CN115236609A - Anti-interference detection method and system based on ultrasonic radar - Google Patents
Anti-interference detection method and system based on ultrasonic radar 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
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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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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Abstract
The invention discloses an anti-interference detection method and system based on an ultrasonic radar. The method comprises the following steps: in each detection period, the ultrasonic radar sending probe sends detection waves, and the ultrasonic radar monitoring probes on the same side receive echoes and record echo data; judging echo data received by all the monitoring probes in the current detection period, and determining the echo types of the received echoes; when the same frequency interference echo exists in the current detection period, determining the interference level of the same frequency interference echo, and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current timestamp information; and carrying out comprehensive judgment, determining whether the detection area has the obstacle or not, and carrying out corresponding alarm processing. By implementing the invention, the same frequency interference can be avoided, the false alarm and the missing alarm are reduced, and the stability of the reversing radar detection in the environment with strong interference is improved.
Description
Technical Field
The invention relates to the technical field of ultrasonic radar, in particular to an anti-interference detection method and system based on ultrasonic radar.
Background
Ultrasonic radars are often provided in vehicles to assist in monitoring the presence of obstacles behind the vehicle when the vehicle is backing up. However, the current ultrasonic radar schemes can be divided into two categories: the scheme for acquiring the echo signals of analog quantity and the scheme for acquiring the echo signals of digital quantity. The former needs the controller to carry out AD acquisition, and judges echo signals according to the fluctuation range of voltage; most of the latter adopt digital chip schemes such as elmos and the like, filter small-amplitude background noise by configuring parameters of the ultrasonic radar, and receive echo signals of digital quantity; however, both of these two broad categories of schemes cannot filter co-channel interference and other environmental interference; there are false positives and anomalies of detection.
In the prior art, in order to detect co-channel interference, the following common methods are adopted: detecting the detected obstacle twice, adding pseudo random numbers at intervals of the two times for delaying, and when the echoes detected twice are within an error range, determining that the obstacle exists; and the time difference between the two echoes is larger, so that the two echoes are discarded. However, in the existing method, because the random number is generated for a long time to generate certain regularity, the possibility of failure exists, and the risks of false alarm and false negative exist.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an anti-interference detection method and system based on an ultrasonic radar, which can avoid same frequency interference and reduce false alarm and false negative alarm, thereby ensuring the detection stability of the reversing radar in a strong interference environment.
In order to solve the above technical problems, an aspect of the present invention provides an anti-jamming detection method based on an ultrasonic radar, for detecting a fault object in a detection area in multiple detection cycles, which at least includes the following steps:
in each detection period, the ultrasonic radar sending probe sends detection waves, and the ultrasonic radar monitoring probes on the same side receive echoes and record echo data;
judging echo data received by all the monitoring probes in the current detection period, and determining the echo types of the echoes received by all the monitoring probes, wherein the echo types comprise effective echoes and co-channel interference echoes;
when the same frequency interference echo exists in the current detection period, determining the interference level of the same frequency interference echo, and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current timestamp information;
and carrying out filtering processing according to echo data in the recent detection period of each interception probe, determining whether obstacles exist in a detection area, and carrying out corresponding alarm processing.
Wherein, the step of judging the echo data received by all the interception probes in the current detection period and determining the echo type of the echo received by each interception probe further comprises:
in the current detection period, if the detection distance obtained according to the echo signal received by the monitoring probe and the detection distance of the sending probe meet the triangular position relationship, the echo signal received by each probe is judged to be an effective echo;
in the current detection period, two or more than two interception probes receive echo signals at the same time, and the detection distance of the interception probes and the detection distance of the sending probe do not meet the triangular position relationship, the echo signals received by the probes are judged to be co-channel interference echoes.
The step of determining the interference level of the same-frequency interference echo, and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current timestamp information comprises the following steps:
in the current detection period, if two probes receive co-channel interference echoes at the same time, determining the co-channel interference echoes as a first interference level; if three or more probes receive the co-channel interference echo at the same time, determining the co-channel interference echo as a second interference level;
and obtaining a difference value between the aftershock of the sending probe at this time and the standard aftershock, substituting the product of the difference value and the current timestamp as a coefficient into a preset random number generation formula corresponding to each interference level for calculation to obtain a current random number, and determining the time interval of the next detection according to the current random number, wherein the random number range calculated by the first interference level is different from the random number range calculated by the second interference level.
Wherein, the step of determining the interference level of the same frequency interference echo and adjusting the time interval of the next detection according to the interference level, the aftershock of the current detection and the current timestamp information further comprises the following steps:
after obtaining the current random number, judging whether the current detection process is a historical random number, if so, accumulating the current random number and the historical random number, and taking the millisecond corresponding to the accumulated random number as the time interval of the next detection period;
and if the accumulated random number is larger than a preset threshold corresponding to the current interference level, subtracting a preset backoff value from the accumulated random number to obtain the accumulated random number after backoff, and taking the millisecond corresponding to the accumulated random number after backoff as the time interval of the next detection period.
The method comprises the following steps of filtering echo data in a recent detection period of each interception probe, and determining whether an obstacle exists in a detection area:
when the echo types of the echoes received by the monitoring probes in the last two detection periods are judged to be effective echoes, determining that the obstacle exists in the detection area;
when the situation that the same-frequency interference echoes exist in the echoes received by each interception probe is judged, for a first interference level, if two effective echo signals exist in the last three detection data, the situation that an obstacle exists in a detection area is determined; for a second interference level, if two valid echo signals exist in the last four detection data, the detection area is determined to have an obstacle.
In another aspect of the present invention, an anti-jamming detection system based on ultrasonic radar is provided, for detecting a fault object in a detection area in a plurality of detection cycles, including at least:
the sending and receiving control unit is used for sending a detection wave by the ultrasonic radar sending probe in each detection period, and the ultrasonic radar monitoring probes on the same side surface receive an echo and record echo data;
the echo type determining unit is used for judging echo data received by all the interception probes in the current detection period and determining the echo type of the echo received by each interception probe, wherein the echo type comprises an effective echo and a co-channel interference echo;
the time interval adjusting unit is used for determining the interference level of the co-channel interference echo when the echo type determining unit judges that the co-channel interference echo exists in the current detection period, and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current timestamp information;
and the obstacle judgment processing unit is used for carrying out filtering processing according to echo data in the recent detection period of each interception probe, determining whether obstacles exist in the detection area and carrying out corresponding alarm processing.
Wherein the echo type determination unit further comprises:
an effective echo determining unit, configured to determine, in a current detection period, that an echo signal received by each probe is an effective echo if a detection distance obtained according to an echo signal received by a listening probe and a detection distance of a sending probe satisfy a triangular position relationship;
and the same frequency interference echo determining unit is used for judging that the echo signals received by each probe are the same frequency interference echoes if two or more interception probes receive the echo signals at the same time in the current detection period and the detection distance of the two interception probes and the detection distance of the sending probe do not meet the triangular position relationship.
Wherein the time interval adjusting unit includes:
the interference level determining unit is used for determining co-channel interference echoes as a first interference level if two probes receive co-channel interference echoes at the same time in the current detection period; if three or more probes receive the co-channel interference echo at the same time, determining the co-channel interference echo as a second interference level;
the random number calculation unit is used for obtaining the difference value between the aftershock of the sending probe at this time and the standard aftershock, taking the product of the difference value and the current timestamp as a coefficient, substituting the coefficient into a preset random number generation formula corresponding to each interference level for calculation, and obtaining the current random number; wherein the range of random numbers calculated for the first interference level differs from the range of random numbers calculated for the second interference level
And the interval determining unit is used for determining the time interval of the next detection according to the current random number.
Wherein the time interval adjusting unit further comprises:
the accumulation processing unit is used for judging whether the current detection process is the historical random number or not after the current random number is obtained, if so, accumulating the current random number and the historical random number, and taking the millisecond corresponding to the accumulated random number as the time interval of the next detection period;
and the backoff processing unit is used for subtracting a preset backoff value from the accumulated random number to obtain an accumulated random number after backoff when the accumulated random number is greater than a threshold corresponding to a preset current interference level, and taking the millisecond corresponding to the accumulated random number after backoff as the time interval of the next detection period.
Wherein the obstacle judgment processing unit determines whether an obstacle exists in the detection area in the following manner:
when the echo types of the echoes received by each interception probe in the last two detection periods are judged to be effective echoes, determining that an obstacle exists in a detection area;
when the situation that the same-frequency interference echoes exist in echoes received by each interception probe is judged, for a first interference level, if two effective echo signals exist in the last three detection data, it is determined that the detection area has a barrier; for the second interference level, if two valid echo signals exist in the last four detection data, the detection area is determined to have the obstacle.
The embodiment of the invention has the following beneficial effects:
the invention provides an anti-interference detection method and system based on an ultrasonic radar, which can identify co-channel interference, can effectively distinguish the interference level of the co-channel interference, and can adapt to different application scenes;
in the invention, factors of environmental background noise and sensor difference are used as seeds for generating random numbers, so that failure caused by regularity generated by generating random numbers for a long time is avoided;
in the invention, after the same frequency interference is identified, the influence caused by an interference source can be effectively avoided by adopting a detection backoff strategy; therefore, the system can still keep working in a strong interference environment, such as simultaneous working of multiple vehicles and environmental interference, eliminate false alarm and enhance the detection stability;
for the processing of detection result data, the effective barrier can be identified from the interference signal by combining the data analysis of the latest cache, and the false detection and the missing detection are avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive exercise.
FIG. 1 is a schematic diagram of an application environment in which co-channel interference waves exist according to the present invention;
FIG. 2 is a schematic main flow chart of an embodiment of an anti-interference detection method based on an ultrasonic radar according to the present invention;
FIG. 3 is a more detailed flowchart of an embodiment of an anti-interference detection method based on an ultrasonic radar according to the present invention;
FIG. 4 is a schematic structural diagram of an embodiment of an anti-interference detection system based on an ultrasonic radar provided by the present invention;
fig. 5 is a schematic structural diagram of the echo type determining unit in fig. 4;
fig. 6 is a schematic structural diagram of the time interval adjusting unit in fig. 4.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
Fig. 2 is a main flow chart illustrating an embodiment of an anti-interference detection method based on an ultrasonic radar according to the present invention, and with reference to fig. 1 and fig. 3, in this embodiment, the method may be applied to the environment shown in fig. 1, and when a reversing radar of a vehicle performs ultrasonic detection on a fault object in a detection area, detection ultrasonic waves from other vehicles may be received, so as to form co-frequency interference waves.
More specifically, in this embodiment, the anti-jamming detection method based on ultrasonic radar may be used to detect a fault object in a detection area in multiple detection cycles, and includes at least the following steps:
step S10, in each detection period, sending detection waves by the ultrasonic radar sending probe, receiving echoes by the ultrasonic radar monitoring probes on the same side and recording echo data; it can be understood that, in the present embodiment, during the detection process, the ipsilateral radar must start to work simultaneously, the main probe emits the detection wave, and the other interception probes intercept synchronously. The controller needs to synchronize time, and the abnormity caused by asynchronous time is avoided. When the interception probe receives echoes, echo data in the process needs to be completely recorded, and when the cache is full of records, the echo data is discarded.
Step S11, judging echo data received by all the interception probes in the current detection period, and determining the echo type of the echo received by each interception probe, wherein the echo type comprises an effective echo and a co-channel interference echo;
in a specific example, the step S11 further includes:
wherein, the step of judging the echo data received by all the interception probes in the current detection period and determining the echo type of the echo received by each interception probe further comprises:
in the current detection period, if the detection distance obtained according to the echo signal received by the interception probe and the detection distance of the sending probe satisfy the triangular position relationship, the echo signal received by each probe is judged to be an effective echo;
in the current detection period, two or more than two interception probes receive echo signals at the same time, and the detection distance of the interception probes and the detection distance of the sending probe do not meet the triangular position relationship, the echo signals received by the probes are judged to be co-channel interference echoes. More specifically, the echo start times of the multiple probes may be selected for judgment, and if the echo start times of the multiple probes are within a range of ± 200us, it is determined that co-channel interference exists.
Step S12, when the same frequency interference echo exists in the current detection period, determining the interference level of the same frequency interference echo, and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current timestamp information;
in a specific example, the step S12 further includes:
in the current detection period, if two probes receive co-channel interference echoes at the same time, determining the co-channel interference echoes as a first interference level; if three or more probes receive co-channel interference echoes at the same time, determining the co-channel interference echoes as a second interference level; the first interference level may be understood as co-channel interference in the vicinity of the host vehicle, and the second interference level may be understood as co-channel interference in a wide range in the vicinity of the host vehicle.
Obtaining a difference value between the aftershock of the sending probe at this time and a standard aftershock, substituting the product of the difference value and the current timestamp as a coefficient into a preset random number generation formula corresponding to each interference level for calculation to obtain a current random number, and determining a time interval of next detection according to the current random number, wherein the random number generation formula can be realized by linear congruence, inverse congruence, linear feedback displacement and other algorithms; wherein the range of random numbers calculated for the first interference level is different from the range of random numbers calculated for the second interference level. In one specific example, for a first interference level, the generated random numbers range from 5-10; and for a second interference level, the generated random numbers range from 5-15;
after obtaining the current random number, judging whether the current detection process is a historical random number, if so, accumulating the current random number and the historical random number, and taking the millisecond corresponding to the accumulated random number as the time interval of the next detection period;
if the accumulated random number is larger than a preset threshold corresponding to the current interference level, subtracting a preset backoff value from the accumulated random number to obtain an accumulated random number after backoff, and taking the millisecond corresponding to the accumulated random number after backoff as the time interval of the next detection period;
specifically, in one example, for a first interference level, the corresponding threshold is 50. For the second interference level, the corresponding threshold value is 100; the backoff value may be selected to be 10. For example, when it is continuously determined that the level of co-channel interference is the first interference level, continuously storing the current detection result into a buffer queue, taking the aftershock of the current detection and the current timestamp to update a random value, and performing accumulation backoff with the time interval of the previous detection, where the maximum accumulated value is 50, if it exceeds 50, continuously accumulating the overflow part value from 40, for example, if the obtained accumulated random number after backoff is 45, then taking 45ms as the time interval of the next detection period. When the grade of the same-frequency interference is continuously judged to be the first interference grade, continuously storing the detection result of this time into a buffer queue, taking the aftershock of this time detection and the current timestamp to update a random value, and performing accumulation backoff with the time interval of the last detection, wherein the maximum accumulation value is 100, if the total value exceeds 100, continuously accumulating the overflow part value from 90, for example, if the obtained accumulated random number after backoff is 92, 92ms is taken as the time interval of the next detection period.
And S13, filtering according to echo data in the recent detection period of each interception probe, determining whether the detection area has an obstacle or not, and performing corresponding alarm processing.
In a specific example, the step S13 further includes:
it is understood that, in the present embodiment, the comparison determination may be performed by the last six times of the detection data stored in the cache. Specifically, the method comprises the following steps:
when the echo types of the echoes received by the monitoring probes in the last two detection periods are judged to be effective echoes, determining that the obstacle exists in the detection area;
when the situation that the same-frequency interference echoes exist in the echoes received by each interception probe is judged, for a first interference level, if two effective echo signals exist in the last three detection data, the situation that an obstacle exists in a detection area is determined; for the second interference level, if two valid echo signals exist in the last four detection data, the detection area is determined to have the obstacle. By using the judging mode, the report missing caused by interference or environmental influence in the middle can be avoided.
And the manner in which the alarm is handled may be adapted to existing sophisticated schemes, such as indicating proximity to an obstacle by the degree of urgency of the statement.
It can be understood that, in the embodiment of the present invention, by distinguishing the interference levels, the influence range of the co-channel interference can be effectively distinguished, and the classification of the mutual interference caused when multiple vehicles are simultaneously in the detection range is effectively performed.
The detection backoff is set based on the following reasons, wherein aftershock data (covering the difference of the sensor and the difference of environmental noise) is introduced in the detection to reduce the regularity of random numbers, and the accumulative random backoff reduces the coupling in the detection process and avoids the influence of an interference source for many times; and the method lays a cushion for ensuring the detection stability of subsequent analysis data.
Fig. 4 is a schematic structural diagram illustrating an embodiment of an anti-interference detection system based on an ultrasonic radar according to the present invention. Referring to fig. 5 and 6 together, in this embodiment, the anti-jamming detection system 1 based on ultrasonic radar can be used for detecting a fault object in a detection area in a plurality of detection cycles, and includes at least:
the sending and receiving control unit 10 is used for sending a detection wave by the ultrasonic radar sending probe in each detection period, receiving an echo by the ultrasonic radar monitoring probe on the same side and recording echo data;
the echo type determining unit 11 is configured to determine echo data received by all the listening probes in a current probing period, and determine an echo type of an echo received by each listening probe, where the echo type includes an effective echo and a co-channel interference echo;
a time interval adjusting unit 12, configured to determine an interference level of the co-channel interference echo when the echo type determining unit determines that the co-channel interference echo exists in the current detection period, and adjust a time interval of a next detection period according to the interference level, the aftershock of the current detection, and the current timestamp information;
and the obstacle judgment processing unit 13 is configured to perform filtering processing according to echo data in a recent detection period of each interception probe, determine whether an obstacle exists in a detection area, and perform corresponding alarm processing.
As shown in fig. 5, in a specific example, the echo type determining unit 11 further includes:
an effective echo determining unit 110, configured to determine, in a current detection period, that an echo signal received by each probe is an effective echo if a detection distance obtained according to an echo signal received by a listening probe and a detection distance of a sending probe satisfy a triangular position relationship;
a co-channel interference echo determining unit 111, configured to determine that echo signals received by each probe are co-channel interference echoes if two or more listening probes receive echo signals at the same time in the current probing period, and the probing distance of the listening probes and the probing distance of the sending probe do not satisfy the triangular position relationship.
As shown in fig. 6, in a specific example, the time interval adjusting unit 12 includes:
an interference level determining unit 120, configured to determine a co-channel interference echo as a first interference level if two probes receive the co-channel interference echo at the same time in the current detection period; if three or more probes receive co-channel interference echoes at the same time, determining the co-channel interference echoes as a second interference level;
a random number calculation unit 121, configured to obtain a difference between the current aftershock of the sending probe and the standard aftershock, and substitute a product of the difference and the current timestamp as a coefficient into a preset random number generation formula corresponding to each interference level to perform calculation, so as to obtain a current random number; wherein the random number range calculated by the first interference level is different from the random number range calculated by the second interference level;
an accumulation processing unit 122, configured to determine whether a historical random number is present in the current detection process after obtaining the current random number, and if so, perform accumulation processing on the current random number and the historical random number, where a millisecond corresponding to the accumulated random number is used as a time interval of a next detection period;
and a backoff processing unit 123, configured to, when the accumulated random number is greater than a threshold corresponding to a preset current interference level, subtract a predetermined backoff value from the accumulated random number to obtain an accumulated random number after backoff, and use a millisecond corresponding to the accumulated random number after backoff as a time interval of a next detection period.
An interval determining unit 124, configured to determine a time interval of a next detection according to the current random number.
In a specific example, the obstacle determination processing unit 13 determines whether an obstacle exists in the detection area in the following manner:
when the echo types of the echoes received by each interception probe in the last two detection periods are judged to be effective echoes, determining that an obstacle exists in a detection area;
when the situation that the same-frequency interference echoes exist in echoes received by each interception probe is judged, for a first interference level, if two effective echo signals exist in the last three detection data, it is determined that the detection area has a barrier; for the second interference level, if two valid echo signals exist in the last four detection data, the detection area is determined to have the obstacle.
For more details, reference may be made to and combined with the foregoing description of fig. 1 to 3, which is not repeated herein.
The embodiment of the invention has the following beneficial effects:
the invention provides an anti-interference detection method and system based on an ultrasonic radar, which can identify co-channel interference, can effectively distinguish the interference level of the co-channel interference, and can adapt to different application scenes;
in the invention, the factors of environmental background noise and sensor difference are used as the seeds for generating the random number, thereby avoiding the failure caused by the regularity of generating the random number for a long time;
in the invention, after the same frequency interference is identified, the influence caused by an interference source can be effectively avoided by adopting a detection backoff strategy; therefore, the system can still keep working in a strong interference environment, such as simultaneous working of multiple vehicles and environmental interference, eliminate false alarm and enhance the detection stability;
for the processing of detection result data, the effective barrier can be identified from the interference signal by combining the data analysis of the latest cache, and the false detection and the missing detection are avoided.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. An anti-interference detection method based on an ultrasonic radar is characterized by at least comprising the following steps:
in each detection period, the ultrasonic radar sending probe sends detection waves, and the ultrasonic radar monitoring probes on the same side receive echoes and record echo data;
judging echo data received by all the interception probes in the current detection period, and determining the echo type of the echo received by each interception probe, wherein the echo type comprises an effective echo and a co-channel interference echo;
when the same frequency interference echo exists in the current detection period, determining the interference level of the same frequency interference echo, and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current timestamp information;
and filtering according to the echo data in the recent detection period of each interception probe, determining whether the detection area has an obstacle or not, and performing corresponding alarm processing.
2. The method according to claim 1, wherein the step of determining echo data received by all the listening probes in the current probing cycle and determining the echo type of the echo received by each listening probe further comprises:
in the current detection period, if the detection distance obtained according to the echo signal received by the monitoring probe and the detection distance of the sending probe meet the triangular position relationship, the echo signal received by each probe is judged to be an effective echo;
in the current detection period, two or more interception probes receive echo signals at the same time, and the detection distance of the interception probes and the detection distance of a sending probe do not meet the triangular position relationship, the echo signals received by the probes are judged to be co-frequency interference echoes.
3. The method of claim 2, wherein the step of determining the interference level of the co-channel interference echo and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current timestamp information comprises:
in the current detection period, if two probes receive co-channel interference echoes at the same time, determining the co-channel interference echoes as a first interference level; if three or more probes receive the co-channel interference echo at the same time, determining the co-channel interference echo as a second interference level;
and obtaining a difference value between the aftershock of the sending probe and the standard aftershock, substituting a product of the difference value and the current timestamp as a coefficient into a preset random number generation formula corresponding to each interference level for calculation to obtain a current random number, and determining a time interval of next detection according to the current random number, wherein the random number range calculated by the first interference level is different from the random number range calculated by the second interference level.
4. The method of claim 3, wherein the step of determining the interference level of the co-channel interference echo and adjusting the time interval of the next detection according to the interference level, the aftershock of the current detection and the current timestamp information further comprises:
after obtaining the current random number, judging whether the current detection process is a historical random number, if so, accumulating the current random number and the historical random number, and taking the millisecond corresponding to the accumulated random number as the time interval of the next detection period;
if the accumulated random number is larger than the threshold corresponding to the preset current interference level, subtracting a preset backoff value from the accumulated random number to obtain the accumulated random number after backoff, and taking the millisecond corresponding to the accumulated random number after backoff as the time interval of the next detection period.
5. The method according to any one of claims 1 to 4, wherein the step of performing filtering processing according to the echo data in the recent detection period of each interception probe to determine whether an obstacle exists in the detection area comprises:
when the echo types of the echoes received by the monitoring probes in the last two detection periods are judged to be effective echoes, determining that the obstacle exists in the detection area;
when the situation that the same-frequency interference echoes exist in the echoes received by each interception probe is judged, for a first interference level, if two effective echo signals exist in the last three detection data, the situation that an obstacle exists in a detection area is determined; for the second interference level, if two valid echo signals exist in the last four detection data, the detection area is determined to have the obstacle.
6. An anti-jamming detection system based on an ultrasonic radar, characterized by comprising at least:
the sending and receiving control unit is used for sending a detection wave by the ultrasonic radar sending probe in each detection period, and the ultrasonic radar monitoring probes on the same side surface receive an echo and record echo data;
the echo type determining unit is used for judging echo data received by all the interception probes in the current detection period and determining the echo type of the echo received by each interception probe, wherein the echo type comprises an effective echo and a co-channel interference echo;
the time interval adjusting unit is used for determining the interference grade of the same frequency interference echo when the echo type determining unit judges that the same frequency interference echo exists in the current detection period, and adjusting the time interval of the next detection period according to the interference grade, the aftershock of the current detection and the current timestamp information;
and the obstacle judgment processing unit is used for carrying out filtering processing according to echo data in the recent detection period of each interception probe, determining whether an obstacle exists in a detection area, and carrying out corresponding alarm processing.
7. The system of claim 6, wherein the echo type determination unit further comprises:
the effective echo determining unit is used for judging that the echo signals received by each probe are effective echoes if the detection distance obtained according to the echo signals received by the monitoring probe and the detection distance of the sending probe meet the triangular position relationship in the current detection period;
and the co-channel interference echo determining unit is used for judging that the echo signals received by each probe are co-channel interference echoes if two or more interception probes receive the echo signals at the same time in the current detection period and the detection distance of the interception probes and the detection distance of the sending probe do not meet the triangular position relationship.
8. The system of claim 7, wherein the time interval adjustment unit comprises:
the interference level determining unit is used for determining co-channel interference echoes as a first interference level if two probes receive co-channel interference echoes at the same time in the current detection period; if three or more probes receive the co-channel interference echo at the same time, determining the co-channel interference echo as a second interference level;
the random number calculation unit is used for obtaining the difference value between the aftershock of the sending probe at this time and the standard aftershock, taking the product of the difference value and the current timestamp as a coefficient, substituting the coefficient into a preset random number generation formula corresponding to each interference level for calculation, and obtaining the current random number; wherein the random number range calculated by the first interference level is different from the random number range calculated by the second interference level
And the interval determining unit is used for determining the time interval of the next detection according to the current random number.
9. The system of claim 8, wherein the time interval adjustment unit further comprises:
the accumulation processing unit is used for judging whether the current detection process is the historical random number or not after the current random number is obtained, if so, accumulating the current random number and the historical random number, and taking the millisecond corresponding to the accumulated random number as the time interval of the next detection period;
and the backoff processing unit is used for subtracting a preset backoff value from the accumulated random number to obtain an accumulated random number after backoff when the accumulated random number is greater than a threshold corresponding to a preset current interference level, and taking the millisecond corresponding to the accumulated random number after backoff as the time interval of the next detection period.
10. The system according to any one of claims 6 to 9, wherein the obstacle judgment processing unit determines whether the detection area has an obstacle in the following manner:
when the echo types of the echoes received by the monitoring probes in the last two detection periods are judged to be effective echoes, determining that the obstacle exists in the detection area;
when the situation that the same-frequency interference echoes exist in echoes received by each interception probe is judged, for a first interference level, if two effective echo signals exist in the last three detection data, it is determined that the detection area has a barrier; for a second interference level, if two valid echo signals exist in the last four detection data, the detection area is determined to have an obstacle.
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