CN113777614A - Ultrasonic radar data transmission method and system - Google Patents
Ultrasonic radar data transmission method and system Download PDFInfo
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- CN113777614A CN113777614A CN202111041737.4A CN202111041737A CN113777614A CN 113777614 A CN113777614 A CN 113777614A CN 202111041737 A CN202111041737 A CN 202111041737A CN 113777614 A CN113777614 A CN 113777614A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000005284 excitation Effects 0.000 claims description 29
- 238000004891 communication Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 4
- 238000002604 ultrasonography Methods 0.000 description 11
- 239000000523 sample Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
Abstract
The invention provides an ultrasonic radar data transmission method and a system thereof, wherein the method comprises the steps that an ultrasonic system starts to work after receiving a starting instruction, the ultrasonic is transmitted outwards at regular time, echo signals reflected after the ultrasonic meets an obstacle are collected, the collected echo signals are stored, a first pulse signal and a second pulse signal of the ultrasonic system are calculated according to the stored echo signals, and therefore the position of the obstacle is determined. The system of the present invention is applied to the above method. The invention can improve the real-time property and reduce the load and the cost by defining a new data expression format without a standard bus mode.
Description
Technical Field
The invention relates to the technical field of ultrasonic radars, in particular to an ultrasonic radar data transmission method and an ultrasonic radar data transmission system applying the same.
Background
Ultrasonic radar systems are commonly used in automobiles to detect obstacles and to alert drivers to prevent collisions. The ultrasonic radar system is generally composed of a host machine with radar sensors, and the number of the sensors is determined by a vehicle manufacturer according to requirements. Alternatively, the ultrasonic radar system consists of a radar system without a master, which has a master probe that is both the master and the probe, and the other sensors are slave probes.
At present, peak signals or confidence signals returned to a controller by an ultrasonic radar sensor are digital signals, delay exists relative to real-time performance, data size is large, load is heavy, a standard bus communication mode is generally adopted, a special transceiver chip is required to be adopted at a transmitting and receiving end, and cost is high.
In the prior art, a peak or confidence level is represented by a digital signal, with multiple peak confidence levels having multiple time position values and peak values or confidence levels. A radar sensor (also called a radar probe) of a sonic radar system is usually built in the probe by using an ASIC chip, and signals transmitted to a controller (a host or a main probe) by the probe include the following signals:
as shown in fig. 1, fig. 1 is a timing chart of wave-sending of signals transmitted to a controller by a probe in the prior art, which has only signal magnitude and no peak value or confidence value, and has the following disadvantages: no peak signal is represented.
As shown in fig. 2, fig. 2 is a timing chart of wave emission of signals transmitted to a controller by a probe in the second prior art, which has the following disadvantages: the peak signal is delayed, and the data size is large and the load is heavy.
As shown in fig. 3, fig. 3 is a timing chart of wave emission of signals transmitted to a controller by a probe in the third prior art, which includes signal amplitude and peak value, confidence, time, etc., and has the following disadvantages: all digital signals are delayed, the data volume is large, and the load is heavy; the communication mode generally adopts a communication mode of a standard bus, a transceiver is needed at a transmitting end and a receiving end, and the product cost is higher.
Disclosure of Invention
The invention mainly aims to provide an ultrasonic radar data transmission method which can improve the real-time performance and reduce the load by defining a new data expression format and needing no standard bus mode.
Another object of the present invention is to provide an ultrasonic radar data transmission system applied to the above ultrasonic radar data transmission method.
In order to achieve the main object, the present invention provides an ultrasonic radar data transmission method, including the steps of: the ultrasonic system starts to work after receiving the starting instruction, and periodically transmits ultrasonic waves outwards; acquiring echo signals reflected after ultrasonic waves encounter an obstacle, storing the acquired echo signals, and calculating a first pulse signal and a second pulse signal of an ultrasonic system according to the stored echo signals so as to determine the position of the obstacle; for echo signals without coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a signal width value, and the position of an obstacle is determined according to the falling edge of the pulse signal; for echo signals with coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a confidence value, and the position of the obstacle is determined according to the falling edge of the pulse signal.
In a further scheme, for echo signals with coded excitation, pulse signals are coded at a transmitting end of an ultrasonic system, then a carrier wave is modulated by the coded signals, and an ultrasonic sensor is excited by a modulated pulse excitation sequence; the transmitted signal is transmitted in the air and reflected after encountering an obstacle, and an echo signal enters a receiving end of the ultrasonic system.
In a further scheme, at the receiving end of the ultrasonic system, the echo signal and a reference signal which is stored in advance are used for carrying out correlation operation, and a first pulse signal and a second pulse signal of the ultrasonic system are calculated.
In a further embodiment, the ultrasound system has a plurality of ultrasound sensors and a host computer, and pulse signals of signal profiles respectively identified from a plurality of received echo signals are transmitted to the host computer via a vehicle data communication system for identifying obstacles and/or the distance of an obstacle to at least one ultrasound sensor or one of the ultrasound sensors of the ultrasound system.
In a further scheme, before the ultrasonic system starts to work, a cutting level is configured for the ultrasonic sensor, after the ultrasonic system collects an echo signal, whether the echo signal is greater than the cutting level is judged, if yes, the sampling signal is effective, the effective echo signal is recorded, and the level is pulled down and transmitted back to the host.
In a further embodiment, assuming that the feedback width of the first pulse signal is X, the actual peak value is X × 10.
In a further embodiment, assuming that the feedback width of the second pulse signal is X, the actual width is X10.
In a further scheme, for an echo signal without coded excitation, the return width of the second pulse signal is a signal width value; for echo signals with coded excitation, the return width of the second pulse signal is a confidence value.
In a further scheme, when the cutting level is configured for the ultrasonic sensor, an array is set, different voltage values are set in the array, each voltage value is called the cutting level, timing is started from wave sending of the ultrasonic sensor, the numerical value variable of the array label is increased by 1 at intervals, cutting level change is achieved, and data in the array and echo signals are used for comparison.
In order to achieve another object, the present invention provides an ultrasonic radar data transmission system including: the signal transmitting unit is used for starting working after the ultrasonic system receives the starting instruction and transmitting ultrasonic waves to the outside at regular time; the ultrasonic detection device comprises a wave detection unit, a signal processing unit and a signal processing unit, wherein the wave detection unit is used for collecting echo signals reflected after ultrasonic waves encounter an obstacle, storing the collected echo signals, and calculating a first pulse signal and a second pulse signal of an ultrasonic system according to the stored echo signals so as to determine the position of the obstacle; for echo signals without coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a signal width value, and the position of an obstacle is determined according to the falling edge of the pulse signal; for echo signals with coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a confidence value, and the position of the obstacle is determined according to the falling edge of the pulse signal.
Therefore, the ultrasonic radar data transmission method provided by the invention adopts the width of the pull-down low level to represent the size of the peak value or the size of the confidence value, the pull-down position represents the time position value, the signal real-time performance is good, the signal width, the peak value and the confidence coefficient do not need to be represented by digital signals, the load is small, a communication mode of a standard bus is not needed, and the cost is low.
Drawings
Fig. 1 is a timing chart of wave generation in the first prior art.
Fig. 2 is a wave timing diagram of the second prior art.
Fig. 3 is a timing chart of wave generation in the third prior art.
FIG. 4 is a flow chart of an embodiment of an ultrasonic radar data transmission method of the present invention.
FIG. 5 is a timing chart of the echo peak and the signal width in the embodiment of the method for transmitting ultrasonic radar data according to the present invention.
FIG. 6 is a timing chart of the echo peak and confidence level in an embodiment of the method for ultrasound radar data transmission according to the present invention.
FIG. 7 is a schematic diagram of the relationship between the cut level and the echo signal in an embodiment of the ultrasonic radar data transmission method of the present invention.
FIG. 8 is a schematic diagram of an embodiment of an ultrasonic radar data transmission system of the present invention.
The invention is further explained with reference to the drawings and the embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
Referring to fig. 4, an ultrasonic radar data transmission method of the present invention includes the steps of:
and step S1, the ultrasonic system starts to work after receiving the starting instruction, and the ultrasonic wave is emitted outwards at regular time.
And step S2, acquiring echo signals reflected after the ultrasonic waves encounter the obstacle, storing the acquired echo signals, and calculating a first pulse signal and a second pulse signal of the ultrasonic system according to the stored echo signals so as to determine the position of the obstacle.
In step S2, the first pulse signal is an echo peak value and the second pulse signal is a signal width value with respect to the echo signal having no coded excitation, and the position of the obstacle is determined based on the falling edge of the pulse signal.
For echo signals with coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a confidence value, and the position of the obstacle is determined according to the falling edge of the pulse signal.
Specifically, for echo signals with coded excitation, pulse signals are coded at the transmitting end of an ultrasonic system, then the coded signals are used for modulating carrier waves, and the modulated pulse excitation sequence is used for exciting the ultrasonic sensor; the transmitted signal is transmitted in the air and reflected after encountering an obstacle, and an echo signal enters a receiving end of the ultrasonic system.
Then, at the receiving end of the ultrasonic system, correlation operation is performed using the echo signal and a reference signal stored in advance, and a first pulse signal and a second pulse signal of the ultrasonic system are calculated.
In this embodiment, the ultrasound system has a plurality of ultrasound sensors and a host computer, and transmits pulse signals of signal profiles respectively identified in a plurality of received echo signals to the host computer via a vehicle data communication system for identifying obstacles and/or distances of the obstacles to at least one ultrasound sensor or one of the ultrasound sensors of the ultrasound system.
Before the ultrasonic system starts working, a cutting level is configured for the ultrasonic sensor, after the ultrasonic system collects echo signals, whether the echo signals are larger than the cutting level is judged, if yes, the sampling signals are effective, effective echo signals are recorded, and the level is pulled down and transmitted back to the host.
When the ultrasonic sensor is configured with the cutting level, an array is set, different voltage values are set in the array, each voltage value is called the cutting level, timing is started from wave sending of the ultrasonic sensor, the array label value variable is increased by 1 at intervals, cutting level change is achieved, and data in the array and echo signals are used for comparison.
The confidence of this embodiment is: after the signal with coded excitation is sent out, the echo signal reflected back when encountering an obstacle is also a coded signal, and because the signal is distorted or interfered by other signals, the code of the echo signal reflected back is not necessarily identical to that of the original echo signal, and the echo signal has certain similarity, the similarity is confidence coefficient, the greater the similarity is, the higher the confidence coefficient is, the closer the signal is to the original signal, the invention judges whether the received signal is the signal transmitted by a user according to the confidence coefficient, so as to prevent false alarm, false alarm omission and the like caused by the reception of wrong signals.
In this embodiment, assuming that the feedback width of the first pulse signal is X, the actual peak value is X × 10, and if the feedback width of the first pulse signal is 50uS, the actual peak value is 50 × 10.
In this embodiment, assuming that the feedback width of the second pulse signal is X, the actual width is X × 10, and if the feedback width of the second pulse signal is 50uS, the actual width is 50 × 10.
In this embodiment, for an echo signal without coded excitation, the return width of the second pulse signal is a signal width value; for echo signals with coded excitation, the return width of the second pulse signal is a confidence value.
Specifically, as shown in fig. 5, for a format without encoding: two consecutive low pulse widths are used for representing the pulse width, for example, the second pulse signal represents the signal width, the first pulse represents the corresponding peak value, and the larger the width is, the larger the peak value is; the position where the pulse falls is the obstacle position.
The corresponding relationship between the width and the signal size may be determined by a chip manufacturer or both, for example, the actual signal width may be obtained by multiplying the backhaul signal width by 10 times, and if the backhaul width is 50uS, the actual width is 50 × 10 — 500uS, or sometimes, for example, to avoid too heavy load on the signal receiving end software; of course, it is also desirable that the value of X is not too small, e.g., the minimum width should not be less than 100uS, so that the actual width value should be (X-100) × 10, and the same other way round. The advantage is that the backhaul width does not need to occupy as large a low level width.
As shown in fig. 6, for a coded format: two consecutive low pulse widths are used to represent the magnitude of the pulse, e.g., the second pulse represents the confidence value, the first pulse represents its corresponding peak, and the larger the width, the larger the peak; the position where the pulse falls is the position of an obstacle; the corresponding relation between the width and the signal size is the same as a non-coding mode, and the only way is to replace the signal width by the confidence coefficient.
As shown in fig. 7, the cut level is related to the echo signal as follows:
2-3: representing the position distance of the level cut between the left small echo and the rising edge of the main echo;
3-4: representing the width of the echo beyond the cutting level, such as the width X, then X10 is the actual width, the accuracy 10uS, or the result of table lookup; representing the echo width when not coded and representing the confidence coefficient when coded;
5-6: representing the magnitude of the main echo peak, such as the width of X, then X10 is the actual peak, or from a look-up table;
6-7: representing the distance of the main echo from its small echo to the right beyond the cut level.
The working principle of the ultrasonic system of the embodiment is as follows: if the ultrasonic wave generated by the ultrasonic sensor is emitted outwards and touches an object in a certain range, a reflected wave returns to an emitting source (the surface of the ultrasonic sensor), and the host can measure the distance by using the delay time between the emitted wave and the reflected wave and the speed of the sound wave (340 m/s at normal temperature).
In this embodiment, the present invention further provides an automatic parking method, including the following steps:
(1) detecting the obstacles according to the ultrasonic radar data transmission method;
(2) calculating a parking operation track according to the distance between the obstacles;
(3) and controlling gears, braking, accelerator and steering to realize automatic parking.
Of course, the detection of the parking space is not limited to the parking space formed by two vehicles, and may also be a scene containing more than one target object, and when only a single target object (for example, a pillar) exists, the method of the present invention may also detect the position of the obstacle, so as to plan the parking path for automatic parking.
The ultrasonic radar data transmission method calculates the distance of each point position according to the received echo signals of each ultrasonic sensor, and performs operation (adopting a smooth filtering algorithm, a parking space data catastrophe point identification algorithm and a key position secondary coordinate correction algorithm) according to the speed signal of the vehicle body so as to obtain the position information of the obstacle.
Therefore, the ultrasonic radar data transmission method provided by the invention adopts the width of the pull-down low level to represent the size of the peak value or the size of the confidence value, the pull-down position represents the time position value, the signal real-time performance is good, the signal width, the peak value and the confidence coefficient do not need to be represented by digital signals, the load is small, a communication mode of a standard bus is not needed, and the cost is low.
An ultrasonic radar data transmission system embodiment:
as shown in fig. 8, the present invention provides an ultrasonic radar data transmission system, including:
and the signal transmitting unit 10 is used for starting to work after the ultrasonic system receives the starting instruction, and transmitting ultrasonic waves to the outside at regular time.
The wave detection unit 20 is configured to collect echo signals reflected by the ultrasonic waves after encountering the obstacle, store the collected echo signals, and calculate a first pulse signal and a second pulse signal of the ultrasonic system according to the stored echo signals, so as to determine the position of the obstacle.
For echo signals without coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a signal width value, and the position of an obstacle is determined according to the falling edge of the pulse signal; for echo signals with coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a confidence value, and the position of the obstacle is determined according to the falling edge of the pulse signal.
For echo signals with coded excitation, coding pulse signals at a transmitting end of an ultrasonic system, modulating carrier waves by using the coded signals, and exciting an ultrasonic sensor by using a modulated pulse excitation sequence; the transmitted signal is transmitted in the air and reflected after encountering an obstacle, and an echo signal enters a receiving end of the ultrasonic system.
And at the receiving end of the ultrasonic system, the echo signal and a pre-stored reference signal are used for carrying out correlation operation, and a first pulse signal and a second pulse signal of the ultrasonic system are calculated.
The ultrasonic system has a plurality of ultrasonic sensors and a host computer, and transmits pulse signals of signal change curves respectively identified in a plurality of received echo signals to the host computer via a vehicle data communication mode, so as to be used for identifying obstacles and/or the distance of the obstacles to at least one ultrasonic sensor or one of the ultrasonic sensors of the ultrasonic system.
Before the ultrasonic system starts working, a cutting level is configured for the ultrasonic sensor, after the ultrasonic system collects echo signals, whether the echo signals are larger than the cutting level is judged, if yes, the sampling signals are effective, effective echo signals are recorded, and the level is pulled down and transmitted back to the host.
In this embodiment, assuming that the feedback width of the first pulse signal is X, the actual peak value is X × 10, and if the feedback width of the first pulse signal is 50uS, the actual peak value is 50 × 10.
In this embodiment, assuming that the feedback width of the second pulse signal is X, the actual width is X × 10, and if the feedback width of the second pulse signal is 50uS, the actual width is 50 × 10.
For echo signals without coded excitation, the return width of the second pulse signal is a signal width value; for echo signals with coded excitation, the return width of the second pulse signal is a confidence value.
When the cutting level is configured for the ultrasonic sensor, an array is set, different voltage values are set in the array, each voltage value is called the cutting level, timing is started from wave sending of the ultrasonic sensor, the array label value variable is increased by 1 at intervals, cutting level change is achieved, and data in the array and echo signals are used for comparison.
It should be noted that the above is only a preferred embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept also fall within the protection scope of the present invention.
Claims (10)
1. An ultrasonic radar data transmission method is characterized by comprising the following steps:
the ultrasonic system starts to work after receiving the starting instruction, and periodically transmits ultrasonic waves outwards;
acquiring echo signals reflected after the ultrasonic waves encounter the obstacle, storing the acquired echo signals, and calculating a first pulse signal and a second pulse signal of the ultrasonic system according to the stored echo signals so as to determine the position of the obstacle;
for echo signals without coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a signal width value, and the position of an obstacle is determined according to the falling edge of the pulse signal;
for echo signals with coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a confidence value, and the position of the obstacle is determined according to the falling edge of the pulse signal.
2. The ultrasonic radar data transmission method according to claim 1, wherein:
for echo signals with coded excitation, coding pulse signals at a transmitting end of an ultrasonic system, modulating carrier waves by using the coded signals, and exciting an ultrasonic sensor by using a modulated pulse excitation sequence; the transmitted signal is transmitted in the air and reflected after encountering an obstacle, and an echo signal enters a receiving end of the ultrasonic system.
3. The ultrasonic radar data transmission method according to claim 2, wherein:
and at the receiving end of the ultrasonic system, the echo signal and a pre-stored reference signal are used for carrying out correlation operation, and a first pulse signal and a second pulse signal of the ultrasonic system are calculated.
4. The ultrasonic radar data transmission method according to claim 3, comprising:
the ultrasonic system has a plurality of ultrasonic sensors and a host computer, and transmits pulse signals of signal change curves respectively identified in a plurality of received echo signals to the host computer via a vehicle data communication mode, so as to be used for identifying obstacles and/or the distance of the obstacles to at least one ultrasonic sensor or one of the ultrasonic sensors of the ultrasonic system.
5. The ultrasonic radar data transmission method of claim 4, comprising:
before the ultrasonic system starts working, a cutting level is configured for the ultrasonic sensor, after the ultrasonic system collects echo signals, whether the echo signals are larger than the cutting level is judged, if yes, the sampling signals are effective, effective echo signals are recorded, and the level is pulled down and transmitted back to the host.
6. The ultrasonic radar data transmission method according to any one of claims 1 to 5, comprising:
assuming that the feedback width of the first pulse signal is X, the actual peak value is X × 10.
7. The ultrasonic radar data transmission method according to any one of claims 1 to 5, comprising:
assuming that the feedback width of the second pulse signal is X, the actual width is X × 10.
8. The ultrasonic radar data transmission method of claim 7, comprising:
for echo signals without coded excitation, the return width of the second pulse signal is a signal width value;
for echo signals with coded excitation, the return width of the second pulse signal is a confidence value.
9. The ultrasonic radar data transmission method of claim 5, comprising:
when the cutting level is configured for the ultrasonic sensor, an array is set, different voltage values are set in the array, each voltage value is called the cutting level, timing is started from wave sending of the ultrasonic sensor, the array label value variable is increased by 1 at intervals, cutting level change is achieved, and data in the array and echo signals are used for comparison.
10. An ultrasonic radar data transmission system, comprising:
the signal transmitting unit is used for starting working after the ultrasonic system receives the starting instruction and transmitting ultrasonic waves to the outside at regular time;
the ultrasonic detection device comprises a wave detection unit, a signal processing unit and a signal processing unit, wherein the wave detection unit is used for collecting echo signals reflected after ultrasonic waves encounter an obstacle, storing the collected echo signals, and calculating a first pulse signal and a second pulse signal of an ultrasonic system according to the stored echo signals so as to determine the position of the obstacle;
for echo signals without coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a signal width value, and the position of an obstacle is determined according to the falling edge of the pulse signal;
for echo signals with coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a confidence value, and the position of the obstacle is determined according to the falling edge of the pulse signal.
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