WO2024124976A1 - Method for eliminating synchronous interference of ultrasonic radar, system, vehicle, and storage medium - Google Patents

Abstract

Disclosed in the present invention is a method for eliminating synchronous interference of an ultrasonic radar, comprising: in a detection period of an ultrasonic radar, acquiring a first preliminary detection distance and a second preliminary detection distance according to a wave-transmitting sensor; acquiring first preliminary auxiliary detection distances and second preliminary auxiliary detection distances of matching sensors; performing interference recognition on the first preliminary auxiliary detection distance and second preliminary auxiliary detection distance of each matching sensor to determine a corresponding auxiliary detection distance; performing interference recognition on the first preliminary detection distance and second preliminary detection distance of the wave-transmitting sensor according to the auxiliary detection distance in combination with the triangulation technology to obtain a detection distance corresponding to the wave-transmitting sensor; and determining the distance from an obstacle. Correspondingly disclosed in the present invention are a corresponding system, vehicle and storage medium. Implementation of the present invention can ensure the continuity and accuracy of obstacle detection data and can reduce false alarms at the same time.

Description

Method, system, vehicle and storage medium for eliminating ultrasonic radar synchronization interference

This application claims priority to a Chinese patent application filed with the China Patent Office on December 16, 2022, with application number 202211622707.7, and invention name “Method, system, vehicle and storage medium for eliminating ultrasonic radar synchronization interference”, the entire contents of which are incorporated by reference in this application.

Technical Field

The present invention relates to the technical field of obstacle distance recognition, and in particular to a method, system, vehicle and storage medium for eliminating synchronous interference of ultrasonic radar.

Background technique

Ultrasonic ranging technology is often used in the process of vehicle driving and reversing. The principle of ultrasonic ranging technology is to send ultrasonic signals and then reflect them after encountering obstacles. The sensor receives the signal of this frequency, calculates the time difference between sending and receiving, and converts the time difference into distance, thereby obtaining the relative distance between the obstacle and the vehicle.

However, during the receiving process, the receiving sensor may receive ultrasonic signals from other vehicles. The received signal cannot accurately calculate the distance between the obstacle and the vehicle, and thus misjudges the obstacle distance. In an existing solution, the following method is used to identify interference signals: an ultrasonic signal is sent, multiple echo signals are received through the sensor, the absolute value of the distance difference of the multiple echo signals is calculated, and the absolute value is compared with the set distance threshold to determine whether it is an interference signal. In another solution, the ultrasonic echo intensity is set to determine whether there may be interference, and multiple waves are sent to confirm and distinguish interference data from obstacle data based on the interference intensity. If interference exists, the detection results of the current detection cycle are discarded.

However, these existing solutions generally use multiple waves to confirm whether there is an interference signal at the moment, which has the following shortcomings: The above solutions will prolong the detection cycle time and reduce the detection timeliness. In addition, when there is an interference signal in the detection data, the existing method directly outputs invalid data in the current detection cycle, which will reduce the continuity of the real obstacle detection distance. As a result, there are certain hidden dangers in security and reduce the user experience.

Summary of the invention

The technical problem to be solved by the present invention is to provide a method, system, vehicle and storage medium for eliminating synchronous interference of ultrasonic radar, which can ensure the continuity and accuracy of obstacle detection data and reduce false alarms.

In order to solve the above technical problems, as one aspect of the present invention, a method for eliminating ultrasonic radar synchronization interference is provided, which at least comprises the following steps:

In a detection cycle of the ultrasonic radar, a wave-transmitting sensor is used to transmit a detection ultrasonic wave, and the wave-transmitting sensor and at least one matching sensor are used to receive subsequent echoes; after transmitting the detection ultrasonic wave, a first preliminary detection distance and a second preliminary detection distance are calculated based on the echoes received by the wave-transmitting sensor; and a first preliminary auxiliary detection distance and a second preliminary auxiliary detection distance corresponding to each matching sensor are calculated based on the echoes received by each matching sensor;

Combined with the detection distance value obtained in the previous cycle, interference identification is performed on the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance of each matching sensor, and the interference value is eliminated to determine the auxiliary detection distance corresponding to each matching sensor;

According to the auxiliary detection distance corresponding to each matching sensor, combined with the triangulation positioning technology, interference identification is performed on the first preliminary detection distance and the second preliminary detection distance of the wave-generating sensor, and the interference value is eliminated to obtain the detection distance corresponding to the wave-generating sensor;

The auxiliary detection distance and the detection distance are outputted, and the distance of the obstacle is determined.

The step of combining the detection distance value obtained in the previous cycle, performing interference identification on the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance of each matching sensor, eliminating the interference value therein, and determining the auxiliary detection distance corresponding to each matching sensor further includes:

The first preliminary detection distance and the second preliminary detection distance of each matching sensor are respectively compared with the detection distance value obtained in the previous cycle. If the difference between the two exceeds a predetermined threshold, it is determined to be an interference value; otherwise, it is determined to be an auxiliary detection distance of the matching sensor; the detection distance value obtained in the previous cycle is the detection distance value finally obtained by the matching sensor as a wave sensor in the previous cycle;

When the detection distance value obtained in the previous cycle is an invalid value, the first preliminary detection distance is determined as the auxiliary detection distance of the matching sensor;

When the first preliminary detection distance is an invalid value, or when the first preliminary detection distance is an interference value and the second preliminary detection distance is an invalid value, or both the first preliminary control distance and the second preliminary detection distance are interference values, it is determined that the auxiliary detection distance of the matching sensor is an invalid value.

The step of calculating the first preliminary detection distance and the second preliminary detection distance according to the echo received by the wave-emitting sensor after emitting the detection ultrasonic wave, and calculating the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance corresponding to each matching sensor according to the echo received by each matching sensor further includes:

The wave sensor calculates the first preliminary detection distance and the second preliminary detection distance according to the time difference between the ultrasonic wave emission and the echo reception; the matching sensor calculates the corresponding first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance according to the time difference between the ultrasonic wave emission and the echo reception of the wave sensor;

Wherein, when the wave sensor receives only one echo, the first preliminary detection distance is calculated and the second preliminary detection distance is an invalid value; when the wave sensor does not receive an echo, the first preliminary detection distance and the second preliminary detection distance are both invalid values;

When the matching sensor receives only one echo, the first preliminary auxiliary detection distance is calculated and the second preliminary auxiliary detection distance is an invalid value; when the transmitting sensor does not receive an echo, the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance are both invalid values.

The step of performing interference identification on the first preliminary detection distance and the second preliminary detection distance of the wave-generating sensor according to the auxiliary detection distance corresponding to each matching sensor and combining the triangulation positioning technology, eliminating the interference value therein, and obtaining the detection distance corresponding to the wave-generating sensor further includes:

A judgment is made based on the auxiliary detection distance corresponding to each matching sensor, the distance between the matching sensor and the wave-generating sensor, and the first preliminary detection distance. If the three distances do not satisfy a triangulated positioning relationship, the first preliminary detection distance is determined as an interference value.

A judgment is made based on the auxiliary detection distance corresponding to each matching sensor, the distance between the matching sensor and the wave-generating sensor, and the second preliminary detection distance. If the three distances do not satisfy a triangulated positioning relationship, the second preliminary detection distance is determined as an interference value;

When the auxiliary detection distance is an invalid value, or when both the first preliminary detection distance and the second preliminary detection distance are invalid values or interference values, the detection distance corresponding to the wave sensor is determined to be an invalid value;

When the first preliminary detection distance satisfies the triangulation positioning relationship, determining the first preliminary detection distance as the detection distance corresponding to the wave sensor;

When the first preliminary detection distance is an interference value and the second preliminary detection distance satisfies a triangulated positioning relationship, the second preliminary detection distance is determined as the detection distance corresponding to the wave sensor.

The step of performing interference identification on the first preliminary detection distance and the second preliminary detection distance of the wave-generating sensor according to the auxiliary detection distance corresponding to each matching sensor and combining the triangulation positioning technology, eliminating the interference value therein, and obtaining the detection distance corresponding to the wave-generating sensor further includes:

When there are more than one detection distances corresponding to the wave-emitting sensor obtained according to multiple matching sensors, the smallest one is used as the detection distance corresponding to the wave-emitting sensor.

Accordingly, another aspect of the present invention further includes a system for eliminating ultrasonic radar synchronization interference, which at least includes:

The preliminary distance obtaining unit is used to use the wave-transmitting sensor to send a detection ultrasonic wave in a detection cycle of the ultrasonic radar, and use the wave-transmitting sensor and at least one matching sensor to receive subsequent echoes; after transmitting the detection ultrasonic wave, calculate and obtain a first preliminary detection distance and a second preliminary detection distance according to the echo received by the wave-transmitting sensor; calculate and obtain the corresponding first preliminary auxiliary detection distance and second preliminary auxiliary detection distance according to the echo received by each matching sensor;

The auxiliary detection distance obtaining unit is used to perform interference identification on the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance of each matching sensor in combination with the detection distance value obtained in the previous cycle, eliminate the interference value therein, and determine the auxiliary detection distance corresponding to each matching sensor;

A detection distance unit, used to perform interference identification on the first preliminary detection distance and the second preliminary detection distance of the wave-emitting sensor according to the auxiliary detection distance corresponding to each matching sensor and in combination with the triangulation positioning technology, eliminate the interference value therein, and obtain the detection distance corresponding to the wave-emitting sensor;

The obstacle distance determination unit is used to output the auxiliary detection distance, the detection distance, and determine the distance of the obstacle.

Wherein, the auxiliary detection distance obtaining unit further includes:

An interference comparison unit is used to compare the first preliminary detection distance and the second preliminary detection distance of each matching sensor with the detection distance value obtained in the previous cycle, and if the difference between the two exceeds a predetermined threshold, it is determined to be an interference value; the detection distance value obtained in the previous cycle is the detection distance value finally obtained by the matching sensor as a wave sensor in the previous cycle;

An auxiliary distance determination unit is used to determine the difference between the two as the auxiliary detection distance of the matching sensor when the comparison result is that the difference does not exceed the predetermined threshold; and when the detection distance value obtained in the previous cycle is an invalid value, determine the first preliminary detection distance as the auxiliary detection distance of the matching sensor; and when the first preliminary detection distance is an invalid value, or when the first preliminary detection distance is an interference value and the second preliminary detection distance is an invalid value, or when the first preliminary control distance and the second preliminary detection distance are both interference values, determine that the auxiliary detection distance of the matching sensor is an invalid value.

Wherein, the preliminary distance obtaining unit further comprises:

The calculation processing unit is used for the wave sensor to calculate the first preliminary detection distance and the second preliminary detection distance according to the time difference between the ultrasonic wave emitted and the echo received; the matching sensor calculates the corresponding first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance according to the time difference between the ultrasonic wave emitted by the wave sensor and the echo received by itself;

The invalid value determination unit is used to calculate the first preliminary detection distance when the wave-transmitting sensor receives only one echo, and the second preliminary detection distance is an invalid value; when the wave-transmitting sensor does not receive an echo, the first preliminary detection distance and the second preliminary detection distance are both invalid values; and when the matching sensor receives only one echo, the first preliminary auxiliary detection distance is calculated, and the second preliminary auxiliary detection distance is an invalid value; when the wave-transmitting sensor does not receive an echo, the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance are both invalid values.

Wherein, the detection distance obtaining unit further includes:

a positioning relationship judgment unit, configured to make a judgment based on the auxiliary detection distance corresponding to each matching sensor, the distance between the matching sensor and the wave-emitting sensor, and the first preliminary detection distance, and if the three distances do not satisfy the triangular positioning relationship, determine the first preliminary detection distance as an interference value; and make a judgment based on the auxiliary detection distance corresponding to each matching sensor, the distance between the matching sensor and the wave-emitting sensor, and the second preliminary detection distance, and if the three distances do not satisfy the triangular positioning relationship, determine the second preliminary detection distance as an interference value;

A detection distance determination unit is used to determine the detection distance corresponding to the wave-transmitting sensor as an invalid value when the auxiliary detection distance is an invalid value, or when the first preliminary detection distance and the second preliminary detection distance are both invalid values or both are interference values; and to determine the first preliminary detection distance as the detection distance corresponding to the wave-transmitting sensor when the first preliminary detection distance satisfies a triangulated positioning relationship; and to determine the second preliminary detection distance as the detection distance corresponding to the wave-transmitting sensor when the first preliminary detection distance is an interference value and the second preliminary detection distance satisfies a triangulated positioning relationship.

Wherein, the detection distance obtaining unit further includes:

The selection and determination unit is used to, when there are more than one detection distances corresponding to the wave-emitting sensor obtained according to the multiple matching sensors, use the smallest one as the detection distance corresponding to the wave-emitting sensor.

As another aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the aforementioned method are implemented.

As another aspect of the present invention, a vehicle is provided, which includes an obstacle recognition device, wherein the aforementioned system for eliminating synchronous interference of ultrasonic radar is integrated into the obstacle recognition device.

The implementation of the embodiments of the present invention has the following beneficial effects:

The present invention provides a method, system, vehicle and storage medium for eliminating synchronous interference of ultrasonic radar. The existing data of matching sensors on both sides of the wave sensor at the current moment is used as the data input source for judging whether there is interference, so as to distinguish the interference value and the obstacle detection value in the three sets of data detected in this cycle, thereby eliminating synchronous interference and obtaining accurate obstacle distance information.

The present invention effectively distinguishes the interference signal value from the obstacle detection value without increasing the detection time within the current cycle; and in the presence of interference signals, it can output the obstacle detection distance value as much as possible, while avoiding outputting invalid values as much as possible, ensuring the continuity of obstacle detection data, thereby improving the accuracy of obstacle detection while reducing false alarms. It can improve safety and user experience.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, without paying creative labor, other drawings obtained based on these drawings still belong to the scope of the present invention.

FIG1 is a schematic diagram of the main process of an embodiment of a method for eliminating synchronous interference of ultrasonic radar provided by the present invention;

FIG2 is a more detailed schematic diagram of a flow chart of an embodiment provided by the present invention;

FIG3 is a schematic diagram of various types of detection distance sources in FIG2;

FIG4 is a more detailed schematic diagram of the process of step S2 in FIG2 ;

FIG5 is a more detailed schematic diagram of the process of step S4 in FIG2 ;

FIG6 is a schematic diagram of distance data obtained by each sensor before interference determination and elimination in an example of the present invention;

FIG7 is a schematic diagram of distance data obtained by each sensor after interference determination and elimination in an example of the present invention;

FIG8 is a schematic structural diagram of an embodiment of a system for eliminating synchronous interference of ultrasonic radars provided by the present invention;

FIG9 is a schematic diagram of the structure of the preliminary distance obtaining unit in FIG8 ;

FIG10 is a schematic diagram of the structure of the auxiliary detection distance acquisition unit in FIG8;

FIG. 11 is a schematic structural diagram of the detection distance acquisition unit in FIG. 8 .

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings.

As shown in FIG1 , a schematic diagram of the main process of an embodiment of a method for eliminating synchronous interference of ultrasonic radar provided by the present invention is shown. Combined with FIGS. 2 to 5 , in this embodiment, the method at least includes:

Step S10, in one detection cycle of the ultrasonic radar, a detection ultrasonic wave is sent by a wave-transmitting sensor, and a subsequent echo is received by the wave-transmitting sensor and at least one matching sensor; after the detection ultrasonic wave is transmitted, a first preliminary detection distance and a second preliminary detection distance are calculated based on the echo received by the wave-transmitting sensor after the ultrasonic wave is transmitted; and a first preliminary auxiliary detection distance and a second preliminary auxiliary detection distance corresponding to each matching sensor are calculated based on the echo received by each matching sensor;

More specifically, the step S10 further includes:

The wave sensor calculates the first preliminary detection distance and the second preliminary detection distance according to the time difference between the ultrasonic wave emission and the echo reception; the matching sensor calculates the corresponding first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance according to the time difference between the ultrasonic wave emission and the echo reception of the wave sensor;

Wherein, when the wave sensor receives only one echo, the first preliminary detection distance is calculated and the second preliminary detection distance is an invalid value; when the wave sensor does not receive an echo, the first preliminary detection distance and the second preliminary detection distance are both invalid values;

When the matching sensor receives only one echo, the first preliminary auxiliary detection distance is calculated and the second preliminary auxiliary detection distance is an invalid value; when the transmitting sensor does not receive an echo, the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance are both invalid values.

Step S11, combining the detection distance value obtained in the previous cycle, performing interference identification on the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance of each matching sensor, eliminating the interference value therein, and determining the auxiliary detection distance corresponding to each matching sensor;

More specifically, the step S11 further includes:

The first preliminary detection distance and the second preliminary detection distance of each matching sensor are respectively compared with the detection distance value obtained in the previous cycle. If the difference between the two exceeds a predetermined threshold, it is determined to be an interference value; otherwise, it is determined to be an auxiliary detection distance of the matching sensor; the detection distance value obtained in the previous cycle is the detection distance value finally obtained by the matching sensor as a wave sensor in the previous cycle;

When the detection distance value obtained in the previous cycle is an invalid value, the first preliminary detection distance is determined as the auxiliary detection distance of the matching sensor;

When the first preliminary detection distance is an invalid value, or when the first preliminary detection distance is an interference value and the second preliminary detection distance is an invalid value, or both the first preliminary control distance and the second preliminary detection distance are interference values, it is determined that the auxiliary detection distance of the matching sensor is an invalid value.

Step S12, according to the auxiliary detection distance corresponding to each matching sensor, combined with the triangulation positioning technology, interference identification is performed on the first preliminary detection distance and the second preliminary detection distance of the wave sensor, and the interference value is eliminated to obtain the detection distance corresponding to the wave sensor;

More specifically, the step S12 further includes:

A judgment is made based on the auxiliary detection distance corresponding to each matching sensor, the distance between the matching sensor and the wave-generating sensor, and the first preliminary detection distance. If the three distances do not satisfy a triangulated positioning relationship, the first preliminary detection distance is determined as an interference value.

A judgment is made based on the auxiliary detection distance corresponding to each matching sensor, the distance between the matching sensor and the wave-generating sensor, and the second preliminary detection distance. If the three distances do not satisfy a triangulated positioning relationship, the second preliminary detection distance is determined as an interference value;

When the auxiliary detection distance is an invalid value, or when both the first preliminary detection distance and the second preliminary detection distance are invalid values or interference values, the detection distance corresponding to the wave sensor is determined to be an invalid value;

When the first preliminary detection distance satisfies the triangulation positioning relationship, determining the first preliminary detection distance as the detection distance corresponding to the wave sensor;

When the first preliminary detection distance is an interference value and the second preliminary detection distance satisfies a triangulated positioning relationship, the second preliminary detection distance is determined as the detection distance corresponding to the wave sensor.

It can be understood that if more than one matching sensor is used in step S11, a corresponding number of auxiliary detection distance values will be obtained; in the above steps, a detection distance value (including a normal value and an invalid value) can be obtained according to each auxiliary detection distance value; therefore, when there are more than one detection distances corresponding to the wave-transmitting sensor obtained according to multiple matching sensors, corresponding selection or processing is required to determine the corresponding detection distance. For example, in one example, the smallest one can be used as the detection distance corresponding to the wave-transmitting sensor.

Step S13, outputting the auxiliary detection distance and the detection distance, and determining the distance of the obstacle.

More specifically, in one embodiment of the present invention, the auxiliary detection distance and the detection distance in the current cycle may be output, and the smallest one thereof may be determined as the distance of the obstacle.

The step of performing interference identification on the first preliminary detection distance and the second preliminary detection distance of the wave-generating sensor according to the auxiliary detection distance corresponding to each matching sensor and combining the triangulation positioning technology, eliminating the interference value therein, and obtaining the detection distance corresponding to the wave-generating sensor further includes:

In order to have a deeper understanding of the method provided by the present invention, a specific example will be described below in conjunction with FIG. 2 to FIG. 5 .

First, the parameters in this example are described as follows:

In this example, the method is applied to the application of reversing obstacle distance recognition, which uses four ultrasonic sensors, namely RA, RB, RC and RD. In this cycle, RB is used as a wave transmitting sensor, which is also a wave receiving sensor; RA and RC are matched wave receiving sensors (i.e., the matching sensors mentioned above).

RBB is the preliminary detection distance calculated after the wave sensor receives the echo in this detection cycle, which specifically includes the first preliminary detection distance RBB1 and the second preliminary detection distance RBB2, which are respectively the first and second echo distances received after the current wave sensor RB transmits the wave; it can be understood that in one detection cycle, the wave sensor RB may receive two or more echoes, and the first two echoes are used for calculation in the present invention. Among them, when the wave sensor receives only one echo, the first preliminary detection distance RBB1 is calculated, and the second preliminary detection distance RBB2 is an invalid value; when the wave sensor does not receive an echo, the first preliminary detection distance RBB1 and the second preliminary detection distance RBB2 are both invalid values;

RBA is the preliminary auxiliary detection distance calculated after the matching sensor RA receives the echo in this period, which includes the first preliminary auxiliary detection distance RBA1 and the second preliminary auxiliary detection distance RBA2, which are respectively the first echo distance and the second echo distance received by the receiving sensor RA after the current wave sensor RB sends the wave and is reflected by the obstacle;

Similarly, RCA is the preliminary auxiliary detection distance calculated after the matching sensor RC receives the echo in this period, which includes the first preliminary auxiliary detection distance RCA1 and the second preliminary auxiliary detection distance RCA2, which are respectively the primary echo distance and the secondary echo distance received by the receiving sensor RC after the current transmitting sensor RB transmits the wave and is reflected by the obstacle;

Similarly, it can be understood that when the matching sensor (i.e., the receiving sensor) receives only one echo, the first preliminary auxiliary detection distance is calculated and the second preliminary auxiliary detection distance is an invalid value; when the transmitting sensor does not receive an echo, the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance are both invalid values.

In the subsequent figures, RAB1 refers to the obstacle distance obtained after RA, as a transmitting sensor, sends ultrasonic waves in the previous detection cycle and RB, as a receiving sensor, receives the waves and the co-frequency interference data is processed;

RCB1 refers to the obstacle distance obtained after the same-frequency interference data processing after RC as the transmitting sensor sends the ultrasonic wave and RB receives the wave, and RB as the receiving sensor receives the wave;

RBA_Out is the auxiliary detection distance corresponding to the receiving sensor RA after interference judgment processing;

RBC_Out is the auxiliary detection distance corresponding to the receiving sensor RC after interference judgment processing;

RBB1_A is the detection distance corresponding to the wave sensor RB obtained after triangulation positioning relationship determination using RBA_Out;

RBB1_C is the detection distance corresponding to the wave sensor RB obtained after triangulation positioning relationship determination using RBC_Out;

RBB_Out is the obstacle detection distance finally obtained by the wave sensor RB.

Further referring to FIG. 2 to FIG. 5 , this step is performed with respect to the detection period of sensor RB as an example, that is, sensor RB is used as a wave transmitting sensor, and RA and RC are used as matching wave receiving sensors.

The method comprises the following steps:

Step S1: The RB sensor detection cycle ends, and three sets of data, RBB, RBA, and RBC, are obtained, where RBB includes the first preliminary detection distance RBB1 and the second preliminary detection distance RBB2, RBA includes the first preliminary auxiliary detection distance RBA1 and the second preliminary auxiliary detection distance RBA2, and RBC includes the first preliminary auxiliary detection distance RBC1 and the second preliminary auxiliary detection distance RBC2. Enter step S2

Step S2: Combine the RAB data obtained in the detection cycle before the current detection cycle, perform co-channel interference determination on the RBA group data, obtain RBA_Out data, and enter step S3

More specifically, step S2 includes:

Step S21: Determine whether the initial auxiliary assistance distance (RBA1 value) is valid. If not, the current cycle RBA does not detect an obstacle, the RBA_Out value is invalid, and the process jumps to step S26; if valid, proceed to step S22;

Step S22: Determine whether the RAB1 value is valid. If not, it is considered that there is no data for reference and comparison (i.e., there is no previous detection cycle, or the distance obtained in the previous detection cycle is an invalid value), and it is impossible to determine whether RBA1 is interfered, then RBA_Out = RBA1, and the process jumps to step S26; if valid, enter step S23;

Step S23: determine whether RAB1 and RBA1 are close within a set threshold range. If so, it is considered that the RBA1 data is not interfered with, so it is concluded that RBA_Out = RBA1, and the process jumps to step S26; if not, it is considered that the RBA1 data is interference data, and enters step S24;

Step S24: Determine whether the RBA2 value is valid. If not, there is no valid data to compare under the premise that RBA1 is interference data, and the RBA_Out value is invalid, and the process jumps to step S26; if valid, enter step S25;

Step S25: Determine whether RAB1 and RBA2 are close within the set threshold range. If so, it is considered that RBA2 data is not interfered with, so RBA_Out = RBA2; if not, it is considered that RBA2 data is interference data, and the RBA_Out value is invalid. The RBA group data processing is completed, and enter step S26;

Step S26: The determination of whether the RBA group data is disturbed is completed and RBA_Out is output.

It can be understood that in step S2 and step S3, for real obstacles, the RBA1 and RAB1 values should be similar. If there is a co-frequency interference signal, the RBA1 value will become smaller, and the distance value collected to the real obstacle may appear in RBA2. Therefore, by comparing RAB1 to confirm whether RBA1 or RBA2 is an interference value, the interference value can be eliminated and the real distance of the actual obstacle can be obtained.

Step S3: The determination method is the same as that of step S2. The RBC group data is combined with the RCB data to perform co-frequency interference determination to obtain RBC_Out data, and then proceed to step S4.

Step S4: According to RBA_Out and RBC_Out obtained in steps S2 and S3, co-channel interference determination is performed on the RBB group data to obtain RBB_Out, and then the process proceeds to step S5.

The step S4 specifically includes:

Step S41: determine whether the RBB1 value is valid. If not, the RBB does not detect an obstacle in the current cycle, the RBB_Out value is invalid, and the process jumps to step S411; if valid, proceed to step S42;

Step S42: Determine whether the RBA1_Out value is valid. If not, there is no data for reference and comparison between RA and RB, the RBB1_A value is invalid, and the process jumps to step S47; if valid, proceed to step S43;

Step S43: According to the triangle side length theorem, the sum of the two sides is greater than the third side, and the installation position distance value of the two sensors RA and RB is AB. It is determined whether (RBB1+AB)>RBA_Out and (RBA_Out+AB)>RBB1. If the conditions are met, it is determined that the RBB1 value is not disturbed, so it is concluded that RBB1_A＝RBB1, and the process jumps to step S47; if not, it is determined that the RBB1 value is disturbed, and the process goes to step S44;

Step S44: determine whether the RBB2 value is valid. If not, there is no data for reference and comparison between RA and RB, the RBB1_A value is invalid, and the process jumps to step S47; if valid, proceed to step S45;

Step S45: Use the same triangle theorem as step S43 to determine whether (RBB2+AB)>RBA_Out and (RBA_Out+AB)>RBB2. If the conditions are met, it is determined that the RBB2 value is not disturbed, so it is concluded that RBB1_A=RBB2, and the process jumps to step S47; if not, it is determined that the RBB2 value is disturbed, the RBB1_A value is invalid, and the process jumps to step S47;

Step S46: Use RBC_Out to replace RBA_Out, and use the installation position distance BC between RB and RC to replace AB, repeat steps S42 to S45, obtain RBB1_C, and proceed to step S47;

Step S47: Obtain data RBB1_A and RBB1_C from steps S42 to S46, and proceed to step S48;

Step S48: Determine whether the values of RBB1_A and RBB1_C are both valid. If so, the process jumps to step S411; if not, proceed to step S49;

Step S49: determine whether the value of RBB1_A is valid. If valid, RBB_Out = RBB1_A, and the process jumps to step S412; if invalid, proceed to step S410;

Step S410: determine whether the RBB1_C value is valid, if valid, RBB_Out = RBB1_C; if invalid, the RBB_Out value is invalid; RBB group data processing is completed, and the process jumps to S412;

Step S411: Compare the values of RBB1_A and RBB1_C, take the minimum value of RBB_Out, and proceed to step S412;

Step S412: The determination of whether the RBB group data is interfered is completed, and RBB_Out is output.

It can be understood that since RBB and RBA are obtained by reflection of ultrasonic waves after encountering obstacles, RBB, RBA and AB can form a triangle. According to the triangle side length theorem, by excluding the interference value RBA_Out and the known AB, it is confirmed whether RBB1 or RBB2 is an interference value, thereby eliminating the interference value and obtaining the actual distance of the actual obstacle.

The sensor RB data processing for this cycle is completed and RBB_Out, RBA_Out and RBC_Out are output.

In order to verify the effect of the method provided by the present invention, please refer to Figures 6 and 7. It shows the data collection of a real vehicle before and after being processed by this method. The scene is that there is a real obstacle about 2.5m behind the vehicle, and another vehicle in the distance continuously emits ultrasonic signals as an interference source. As can be seen from Figure 6, the data of the four-way sensor have many discrete data points, and most of the distance values obtained are much smaller than the actual obstacle values. Such data will lead to the mistaken belief that the obstacle is very close to the vehicle, resulting in a false alarm. After being processed by this method, it can be seen from Figure 7 that the data obtained by the four-way sensor is still concentrated around 2.5m, and invalid data will not be output due to interference signals, which will lead to the abandonment of the detection of obstacles at this moment, thereby ensuring the continuity of the obstacle detection distance.

As shown in FIG8 , a schematic diagram of the structure of an embodiment of a system for eliminating synchronous interference of ultrasonic radar provided by the present invention is shown. Combined with FIGS. 9 to 11 , in this embodiment, the system 1 at least includes:

The preliminary distance obtaining unit 10 is used to use a wave-transmitting sensor to send a detection ultrasonic wave in a detection cycle of the ultrasonic radar, and use the wave-transmitting sensor and at least one matching sensor to receive subsequent echoes; after transmitting the detection ultrasonic wave, calculate and obtain a first preliminary detection distance and a second preliminary detection distance according to the echoes received by the wave-transmitting sensor after transmitting the ultrasonic wave; calculate and obtain a corresponding first preliminary auxiliary detection distance and a second preliminary auxiliary detection distance according to the echoes received by each matching sensor;

The auxiliary detection distance obtaining unit 11 is used to perform interference identification on the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance of each matching sensor in combination with the detection distance value obtained in the previous cycle, eliminate the interference value therein, and determine the auxiliary detection distance corresponding to each matching sensor;

The detection distance unit 12 is used to perform interference identification on the first preliminary detection distance and the second preliminary detection distance of the wave sensor according to the auxiliary detection distance corresponding to each matching sensor in combination with the triangulation positioning technology, eliminate the interference value therein, and obtain the detection distance corresponding to the wave sensor;

The obstacle distance determination unit 13 is used to output the auxiliary detection distance, the detection distance, and determine the distance of the obstacle.

As shown in FIG9 , the preliminary distance obtaining unit 10 further includes:

The calculation processing unit 100 is used for the wave sensor to calculate the first preliminary detection distance and the second preliminary detection distance according to the time difference between the ultrasonic wave emitted and the echo received; the matching sensor calculates the corresponding first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance according to the time difference between the ultrasonic wave emitted by the wave sensor and the echo received by itself;

The invalid value determination unit 101 is used for calculating the first preliminary detection distance when the wave-transmitting sensor receives only one echo, and the second preliminary detection distance is an invalid value; when the wave-transmitting sensor does not receive an echo, the first preliminary detection distance and the second preliminary detection distance are both invalid values; and when the matching sensor receives only one echo, the first preliminary auxiliary detection distance is calculated, and the second preliminary auxiliary detection distance is an invalid value; when the wave-transmitting sensor does not receive an echo, the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance are both invalid values.

As shown in FIG10 , the auxiliary detection distance obtaining unit 11 further includes:

The interference comparison unit 110 is used to compare the first preliminary detection distance and the second preliminary detection distance of each matching sensor with the detection distance value obtained in the previous cycle, and if the difference between the two exceeds a predetermined threshold, it is determined to be an interference value; the detection distance value obtained in the previous cycle is the detection distance value finally obtained by the matching sensor as a wave sensor in the previous cycle;

The auxiliary distance determination unit 111 is used to determine the difference between the two as the auxiliary detection distance of the matching sensor when the comparison result is that the difference does not exceed the predetermined threshold; and when the detection distance value obtained in the previous cycle is an invalid value, determine the first preliminary detection distance as the auxiliary detection distance of the matching sensor; and when the first preliminary detection distance is an invalid value, or when the first preliminary detection distance is an interference value and the second preliminary detection distance is an invalid value, or when the first preliminary control distance and the second preliminary detection distance are both interference values, determine that the auxiliary detection distance of the matching sensor is an invalid value.

[Corrected 11.10.2023 in accordance with Rule 91]
As shown in FIG11 , the detection distance obtaining unit 12 further includes:

The positioning relationship judgment unit 120 is used to make a judgment based on the auxiliary detection distance corresponding to each matching sensor, the distance between the matching sensor and the wave-emitting sensor, and the first preliminary detection distance. If the three distances do not satisfy the triangular positioning relationship, the first preliminary detection distance is determined as an interference value; and make a judgment based on the auxiliary detection distance corresponding to each matching sensor, the distance between the matching sensor and the wave-emitting sensor, and the second preliminary detection distance. If the three distances do not satisfy the triangular positioning relationship, the second preliminary detection distance is determined as an interference value;

The detection distance determination unit 121 is used to determine the detection distance corresponding to the wave-transmitting sensor as an invalid value when the auxiliary detection distance is an invalid value, or when the first preliminary detection distance and the second preliminary detection distance are both invalid values or both are interference values; and when the first preliminary detection distance satisfies a triangulated positioning relationship, determine the first preliminary detection distance as the detection distance corresponding to the wave-transmitting sensor; and when the first preliminary detection distance is an interference value and the second preliminary detection distance satisfies a triangulated positioning relationship, determine the second preliminary detection distance as the detection distance corresponding to the wave-transmitting sensor;

The selection and determination unit 122 is configured to, when there are more than one detection distances corresponding to the wave-generating sensor obtained according to the plurality of matching sensors, use the smallest one as the detection distance corresponding to the wave-generating sensor.

For more details, please refer to and combine with the above description of Figures 1 to 7, which will not be repeated here.

As another aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in the above-mentioned Figures 1 to 7 are implemented. For more details, reference can be made to and in combination with the above-mentioned description of Figures 1 to 7, which will not be repeated here.

As another aspect of the present invention, a vehicle is provided, which includes an obstacle recognition device, wherein the obstacle recognition device integrates the system for eliminating ultrasonic radar synchronization interference described in Figures 8 to 11. For more details, reference can be made to and in combination with the description of Figures 8 to 11, which will not be repeated here.

The implementation of the embodiments of the present invention has the following beneficial effects:

The present invention provides a method, system, vehicle and storage medium for eliminating synchronous interference of ultrasonic radar. The existing data of matching sensors on both sides of the wave sensor at the current moment is used as the data input source for judging whether there is interference, so as to distinguish the interference value and the obstacle detection value in the three sets of data detected in this cycle, thereby eliminating synchronous interference and obtaining accurate obstacle distance information.

The present invention effectively distinguishes the interference signal value from the obstacle detection value without increasing the detection time within the current cycle; and in the presence of interference signals, it can output the obstacle detection distance value as much as possible, while avoiding outputting invalid values as much as possible, ensuring the continuity of obstacle detection data, thereby improving the accuracy of obstacle detection while reducing false alarms. It can improve safety and user experience.

It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

The present invention is described with reference to the flowchart and/or block diagram of the method, device (system), and computer program product according to the embodiment of the present invention. It should be understood that each process and/or box in the flowchart and/or block diagram, as well as the combination of the process and/or box in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

The above disclosure is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims (12)

1. A method for eliminating ultrasonic radar synchronization interference, characterized in that it at least includes the following steps:

   In one detection cycle of the ultrasonic radar, a wave-transmitting sensor is used to transmit a detection ultrasonic wave, and the wave-transmitting sensor and at least one matching sensor are used to receive subsequent echoes; after transmitting the detection ultrasonic wave, a first preliminary detection distance and a second preliminary detection distance are calculated based on the echoes received by the wave-transmitting sensor, and a first preliminary auxiliary detection distance and a second preliminary auxiliary detection distance corresponding to each matching sensor are calculated based on the echoes received by each matching sensor;

   Combined with the detection distance value obtained in the previous cycle, interference identification is performed on the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance of each matching sensor, and the interference value is eliminated to determine the auxiliary detection distance corresponding to each matching sensor;

   According to the auxiliary detection distance corresponding to each matching sensor, combined with the triangulation positioning technology, interference identification is performed on the first preliminary detection distance and the second preliminary detection distance of the wave-generating sensor, and the interference value is eliminated to obtain the detection distance corresponding to the wave-generating sensor;

   The auxiliary detection distance and the detection distance are outputted, and the distance of the obstacle is determined.
2. The method of claim 1 is characterized in that the step of combining the detection distance value obtained in the previous cycle, performing interference identification on the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance of each matching sensor, excluding the interference value therein, and determining the auxiliary detection distance corresponding to each matching sensor further comprises:

   The first preliminary detection distance and the second preliminary detection distance of each matching sensor are respectively compared with the detection distance value obtained in the previous cycle. If the difference between the two exceeds a predetermined threshold, it is determined to be an interference value; otherwise, it is determined to be an auxiliary detection distance of the matching sensor; the detection distance value obtained in the previous cycle is the detection distance value finally obtained by the matching sensor as a wave sensor in the previous cycle;

   When the detection distance value obtained in the previous cycle is an invalid value, the first preliminary detection distance is determined as the auxiliary detection distance of the matching sensor;

   When the first preliminary detection distance is an invalid value, or when the first preliminary detection distance is an interference value and the second preliminary detection distance is an invalid value, or both the first preliminary control distance and the second preliminary detection distance are interference values, it is determined that the auxiliary detection distance of the matching sensor is an invalid value.
3. The method of claim 2 is characterized in that the step of calculating the first preliminary detection distance and the second preliminary detection distance according to the echo received by the wave-emitting sensor after emitting the detection ultrasonic wave, and calculating the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance corresponding to each matching sensor according to the echo received by the matching sensor further comprises:

   The wave sensor calculates the first preliminary detection distance and the second preliminary detection distance according to the time difference between the ultrasonic wave emission and the echo reception; the matching sensor calculates the corresponding first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance according to the time difference between the ultrasonic wave emission and the echo reception of the wave sensor;

   Wherein, when the wave sensor receives only one echo, the first preliminary detection distance is calculated and the second preliminary detection distance is an invalid value; when the wave sensor does not receive an echo, the first preliminary detection distance and the second preliminary detection distance are both invalid values;

   When the matching sensor receives only one echo, the first preliminary auxiliary detection distance is calculated and the second preliminary auxiliary detection distance is an invalid value; when the transmitting sensor does not receive an echo, the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance are both invalid values.
4. The method of claim 3 is characterized in that the step of performing interference identification on the first preliminary detection distance and the second preliminary detection distance of the wave-generating sensor according to the auxiliary detection distance corresponding to each matching sensor in combination with triangulation positioning technology, eliminating the interference value therein, and obtaining the detection distance corresponding to the wave-generating sensor further comprises:

   A judgment is made based on the auxiliary detection distance corresponding to each matching sensor, the distance between the matching sensor and the wave-generating sensor, and the first preliminary detection distance. If the three distances do not satisfy a triangulated positioning relationship, the first preliminary detection distance is determined as an interference value.

   A judgment is made based on the auxiliary detection distance corresponding to each matching sensor, the distance between the matching sensor and the wave-generating sensor, and the second preliminary detection distance. If the three distances do not satisfy a triangulated positioning relationship, the second preliminary detection distance is determined as an interference value;

   When the auxiliary detection distance is an invalid value, or when both the first preliminary detection distance and the second preliminary detection distance are invalid values or interference values, the detection distance corresponding to the wave sensor is determined to be an invalid value;

   When the first preliminary detection distance satisfies the triangulation positioning relationship, determining the first preliminary detection distance as the detection distance corresponding to the wave sensor;

   When the first preliminary detection distance is an interference value and the second preliminary detection distance satisfies a triangulation positioning relationship, the second preliminary detection distance is determined as the detection distance corresponding to the wave sensor.
5. The method of claim 4 is characterized in that the step of performing interference identification on the first preliminary detection distance and the second preliminary detection distance of the wave-generating sensor according to the auxiliary detection distance corresponding to each matching sensor in combination with triangulation positioning technology, eliminating the interference value therein, and obtaining the detection distance corresponding to the wave-generating sensor further comprises:

   When there are more than one detection distances corresponding to the wave-emitting sensor obtained according to multiple matching sensors, the smallest one is used as the detection distance corresponding to the wave-emitting sensor.
6. A system for eliminating synchronous interference of ultrasonic radar, characterized in that it at least includes:

   The preliminary distance obtaining unit is used to use the wave-transmitting sensor to send a detection ultrasonic wave in a detection cycle of the ultrasonic radar, and use the wave-transmitting sensor and at least one matching sensor to receive subsequent echoes; after transmitting the detection ultrasonic wave, calculate and obtain a first preliminary detection distance and a second preliminary detection distance according to the echo received by the wave-transmitting sensor; calculate and obtain the corresponding first preliminary auxiliary detection distance and second preliminary auxiliary detection distance according to the echo received by each matching sensor;

   The auxiliary detection distance obtaining unit is used to perform interference identification on the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance of each matching sensor in combination with the detection distance value obtained in the previous cycle, eliminate the interference value therein, and determine the auxiliary detection distance corresponding to each matching sensor;

   A detection distance unit, used to perform interference identification on the first preliminary detection distance and the second preliminary detection distance of the wave-emitting sensor according to the auxiliary detection distance corresponding to each matching sensor and in combination with the triangulation positioning technology, eliminate the interference value therein, and obtain the detection distance corresponding to the wave-emitting sensor;

   The obstacle distance determination unit is used to output the auxiliary detection distance, the detection distance, and determine the distance of the obstacle.
7. The system of claim 6, wherein the auxiliary detection distance obtaining unit further comprises:

   An interference comparison unit is used to compare the first preliminary detection distance and the second preliminary detection distance of each matching sensor with the detection distance value obtained in the previous cycle, and if the difference between the two exceeds a predetermined threshold, it is determined to be an interference value; the detection distance value obtained in the previous cycle is the detection distance value finally obtained by the matching sensor as a wave sensor in the previous cycle;

   An auxiliary distance determination unit is used to determine the difference between the two as the auxiliary detection distance of the matching sensor when the comparison result is that the difference does not exceed the predetermined threshold; and when the detection distance value obtained in the previous cycle is an invalid value, determine the first preliminary detection distance as the auxiliary detection distance of the matching sensor; and when the first preliminary detection distance is an invalid value, or when the first preliminary detection distance is an interference value and the second preliminary detection distance is an invalid value, or when the first preliminary control distance and the second preliminary detection distance are both interference values, determine that the auxiliary detection distance of the matching sensor is an invalid value.
8. The system according to claim 7, characterized in that the preliminary distance obtaining unit further comprises:

   The calculation processing unit is used for the wave sensor to calculate the first preliminary detection distance and the second preliminary detection distance according to the time difference between the ultrasonic wave emitted and the echo received; the matching sensor calculates the corresponding first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance according to the time difference between the ultrasonic wave emitted by the wave sensor and the echo received by itself;

   The invalid value determination unit is used to calculate the first preliminary detection distance and the second preliminary detection distance as an invalid value when the wave-transmitting sensor receives only one echo; when the wave-transmitting sensor does not receive an echo, the first preliminary detection distance and the second preliminary detection distance are both invalid values; and when the matching sensor receives only one echo, the first preliminary auxiliary detection distance is calculated and the second preliminary auxiliary detection distance is an invalid value; when the wave-transmitting sensor does not receive an echo, the first preliminary auxiliary detection distance and the second preliminary auxiliary detection distance are both invalid values.
9. The system of claim 8, wherein the detection distance obtaining unit further comprises:

   a positioning relationship judgment unit, configured to make a judgment based on the auxiliary detection distance corresponding to each matching sensor, the distance between the matching sensor and the wave-emitting sensor, and the first preliminary detection distance, and if the three distances do not satisfy the triangular positioning relationship, determine the first preliminary detection distance as an interference value; and make a judgment based on the auxiliary detection distance corresponding to each matching sensor, the distance between the matching sensor and the wave-emitting sensor, and the second preliminary detection distance, and if the three distances do not satisfy the triangular positioning relationship, determine the second preliminary detection distance as an interference value;

   A detection distance determination unit is used to determine the detection distance corresponding to the wave-transmitting sensor as an invalid value when the auxiliary detection distance is an invalid value, or when the first preliminary detection distance and the second preliminary detection distance are both invalid values or both are interference values; and to determine the first preliminary detection distance as the detection distance corresponding to the wave-transmitting sensor when the first preliminary detection distance satisfies a triangulated positioning relationship; and to determine the second preliminary detection distance as the detection distance corresponding to the wave-transmitting sensor when the first preliminary detection distance is an interference value and the second preliminary detection distance satisfies a triangulated positioning relationship.
10. The system of claim 9, wherein the detection distance obtaining unit further comprises:

    The selection and determination unit is used to, when there are more than one detection distances corresponding to the wave-emitting sensor obtained according to the multiple matching sensors, use the smallest one as the detection distance corresponding to the wave-emitting sensor.
11. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method as claimed in any one of claims 1 to 5.
12. A vehicle, characterized in that it comprises an obstacle recognition device, wherein the obstacle recognition device is integrated with a system for eliminating ultrasonic radar synchronization interference as described in any one of claims 6 to 10.