CN113820719B - Method for measuring obstacle height by ultrasonic radar sensor and vehicle system - Google Patents
Method for measuring obstacle height by ultrasonic radar sensor and vehicle system Download PDFInfo
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- CN113820719B CN113820719B CN202111101642.7A CN202111101642A CN113820719B CN 113820719 B CN113820719 B CN 113820719B CN 202111101642 A CN202111101642 A CN 202111101642A CN 113820719 B CN113820719 B CN 113820719B
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- 238000004364 calculation method Methods 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims 1
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- 230000009286 beneficial effect Effects 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a method for measuring the height of an obstacle by an ultrasonic radar sensor and a vehicle system, wherein the method comprises the following steps: s1, enveloping emission of an ultrasonic radar sensor, wherein in a detection range, in one detection period of the ultrasonic radar sensor, two echoes can be detected by one obstacle, the first echo is the position reflection of the shortest distance of the obstacle, and the second echo is the reflection of the ground back to the ultrasonic radar sensor; s2, obtaining the two echo information in the detection period, and obtaining a distance value corresponding to the two echoes, wherein the distance value of the second echo is approximately equal to the distance from the ultrasonic radar sensor to the intersection point of the obstacle and the ground, so that the height of the obstacle can be approximately calculated. The method is simpler in related algorithm, the approximate height of the obstacle can be flexibly judged, and the space utilization rate is greatly improved, so that the system performance is improved.
Description
Technical Field
The invention relates to the technical field of ultrasonic measurement, in particular to a method for measuring the height of an obstacle by an ultrasonic radar sensor and a vehicle system.
Background
In existing applications of ultrasonic radar sensors, the distance of an obstacle is developed based on feedback of the ultrasonic radar sensor. However, for some applications, such as autonomous parking or autonomous braking operations, such as only obstacle distance information, corresponding braking operations are performed at a set distance no matter how tall the obstacle is, so that the corresponding braking operations are continued for the short obstacle which can be passed over originally, space utilization after the short obstacle is wasted, and the performance of the application system is relatively reduced. If the approximate height of the obstacle can be identified during the running process of the vehicle, the system can flexibly judge that the obstacle can pass or needs to perform anti-collision operation, particularly when the vehicle passes the obstacle in a low range, the space utilization rate can be greatly improved, and the system performance is improved.
According to the search, chinese patent document CN113325400A discloses a method for identifying high and low objects in a horizontal parking space based on ultrasonic waves, an ultrasonic radar sensor is used for static calibration, a calibration object, a road edge or a solid large wall is selected, the size of a vertical FOV (field of view) of a detection area of the ultrasonic radar sensor is determined, then software algorithm identification is performed, when the vehicle is automatically parked in a dynamic parking space for scanning, after the edges on two sides are determined, all echo widths and echo distances are stored in an array, statistics is performed on the echo widths and the echo distances, a statistical area is classified, recognition of high and low obstacles is performed, the relation between the echo widths and the echo distances is established in the acquired array, and the object type detected each time is recorded through table lookup. When the type of an object falls in a half of the interval, the type of the object can be determined. The method for identifying the high and low objects in the horizontal parking space based on the ultrasonic waves has the advantages of reducing difficulty of an identification algorithm, being beneficial to automatic parking planning, reducing false identification and the like. The invention aims to identify the height of an object in a parking space, which is beneficial to planning the final parking position of a parking system. However, the algorithm of the invention is complex, and is mainly used for identifying the height of objects in a parking space, the ultrasonic radar sensor is statically calibrated, and calibrated objects such as road edges or solid large walls are selected. More importantly, the invention can only divide the height of the obstacle into two types, namely high object and low object, and cannot more accurately quantitatively measure the height of the obstacle, namely cannot calculate the approximate height of the obstacle.
Therefore, there is still room for design.
Disclosure of Invention
In view of the above, the present invention aims to provide a method for measuring the height of an obstacle by using an ultrasonic radar sensor and a vehicle system, wherein the method is simpler in algorithm, and can flexibly determine the approximate height of the obstacle, thereby greatly improving the space utilization rate and further improving the system performance.
The adopted technical scheme is as follows:
a method for measuring the height of an obstacle by an ultrasonic radar sensor, comprising the steps of:
s1, enveloping emission of an ultrasonic radar sensor, wherein in a detection range, in one detection period of the ultrasonic radar sensor, two echoes can be detected by one obstacle, the first echo is the position reflection of the shortest distance of the obstacle, and the second echo is the reflection of the ground back to the ultrasonic radar sensor;
s2, obtaining the two echo information in the detection period, and obtaining a distance value corresponding to the two echoes, wherein the distance value of the second echo is approximately equal to the distance from the ultrasonic radar sensor to the intersection point of the obstacle and the ground, so that the height of the obstacle can be approximately calculated.
Further, the method also comprises the following steps:
s3, obtaining the height of an obstacle in one detection period, obtaining data calculation through a plurality of detection periods in the movement of the vehicle, and finally determining the approximate height of the obstacle according to normal distribution.
Further, the method also comprises the following steps:
s4, judging whether the difference is caused by two obstacles or not according to the change trend of two echo peaks in a plurality of continuous detection periods when the vehicle moves, and checking interference caused by multiple obstacles.
Further, in S4, it is determined whether the distinction is caused by two obstacles by:
s41, judging that the two echoes are two obstacles if the echo peak change trend of the two echoes is consistent when the obstacle distance is closer; if the echo peak change trend of the two echoes is inconsistent, then the two echoes are judged to be an obstacle.
Further, in S41, if the echo peak change trend of both echoes is larger and larger, it is determined that the two echoes are two obstacles, and if the echo peak change trend of the first echo is larger and larger, the echo peak change trend of the second echo is smaller and smaller, it is determined that the two echoes are one obstacle.
The present invention provides a system for a vehicle, comprising: the method comprises the steps of an ultrasonic radar sensor, an executor, a memory, a processor and a software program stored on the memory and capable of running on the processor, wherein the software program is executed by the processor to realize the method for measuring the height of the obstacle by the ultrasonic radar sensor.
The invention has the beneficial effects that:
the method is simpler in related algorithm, the approximate height of the obstacle can be flexibly judged, and the space utilization rate is greatly improved, so that the system performance is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the structure of envelope emission of an ultrasonic radar sensor.
Fig. 2 is a schematic diagram of two echo reflection path structures.
Fig. 3 is a schematic diagram of fig. 2 with labels added thereto.
Fig. 4 is a schematic diagram showing the trend of two echoes when two obstacles are present.
Fig. 5 is a schematic diagram showing the trend of two echoes in a single obstacle.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only preferred embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Since the ultrasonic radar sensor (hereinafter referred to as a sensor) is envelope emitting, it is shown in fig. 1.
Within a certain detection range, in one detection cycle of the sensor, two echoes may be detected by an obstacle, the first echo being reflected by the shortest distance position of the obstacle (path 1 shown in fig. 2), the second echo being reflected back to the sensor via the ground (path 2 shown in fig. 2):
after the two echo information are obtained in one detection period, the distance value corresponding to the two echoes can be obtained, and the distance value of the second echo is approximately equal to the distance between the sensor and the intersection point of the obstacle and the ground, so that the height of the obstacle can be approximately calculated, as shown in the following figure 3.
According to the sensor mounting height H and the second echo distance value L2, the distance L can be calculated, and then the first echo distance value L1 is combined to calculate the value X, so that the height of the obstacle is equal to H-X.
For example, the sensor mounting angle is 50cm, and when the L1 is 100cm and the L2 is 105cm, the following calculation can be performed:
L 2 ＝105 2 -50 2 ＝8525；
X 2 ＝100 2 -L 2 ；
X≈38.4，
the obstacle height h=50-38.4≡12.6cm.
The height of the obstacle can be obtained in the above detection period, the data calculation is obtained through a plurality of detection periods in the movement of the vehicle, and finally the approximate height of the obstacle can be determined according to the normal distribution.
In addition, since the ultrasonic radar sensor detects two echoes possibly caused by two obstacles, how to distinguish whether the two echoes are caused by two obstacles or a single obstacle when the two echoes are detected, the following judgment is made:
s41, judging that the two echoes are two obstacles if the echo peak change trend of the two echoes is consistent when the obstacle distance is closer; if the echo peak change trend of the two echoes is inconsistent, then the two echoes are judged to be an obstacle.
More specifically, in S41, if the echo peak change trend of both echoes is larger and larger, it is determined that the two echoes are two obstacles, and if the echo peak change trend of the first echo is larger and larger, the echo peak change trend of the second echo is smaller and smaller, it is determined that the two echoes are one obstacle.
This is because:
if two obstacles are present, when the distance between the obstacles is closer, the corresponding echo peak value is larger, so that the change trend of the echo peak values of the two echoes is larger and larger;
in the case of an obstacle, the peak value of the first echo is larger when the obstacle is closer, but the shorter the distance is, the larger the angular blind area of the sensor is, the less easily the echo is reflected by the ground, so the peak value of the second echo is smaller.
By combining the characteristics, whether the two obstacles are caused or not can be distinguished by the change trend of the two echo peaks in a plurality of continuous detection periods when the vehicle moves, so that the interference caused by multiple obstacles can be eliminated.
Thus, a method for measuring the height of an obstacle by an ultrasonic radar sensor can be obtained, which comprises the following steps:
s1, enveloping emission of an ultrasonic radar sensor, wherein in a detection range, in one detection period of the ultrasonic radar sensor, two echoes can be detected by one obstacle, the first echo is the position reflection of the shortest distance of the obstacle, and the second echo is the reflection of the ground back to the ultrasonic radar sensor;
s2, obtaining the two echo information in the detection period, and obtaining a distance value corresponding to the two echoes, wherein the distance value of the second echo is approximately equal to the distance from the ultrasonic radar sensor to the intersection point of the obstacle and the ground, so that the height of the obstacle can be approximately calculated;
s3, obtaining the height of an obstacle in one detection period, obtaining data calculation through a plurality of detection periods in the movement of the vehicle, and finally determining the approximate height of the obstacle according to normal distribution;
s4, judging whether the difference is caused by two obstacles or not according to the change trend of two echo peaks in a plurality of continuous detection periods when the vehicle moves, and checking interference caused by multiple obstacles.
By the above measuring method, the approximate height of the obstacle can be effectively measured.
Example 2
A system for a vehicle, comprising: an ultrasonic radar sensor, an actuator, a memory, a processor, and a software program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the method of measuring obstacle height by the ultrasonic radar sensor in embodiment 1.
The ultrasonic radar sensor stores the acquired sensor data in a memory in a method for measuring the height of the obstacle, and a software program running on a processor automatically realizes an algorithm related to the method for measuring the height of the obstacle by the ultrasonic radar sensor when the processor executes the software program, so that the steps of the method are realized.
For example, in step 2, the distance values corresponding to the two echoes can be obtained after the two echo information are obtained by the running software program, and the height of the obstacle can be approximately calculated by an algorithm.
The measuring method has the advantages that the application system (namely the vehicle system) can effectively perform anti-collision operation or pass over obstacles in combination with the condition of the vehicle body, so that the utilization of the space around the vehicle is greatly improved, and the system performance is improved.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (2)
1. A method for measuring the height of an obstacle by an ultrasonic radar sensor, comprising the steps of:
s1, enveloping emission of an ultrasonic radar sensor, wherein in a detection range, in one detection period of the ultrasonic radar sensor, two echoes can be detected by one obstacle, the first echo is the position reflection of the shortest distance of the obstacle, and the second echo is the reflection of the ground back to the ultrasonic radar sensor;
s2, obtaining the two echo information in the detection period, and obtaining a distance value corresponding to the two echoes, wherein the distance value of the second echo is approximately equal to the distance from the ultrasonic radar sensor to the intersection point of the obstacle and the ground, so that the height of the obstacle can be approximately calculated;
s3, obtaining the height of an obstacle in one detection period, obtaining data calculation through a plurality of detection periods in the movement of the vehicle, and finally determining the approximate height of the obstacle according to normal distribution;
s4, judging whether the two echo peak values are caused by two obstacles or not according to the change trend of the two echo peak values in a plurality of continuous detection periods when the vehicle moves, and checking interference caused by multiple obstacles; judging whether the distinction is caused by two barriers or not through the following steps:
s41, judging that the two echoes are two obstacles if the echo peak change trend of the two echoes is consistent when the obstacle distance is closer; if the echo peak value change trend of the two echoes is inconsistent, judging that the two echoes are an obstacle; specifically, if the echo peak value change trend of the two echoes is larger and larger, the two obstacles are judged, and if the echo peak value change trend of the first echo is larger and larger, the echo peak value change trend of the second echo is smaller and smaller, the two obstacles are judged.
2. A vehicle system, the vehicle system comprising: an ultrasonic radar sensor, an actuator, a memory, a processor and a software program stored on the memory and executable on the processor, which when executed by the processor, performs the steps of the method of measuring obstacle height by an ultrasonic radar sensor as claimed in claim 1.
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