CN114047517A - Obstacle detection method, storage medium, and electronic device - Google Patents
Obstacle detection method, storage medium, and electronic device Download PDFInfo
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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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Abstract
The application discloses an obstacle detection method, a storage medium and an electronic device, wherein all ultrasonic probes are controlled to sequentially emit waves in a preset period; if the wave-transmitting probe and at least one adjacent probe receive echo signals in the echo detection time period after wave transmission, judging whether each echo signal is an effective echo signal; and if the echo signal of the wave-transmitting probe and the echo signal of at least one adjacent probe are effective echo signals, determining the obstacle information according to all the echo signals. In the echo detection time quantum behind this application ultrasonic wave spy hair wave back, need wave probe and at least one adjacent probe all receive echo signal to when the echo signal of wave probe and the echo signal of at least one adjacent probe are effective echo signal, just think and detect the barrier, confirm barrier information again, thereby can get rid of the influence that the peripheral interference sound wave of vehicle detected the barrier, improve the detection precision of barrier.
Description
Technical Field
The present application relates to the field of automotive-related technologies, and in particular, to a method for detecting an obstacle, a storage medium, and an electronic device.
Background
At present, the obstacle detection in the automobile mainly comprises the steps of transmitting ultrasonic waves through ultrasonic probes in front of and behind an automobile body, simply processing received echoes and then judging obstacles. The obstacle judgment mode has insufficient processing on echo signals, and when high-pressure gas sources such as car washing shop washing nozzles, truck air brakes, motorcycle rumbling and the like appear around a vehicle, co-channel interference signals generated by the ultrasonic probe can be generated, so that the obstacle is detected by mistake, and the low-speed braking system is actuated by mistake.
Disclosure of Invention
The application aims to overcome the defects that in the prior art, interference exists in obstacle detection and misdetection easily occurs, and provides an obstacle detection method, a storage medium and electronic equipment, wherein the obstacle detection method can identify interference sound waves around a vehicle and is high in obstacle detection precision.
The technical scheme of the application provides an obstacle detection method, which comprises the following steps
Controlling all ultrasonic probes to sequentially emit waves at a preset period;
if the wave-transmitting probe and at least one adjacent probe receive echo signals in the echo detection time period after wave transmission, judging whether each echo signal is an effective echo signal;
and if the echo signal of the wave sending probe and the echo signal of at least one adjacent probe are effective echo signals, determining the obstacle information according to all the effective echo signals.
Further, the determining whether each echo signal is an effective echo signal specifically includes:
performing primary filtering on the echo signals to obtain primary filtering signals, wherein each echo signal corresponds to one primary filtering signal;
and if the primary filtering signal meets a preset condition, judging the echo signal to be an effective echo signal.
Further, the preset conditions include a first preset condition, and the first preset condition specifically includes:
the matching degree of the primary filtering signal and the preset interference characteristics of the external interference signal is smaller than the preset matching degree, and the preset interference characteristics at least comprise signal intensity and pulse width.
Further, the preset condition includes a second preset condition, and the second preset condition specifically includes:
and in the primary filtering signal, the number of the echoes is greater than or equal to the preset number of the echoes in a preset time period.
Further, if the primary filtering signal meets a preset condition, it is determined that the echo signal is an effective echo signal, and the method specifically includes:
acquiring vehicle surrounding environment information, and determining an external interference signal according to the surrounding environment information;
and if the matching degree of the primary filtering signal and the preset interference characteristics of the external interference signal is smaller than the preset matching degree, judging that the echo signal is an effective echo signal.
Further, if the primary filtering signal meets a preset condition, it is determined that the echo signal is an effective echo signal, and the method specifically includes:
acquiring vehicle surrounding environment information, determining an external interference signal according to the surrounding environment information, and judging whether the primary filtering signal meets a first preset condition;
if the matching degree of the primary filtering signal and the preset interference characteristics of the external interference signal is smaller than the preset matching degree, judging whether the primary filtering signal meets a second preset condition;
and if the echo number of the primary filtering signal is greater than or equal to the preset echo number in the preset time period, judging that the echo signal is an effective echo signal.
Further, the determining obstacle information according to all the effective echo signals specifically includes:
determining a reference obstacle information for each of said valid echo signals;
and determining obstacle information according to the position relationship between the wave-transmitting probe and the adjacent probe and the reference obstacle information.
Further, the determining obstacle information according to all the effective echo signals specifically includes:
predicting the predicted position of the obstacle in the current period according to all effective echo signals in the previous period;
determining the actual position of the obstacle in the current period according to all effective echo signals in the current period;
if the error between the predicted position of the obstacle and the actual position of the obstacle in the continuously set period is smaller than the set error range, the method comprises the following steps
And determining the obstacle information according to the effective echo signal of the current period.
Further, after determining the obstacle information according to all the effective echo signals, the method further comprises
If the current speed is in the preset low speed range, and
if the collision time calculated according to the current vehicle speed and the obstacle information is less than or equal to a preset time threshold value
The brake system performs emergency braking.
The technical solution of the present application further provides a storage medium, where the storage medium stores computer instructions, and when a computer executes the computer instructions, the storage medium is configured to execute the obstacle detection method as described above.
The technical scheme of the application also provides electronic equipment which comprises at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the obstacle detection method as previously described.
After adopting above-mentioned technical scheme, have following beneficial effect:
in the echo detection time quantum behind this application ultrasonic wave spy hair wave back, need wave probe and at least one adjacent probe all receive echo signal to when the echo signal of wave probe and the echo signal of at least one adjacent probe are effective echo signal, just think and detect the barrier, confirm barrier information again, thereby can get rid of the influence that the peripheral interference sound wave of vehicle detected the barrier, improve the detection precision of barrier.
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The disclosure of the present application will become more readily understood by reference to the drawings. It should be understood that: these drawings are for illustrative purposes only and are not intended to limit the scope of the present application. In the figure:
fig. 1 is a flowchart of an obstacle detection method in an embodiment of the present application;
FIG. 2 is a schematic view of the distribution of ultrasonic probes in a vehicle;
FIG. 3 is a flow chart of a method for obstacle detection in accordance with a preferred embodiment of the present application;
fig. 4 is a schematic diagram of a hardware structure of an electronic device in an embodiment of the present application.
Detailed Description
Embodiments of the present application are further described below with reference to the accompanying drawings.
It is easily understood that according to the technical solutions of the present application, those skilled in the art can substitute various structures and implementations without changing the spirit of the present application. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical solutions of the present application, and should not be construed as limiting or restricting the technical solutions of the present application in their entirety.
The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Throughout the description of the present application, it is to be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "coupled" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The foregoing is to be understood as belonging to the specific meanings in the present application as appropriate to the person of ordinary skill in the art.
The obstacle detection method in the embodiment of the present application, as shown in fig. 1, includes
Step S101: controlling all ultrasonic probes to sequentially emit waves at a preset period;
step S102: if the wave-transmitting probe and at least one adjacent probe receive echo signals in the echo detection time period after wave transmission, executing steps S103-S104, otherwise executing step S105;
step S103: judging whether each echo signal is an effective echo signal, if the echo signal of the wave sending probe and the echo signal of at least one adjacent probe are effective echo signals, executing a step S104, otherwise executing a step S105;
step S104: determining obstacle information according to all the effective echo signals;
step S105: interference is considered to be present and the system is kept silent.
As shown in fig. 2, four ultrasonic probes are attached to the front end and the rear end of the vehicle body, and taking the four ultrasonic probes at the front end of the vehicle body as an example, the ultrasonic probes 201 and 204 are angle probes, and the ultrasonic probes 202 and 203 are intermediate probes. During the running of the vehicle, step S101 is continuously executed, and the four ultrasonic probes sequentially emit waves according to a preset sequence in a preset period, where only one ultrasonic probe emits waves in one preset period. For example, the first periodic ultrasonic probe 201 transmits waves, the second periodic ultrasonic probe 202 transmits waves, the third periodic ultrasonic probe 203 transmits waves, and the fourth periodic ultrasonic probe 204 transmits waves, and waves are transmitted in a cycle manner; alternatively, the first periodic ultrasonic probe 203 transmits waves, the second periodic ultrasonic probe 201 transmits waves, the third periodic ultrasonic probe 204 transmits waves, and the fourth periodic ultrasonic probe 202 transmits waves, and the waves are transmitted in a cycle.
Step S102, in the echo detection time period after each ultrasonic wave is detected, whether the wave-transmitting probe and at least one adjacent probe receive echo signals or not is detected. The echo detection time period is less than or equal to the preset period, so that no other ultrasonic probe sends waves in the echo detection time period after the current ultrasonic wave is detected, and the influence of echoes of different ultrasonic probes on the detection precision of the obstacle is prevented.
Specifically, when the angle probe transmits waves, the angle probe transmitting waves and the intermediate probe adjacent to the angle probe both receive echo signals, and step S103 is executed; when the middle probe of the wave and one of the middle probes and one of the angle probes adjacent thereto receive the echo signals when the middle probe of the wave detects the wave, step S103 is performed. For example, when the ultrasonic probe 201 emits a wave, it is necessary that both the ultrasonic probe 201 itself and the adjacent ultrasonic probe 202 receive echo signals; when the ultrasonic probe 202 emits a wave, it is necessary that the ultrasonic probe 202 and the ultrasonic probes 201 and 203 adjacent thereto both receive echo signals.
At least two echo signals are received in step S102, step S103 determines whether each echo signal is a valid echo signal, if the echo signal of the wave-transmitting probe is an invalid echo signal, it is determined that there is interference in the echo signal, and step S105 is executed to keep the system silent; only when the echo signal of the wave-transmitting probe is an effective echo signal and the echo signal of at least one adjacent probe is an effective echo signal, the echo signal is considered to be the echo detected by the obstacle, and step S104 is executed to determine the obstacle information including the obstacle position, the obstacle motion state and the like according to all the effective echo signals.
In the embodiment of the application, after the ultrasonic probe transmits waves, the wave transmitting probe and at least one adjacent probe are required to receive echo signals, whether each echo signal is an effective echo signal is judged, and only when the echo signal of the wave transmitting probe and the echo signal of the at least one adjacent probe are effective, the obstacle is detected and the obstacle information is determined, so that the interference around a vehicle can be comprehensively eliminated, and the obstacle detection accuracy is improved.
In one embodiment, the determining whether each echo signal is a valid echo signal specifically includes:
performing primary filtering on the echo signals to obtain primary filtering signals, wherein each echo signal corresponds to one primary filtering signal;
and if the primary filtering signal meets a preset condition, judging the echo signal to be an effective echo signal.
The method comprises the steps of sequentially or simultaneously judging the effectiveness of each echo signal, specifically, firstly carrying out primary filtering on the echo signals, carrying out screening and digital-to-analog conversion according to the echo width, filtering background noise in the echo signals, obtaining primary filtering signals with the background noise being filtered, and conveniently judging whether the echo signals are effective or not in the follow-up process; and then judging whether the primary filtering signal meets a preset condition, wherein the preset condition can be determined according to the characteristics of external interference or effective echo signals, and the echo signal corresponding to the primary filtering signal is an effective echo signal only when the primary filtering signal meets the preset condition.
The embodiment of the application judges whether the echo signal is an effective echo signal after primary filtering is carried out on the echo signal in sequence, wherein the primary filtering is simple filtering and is used for filtering background noise, and the result of effectiveness judgment carried out after the primary filtering is more accurate.
In one embodiment, the preset condition includes a first preset condition, and the first preset condition specifically includes:
the matching degree of the primary filtering signal and the preset interference characteristics of the external interference signal is smaller than the preset matching degree, and the preset interference characteristics at least comprise signal intensity and pulse width.
Under normal conditions, after the ultrasonic probe sends out, an echo with certain characteristics returns when encountering an obstacle. When the sound wave emitted by the external noise source just meets the relevant characteristics of the echo, the ultrasonic probe can mistakenly regard the sound wave as an echo signal to receive, and the sound wave is called as an external interference signal.
Specifically, the method comprises the steps of obtaining an external interference signal around a vehicle to obtain a contrast waveform of the external interference signal, extracting preset interference features including waveform characteristics such as signal intensity and pulse width from the contrast waveform, comparing the waveform features of a primary filtering signal with the preset interference features, considering that the primary filtering signal meets a first preset condition if the matching degree is smaller than a preset matching degree, considering that a corresponding echo signal is an effective echo signal, and continuing to execute subsequent steps, otherwise, considering that the echo signal has interference, and keeping a system silent.
According to the method and the device, whether the echo signal corresponding to the primary filtering signal is effective or not is judged according to the external interference signal, and when the matching degree of the waveform characteristic of the primary filtering signal and the preset interference characteristic is larger than or equal to the preset matching degree, the corresponding echo signal is actually the interference signal existing in the surrounding environment of the vehicle, so that the influence of the interference sound wave around the vehicle on the detection of the obstacle can be eliminated.
In one embodiment, the preset condition includes a second preset condition, and the second preset condition specifically includes:
and in the primary filtering signal, the number of the echoes is greater than or equal to the preset number of the echoes in a preset time period.
Specifically, the primary filtering signal is represented as a waveform diagram with time as a horizontal axis and signal intensity as a vertical axis, the number of echoes is greater than or equal to the preset number of echoes within the preset time period, the waveform diagram is represented as vertical lines parallel to the vertical axis at two end points of the preset time period on the horizontal axis, and the number of waveform tips is the number of echoes between the two vertical lines. And when the echo number is greater than or equal to the preset echo number, the echo signal is considered to accord with the obstacle echo characteristic. This is because the obstacle does not suddenly change its position within a very short time of the ultrasonic wave transmission, and therefore, the echo signal reflected back should have a plurality of stable continuous echoes within a preset time period.
If the echo signal is an external interference common-frequency signal, the echo signal does not conform to the obstacle echo feature, and in the embodiment of the application, whether the echo signal is an effective echo signal is judged by judging whether a primary filtering signal obtained by primarily filtering the echo signal conforms to the obstacle echo feature.
In one embodiment, if the primary filtered signal meets a preset condition, the determining that the echo signal is an effective echo signal specifically includes:
acquiring vehicle surrounding environment information, and determining an external interference signal according to the surrounding environment information;
and if the matching degree of the primary filtering signal and the preset interference characteristics of the external interference signal is smaller than the preset matching degree, judging that the echo signal is an effective echo signal.
Specifically, the current position of the vehicle can be determined through a high-precision map, GPS positioning and the like, so that the surrounding environment information of the vehicle is obtained, an external interference signal is determined according to the surrounding environment information of the vehicle, and whether the echo signal is an effective echo signal or not is judged according to the external interference signal. As an example, if it is determined that there is a truck around the vehicle based on the current position of the vehicle, it is considered that there may be an interference signal of a train air brake sound wave; and if the vehicle is close to the car washing shop, the possibility of interference signals of the sound waves of the flushing nozzle exists.
According to the method and the device, the external interference signals are determined through the surrounding environment information of the vehicle, most echo signals formed by single interference signals can be rapidly distinguished, and the influence of the surrounding interference sound waves of the vehicle on the detection of the obstacle is accurately eliminated.
In one embodiment, if the primary filtered signal meets a preset condition, the determining that the echo signal is an effective echo signal specifically includes:
acquiring vehicle surrounding environment information, determining an external interference signal according to the surrounding environment information, and judging whether the primary filtering signal meets a first preset condition;
if the matching degree of the primary filtering signal and the preset interference characteristics of the external interference signal is smaller than the preset matching degree, judging whether the primary filtering signal meets a second preset condition;
and if the echo number of the primary filtering signal is greater than or equal to the preset echo number in the preset time period, judging that the echo signal is an effective echo signal.
The method and the device sequentially judge whether a primary filtering signal formed by the echo signal after primary filtering meets a first preset condition and a second preset condition, judge whether the primary filtering signal meets the first preset condition, and can eliminate the echo signal formed by a single interference signal; and judging whether the primary filtering signal meets a second preset condition or not, and discharging an echo signal formed by various interference signals. Therefore, the obstacle detection device and the obstacle detection method can comprehensively discharge the influence of the external interference signals on the obstacle detection, and improve the accuracy of the obstacle detection.
In one embodiment, the determining obstacle information according to the echo signal specifically includes:
determining a reference obstacle information for each of said valid echo signals;
and determining obstacle information according to the position relationship between the wave-transmitting probe and the adjacent probe and the reference obstacle information.
In the embodiment of the application, each effective echo signal can be analyzed to obtain reference obstacle information, the obstacle information of the current period can be accurately determined by combining the position information of the wave-emitting probe and the position information of the adjacent probe, and the obstacle information comprises the obstacle position, the obstacle motion state and the like.
In one embodiment, determining the obstacle information according to the echo signal specifically includes:
predicting the predicted position of the obstacle in the current period according to all effective echo signals in the previous period;
determining the actual position of the obstacle in the current period according to all effective echo signals in the current period;
if the error between the predicted position of the obstacle and the actual position of the obstacle in the continuously set period is smaller than the set error range, the method comprises the following steps
And determining the obstacle information according to the effective echo signal of the current period.
For the effective echo signal of each period, obstacle information including the current position, the movement speed, the movement acceleration and the like of the obstacle can be obtained through Kalman filtering, the movement track of the obstacle can be predicted according to the position, the movement speed, the movement acceleration and the like of the obstacle, and then the predicted position of the obstacle is obtained.
The method comprises the steps that based on Kalman filtering, the barrier prediction position of the current period is predicted according to all effective echo signals of the previous period, then the actual barrier position of the current period is judged according to all effective echo signals of the current period, if the error between the barrier prediction position and the actual barrier position of the continuously set periods is in a set error range, the possibility that the barrier collides with a vehicle is considered to exist, and barrier information is determined according to the effective echo signals of the current period; otherwise, the obstacle is out of the range in front of the vehicle, and the possibility of collision with the vehicle does not exist, the effective echo signal is continuously acquired, and the next obstacle is detected and judged.
In one embodiment, after determining the obstacle information according to all the effective echo signals, the method further includes
If the current speed is in the preset low speed range, and
if the collision time calculated according to the current vehicle speed and the obstacle information is less than or equal to a preset time threshold value
The brake system performs emergency braking.
In the embodiment of the application, the obstacle position information is used for judging low-speed emergency braking, specifically, when the vehicle runs in a preset low-speed range, the collision time between the vehicle and the obstacle is calculated according to the current vehicle speed of the vehicle and the position, the moving direction, the moving speed and other information of the obstacle, if the collision time is less than or equal to a preset time threshold, the emergency braking condition is considered to be met, and at the moment, the braking system performs emergency braking to brake the vehicle, so that the driving safety is ensured.
As an application example of the position information of the obstacle, optionally, the obstacle detection method of the present application may also be applied to the fields of automatic driving, car intelligent control, and the like.
Fig. 3 is a flowchart illustrating an obstacle detection method according to a preferred embodiment of the present application, which specifically includes:
step S301: controlling all ultrasonic probes to sequentially emit waves at a preset period;
step S302: if the wave-transmitting probe and at least one adjacent probe both receive echo signals in the echo detection time period after wave transmission, executing step S303, otherwise executing step S315;
step S303: performing primary filtering on the echo signals to obtain primary filtering signals, wherein each echo signal corresponds to one primary filtering signal; then, executing steps S304-S306 to judge whether each echo signal is an effective echo signal, and if the echo signal of the wave sending probe and the echo signal of at least one adjacent probe are effective echo signals, executing step S307;
step S304: acquiring vehicle surrounding environment information, and determining an external interference signal according to the surrounding environment information;
step S305: if the matching degree of the primary filtering signal and the preset interference characteristic of the external interference signal is smaller than the preset matching degree, executing step S306, otherwise executing step S315;
step S306: if the echo number of the primary filtering signal is greater than or equal to the preset echo number in the preset time period, the echo signal is considered to be an effective echo signal, and step S307 is executed, otherwise, step S315 is executed;
step S307: determining a reference obstacle information for each of said valid echo signals;
step S308: determining obstacle information according to the position relation between the wave-transmitting probe and the adjacent probe and the information of each reference obstacle, wherein the obstacle information comprises the actual position of the obstacle in the current period and the predicted position of the obstacle in the next period;
step S309: predicting the predicted position of the obstacle in the current period according to all effective echo signals in the previous period;
step S310: determining the actual position of the obstacle in the current period according to all effective echo signals in the current period;
step S311: if the error between the predicted position of the obstacle and the actual position of the obstacle in the continuously set period is smaller than the set error range, executing step S312, otherwise, returning to step S309;
step S312: determining barrier information according to the effective echo signal of the current period;
step S313: if the current vehicle speed is in the preset low-speed range and the collision time calculated according to the current vehicle speed and the obstacle information is less than or equal to the preset time threshold, executing the step S314, otherwise, returning to the step S309;
step S314: emergency braking of a braking system;
step S315: interference is considered to be present and the system is kept silent.
The technical solution of the present application further provides a storage medium, where the storage medium stores computer instructions, and when a computer executes the computer instructions, the storage medium is configured to execute the obstacle detection method in any one of the foregoing embodiments.
Fig. 4 shows an electronic device of the present application, comprising:
at least one processor 401; and the number of the first and second groups,
a memory 402 communicatively coupled to the at least one processor 401; wherein,
the memory 402 stores instructions executable by the at least one processor 401 to enable the at least one processor 401 to perform all the steps of the obstacle detection method in any of the method embodiments described above.
The Electronic device is preferably an on-vehicle Electronic Control Unit (ECU), and further, a Microcontroller Unit (MCU) in the on-vehicle Electronic Control Unit.
In fig. 4, one processor 402 is taken as an example:
the electronic device may further include: an input device 403 and an output device 404.
The processor 401, the memory 402, the input device 403, and the output device 404 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 402, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the obstacle detection method in the embodiments of the present application, for example, the method flow shown in fig. 1 or 3. The processor 401 executes various functional applications and data processing, i.e., implements the obstacle detection method in the above-described embodiment, by executing nonvolatile software programs, instructions, and modules stored in the memory 402.
The memory 402 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the obstacle detection method, or the like. Further, the memory 402 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 402 may optionally include a memory remotely located from the processor 401, and these remote memories may be connected over a network to a device that performs the obstacle detection method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 403 may receive input of user clicks and generate signal inputs related to user settings of the obstacle detection method and function control. The output device 404 may include a display device such as a display screen.
The method of obstacle detection in any of the method embodiments described above is performed when the one or more modules are stored in the memory 402 and executed by the one or more processors 401.
What has been described above is merely the principles and preferred embodiments of the present application. It should be noted that, for those skilled in the art, the embodiments obtained by appropriately combining the technical solutions respectively disclosed in the different embodiments are also included in the technical scope of the present invention, and several other modifications may be made on the basis of the principle of the present application and should be regarded as the protective scope of the present application.
Claims (11)
1. An obstacle detection method, comprising
Controlling all ultrasonic probes to sequentially emit waves at a preset period;
if the wave-transmitting probe and at least one adjacent probe receive echo signals in the echo detection time period after wave transmission, judging whether each echo signal is an effective echo signal;
and if the echo signal of the wave sending probe and the echo signal of at least one adjacent probe are effective echo signals, determining the obstacle information according to all the effective echo signals.
2. The obstacle detection method according to claim 1, wherein the determining whether each of the echo signals is a valid echo signal specifically includes:
performing primary filtering on the echo signals to obtain primary filtering signals, wherein each echo signal corresponds to one primary filtering signal;
and if the primary filtering signal meets a preset condition, judging the echo signal to be an effective echo signal.
3. The obstacle detection method according to claim 2, wherein the preset condition includes a first preset condition, and the first preset condition specifically includes:
the matching degree of the primary filtering signal and the preset interference characteristics of the external interference signal is smaller than the preset matching degree, and the preset interference characteristics at least comprise signal intensity and pulse width.
4. The obstacle detection method according to claim 2 or 3, wherein the preset condition includes a second preset condition, and the second preset condition specifically includes:
and in the primary filtering signal, the number of the echoes is greater than or equal to the preset number of the echoes in a preset time period.
5. The obstacle detection method according to claim 2, wherein the determining that the echo signal is a valid echo signal if the primary filtered signal satisfies a preset condition specifically includes:
acquiring vehicle surrounding environment information, and determining an external interference signal according to the surrounding environment information;
and if the matching degree of the primary filtering signal and the preset interference characteristics of the external interference signal is smaller than the preset matching degree, judging that the echo signal is an effective echo signal.
6. The obstacle detection method according to claim 2, wherein the determining that the echo signal is a valid echo signal if the primary filtered signal satisfies a preset condition specifically includes:
acquiring vehicle surrounding environment information, determining an external interference signal according to the surrounding environment information, and judging whether the primary filtering signal meets a first preset condition;
if the matching degree of the primary filtering signal and the preset interference characteristics of the external interference signal is smaller than the preset matching degree, judging whether the primary filtering signal meets a second preset condition;
and if the echo number of the primary filtering signal is greater than or equal to the preset echo number in the preset time period, judging that the echo signal is an effective echo signal.
7. The method according to claim 1, wherein the determining obstacle information from all the valid echo signals specifically comprises:
determining a reference obstacle information for each of said valid echo signals;
and determining obstacle information according to the position relationship between the wave-transmitting probe and the adjacent probe and the reference obstacle information.
8. The method according to claim 7, wherein the determining obstacle information from all the valid echo signals specifically comprises:
predicting the predicted position of the obstacle in the current period according to all effective echo signals in the previous period;
determining the actual position of the obstacle in the current period according to all effective echo signals in the current period;
if the error between the predicted position of the obstacle and the actual position of the obstacle in the continuously set period is smaller than the set error range, the method comprises the following steps
And determining the obstacle information according to the effective echo signal of the current period.
9. The method of claim 1, further comprising determining obstacle information from all of the valid echo signals, and further comprising
If the current speed is in the preset low speed range, and
if the collision time calculated according to the current vehicle speed and the obstacle information is less than or equal to a preset time threshold value
The brake system performs emergency braking.
10. A storage medium storing computer instructions for performing the obstacle detection method according to any one of claims 1 to 9 when executed by a computer.
11. An electronic device comprising at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the obstacle detection method of any one of claims 1-9.
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| CN115236609A (en) * | 2022-07-20 | 2022-10-25 | 广州汽车集团股份有限公司 | Anti-interference detection method and system based on ultrasonic radar |
| CN115236609B (en) * | 2022-07-20 | 2024-03-01 | 广州汽车集团股份有限公司 | Anti-interference detection method and system based on ultrasonic radar |
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