded, rather than the comparator.
Aftershock time is then extracted by the software. If the aftershock time is less than a predetermined value (e.g., 0.8ms), the aftershock frequency offset ratio is further extracted, and if the absolute value is found to be greater than a predetermined value (e.g., 9.36%), it is necessary to establish both of them, and it is determined that the surface of the ultrasonic sensor is covered with foreign matter such as ice or mud, and a failure flag is set. Otherwise, the failure flag is cleared.
The software periodically inquires the fault flag, and if the fault continuously and stably exists, the fault is determined to exist.
The receiver receives the analog signal of the probe, amplifies and converts the analog signal into a digital signal, and compares the digital signal with the DSP digital signal processing module. The receiver includes an AMP amplifier, an A/D converter and/or a CMP comparator. The CMP comparator is an external independent comparator or an IC internal integrated comparator. The AMP amplifier amplifies the received frequency signal and transmits it to the a/D converter, which converts the amplified analog signal into a digital signal.
The DSP digital signal processing module filters the digital signal, amplifies and detects the digital signal, records aftershock time, and calculates aftershock frequency and aftershock frequency offset rate. The aftershock frequency offset rate is equal to the difference between the drive frequency of the probe driver and the aftershock frequency, i.e., the aftershock frequency minus the drive frequency, and the result is divided by the drive frequency.
The DSP digital signal processing module comprises a digital filter, a digital amplifier and a detector, wherein the digital filter filters the digital signal, then the digital signal is amplified by the digital amplifier, and then the digital signal is compared with a reference voltage value of the CMP comparator.
The aftershock time is less than or equal to 0.8ms, preferably 0.8ms, 0.6ms or 0.4 ms.
The offset rate of the aftershock frequency is 9.36% or more, preferably 9.5%, 9.8% or 10%.
A process of a system for detecting foreign matter on the surface of an ultrasonic sensor comprises the following steps:
in step S71, the sensor detects the wave.
In step S72, the host computer obtains the aftershock time and frequency offset of the sensor.
Step S73, determining whether the aftershock time is greater than 0.8 ms:
if less than or equal to 0.8ms, the fault flag status is cleared.
If the offset rate of the aftershock frequency is more than 0.8ms, judging whether the offset rate of the aftershock frequency is more than 9.36%, and if the offset rate of the aftershock frequency is more than 9.36%, setting a fault flag state; if less than or equal to 9.36%, the fault flag status is cleared.
Further comprising the steps of:
in step S81, the failure flag is queried.
In step S82, it is determined whether the failure flag is set.
In step S83, if yes, the failure confirmation counter is incremented by 1.
In step S84, the failure recovery counter clears 0.
In step S85, if the failure flag is not set in step S82, the failure recovery counter is incremented by 1.
In step S86 and step S85, the failure confirmation counter is cleared to 0.
In step S87, step S84, and step S86, it is determined whether the failure confirmation counter has counted a threshold value.
In step S88, if the failure confirmation counter reaches the threshold value, a failure determination is generated.
In step S89, if the failure confirmation counter does not count the threshold, it is determined whether the failure recovery counter counts the threshold.
And step S810, if yes, the failure is confirmed to be recovered, and if not, jumping is carried out.
The above is only a specific application example of the present invention, and the protection scope of the present invention is not limited in any way. All the technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.
Claims (8)
1. A foreign matter detection system on the surface of an ultrasonic sensor is characterized in that: the device comprises a controller, a voltage regulator, a frequency generator, a probe driver, a main memory and a DSP digital signal processing module, wherein the voltage regulator, the frequency generator, the probe driver, the main memory and the DSP digital signal processing module are connected with the controller in a bidirectional mode;
the controller controls the frequency sent by the frequency generator and compares the received sensor signal with the signal of the DSP digital signal processing module;
the probe driver vibrates for a plurality of cycles at a fixed drive frequency;
the receiver receives an analog signal of the probe, amplifies and converts the analog signal into a digital signal, and compares the digital signal with the DSP digital signal processing module;
the DSP digital signal processing module filters, amplifies and detects the digital signal, records aftershock time, calculates aftershock frequency and aftershock frequency offset rate, and the aftershock frequency offset rate is equal to the difference between the driving frequency and the aftershock frequency of the probe driver.
2. The system of claim 1, wherein the receiver comprises an AMP amplifier, an a/D converter and/or a CMP comparator, the AMP amplifier amplifies the received frequency signal and transmits the amplified frequency signal to the a/D converter, and the a/D converter converts the amplified analog signal into a digital signal.
3. The system of claim 2, wherein the CMP comparator is an external independent comparator or an IC internal integrated comparator.
4. The system of claim 2, wherein the DSP module comprises a digital filter, a digital amplifier and a detector, the digital filter filters the digital signal, the digital signal is amplified by the digital amplifier, and the digital signal is compared with the reference voltage of the CMP comparator.
5. The system of claim 1, wherein the aftershock time is less than or equal to 0.8 ms.
6. The system of claim 5, wherein the frequency shift rate of the aftershock is greater than or equal to 9.36%.
7. A process of the system for detecting surface contaminants of an ultrasonic sensor according to claim 6, comprising the steps of:
step S71, detecting wave emitted by the sensor;
step S72, the host computer obtains the aftershock time and frequency offset of the sensor;
step S73, determining whether the aftershock time is greater than 0.8 ms:
if the time is less than or equal to 0.8ms, clearing the fault flag state;
if the offset rate of the aftershock frequency is more than 0.8ms, judging whether the offset rate of the aftershock frequency is more than 9.36%, and if the offset rate of the aftershock frequency is more than 9.36%, setting a fault flag state; if less than or equal to 9.36%, the fault flag status is cleared.
8. The process of claim 7, further comprising the steps of:
step S81, inquiring the fault flag;
step S82, determine whether the failure flag is set;
step S83, if yes, the failure confirmation counter is increased by 1;
step S84, clearing 0 the failure recovery counter;
step S85, if the fault flag is not set in step S82, the fault recovery counter is incremented by 1;
a step S86, in which step S85, the failure confirmation counter is cleared by 0;
a step S87, in which step S84 and step S86, it is determined whether the failure confirmation counter has counted a threshold value;
step S88, if the failure confirmation counter reaches the threshold value, the failure is determined to be generated;
step S89, if the failure confirmation counter does not count the threshold, judging whether the failure recovery counter counts the threshold;
and step S810, if yes, the failure is confirmed to be recovered, and if not, jumping is carried out.
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| CN202110771771.0A CN113534704A (en) | 2021-07-08 | 2021-07-08 | System and process for detecting foreign matters on surface of ultrasonic sensor |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100228523A1 (en) * | 2007-08-30 | 2010-09-09 | Nec Corporation | Ultrasonic wave propagation time measuring system |
| CN105683777A (en) * | 2013-11-14 | 2016-06-15 | 大众汽车有限公司 | Motor vehicle with occlusion detection for ultrasonic sensors |
| CN206960652U (en) * | 2017-08-02 | 2018-02-02 | 南京天安汽车电子科技股份有限公司 | The automobile ultrasonic radar system continuously received and dispatched |
| CN109459742A (en) * | 2018-10-31 | 2019-03-12 | 广州小鹏汽车科技有限公司 | Foreign matter covering treatment method and device based on ultrasonic radar |
| CN112014846A (en) * | 2020-08-27 | 2020-12-01 | 安徽江淮汽车集团股份有限公司 | Method, equipment, storage medium and device for detecting blind area by ultrasonic radar |
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- 2021-07-08 CN CN202110771771.0A patent/CN113534704A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100228523A1 (en) * | 2007-08-30 | 2010-09-09 | Nec Corporation | Ultrasonic wave propagation time measuring system |
| CN105683777A (en) * | 2013-11-14 | 2016-06-15 | 大众汽车有限公司 | Motor vehicle with occlusion detection for ultrasonic sensors |
| CN206960652U (en) * | 2017-08-02 | 2018-02-02 | 南京天安汽车电子科技股份有限公司 | The automobile ultrasonic radar system continuously received and dispatched |
| CN109459742A (en) * | 2018-10-31 | 2019-03-12 | 广州小鹏汽车科技有限公司 | Foreign matter covering treatment method and device based on ultrasonic radar |
| CN112014846A (en) * | 2020-08-27 | 2020-12-01 | 安徽江淮汽车集团股份有限公司 | Method, equipment, storage medium and device for detecting blind area by ultrasonic radar |
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Application publication date: 20211022 |