CN108082183B - Automatic parking control system and control method, probe module and vehicle - Google Patents
Automatic parking control system and control method, probe module and vehicle Download PDFInfo
- Publication number
- CN108082183B CN108082183B CN201611059535.1A CN201611059535A CN108082183B CN 108082183 B CN108082183 B CN 108082183B CN 201611059535 A CN201611059535 A CN 201611059535A CN 108082183 B CN108082183 B CN 108082183B
- Authority
- CN
- China
- Prior art keywords
- probe
- probe module
- module
- interface
- parking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000523 sample Substances 0.000 title claims abstract description 258
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000012545 processing Methods 0.000 claims abstract description 33
- 230000003321 amplification Effects 0.000 claims description 30
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 30
- 238000001514 detection method Methods 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000007667 floating Methods 0.000 claims description 6
- 238000002604 ultrasonography Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 description 21
- 238000010586 diagram Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- 238000009826 distribution Methods 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 101000604411 Homo sapiens NADH-ubiquinone oxidoreductase chain 1 Proteins 0.000 description 1
- 101000632748 Homo sapiens NADH-ubiquinone oxidoreductase chain 2 Proteins 0.000 description 1
- 101000970214 Homo sapiens NADH-ubiquinone oxidoreductase chain 3 Proteins 0.000 description 1
- 101001109052 Homo sapiens NADH-ubiquinone oxidoreductase chain 4 Proteins 0.000 description 1
- 102100038625 NADH-ubiquinone oxidoreductase chain 1 Human genes 0.000 description 1
- 102100028488 NADH-ubiquinone oxidoreductase chain 2 Human genes 0.000 description 1
- 102100021668 NADH-ubiquinone oxidoreductase chain 3 Human genes 0.000 description 1
- 102100021506 NADH-ubiquinone oxidoreductase chain 4 Human genes 0.000 description 1
- 238000004378 air conditioning Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- G01S15/08—Systems for measuring distance only
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an automatic parking control system which comprises N probe modules, a control module and a parking execution module, wherein N is a positive integer greater than 1, each probe module comprises a probe unit and a chip unit, and the probe units are used for transmitting ultrasonic signals and receiving echo signals corresponding to the ultrasonic signals; the chip unit comprises a processing subunit, and the processing subunit is used for calculating the distance between the parked vehicle and the obstacle according to the ultrasonic signal and the echo signal; the control module is used for identifying parking spaces according to the distance between the parked vehicles and the obstacles, determining the initial positions of the parked vehicles, calculating the parking track route and generating parking control signals; and the parking execution module is used for controlling the parked vehicles to park according to the parking control signals. The automatic parking control system can reduce interference and reduce the workload of the parking control module. The invention also discloses a probe module for automatic parking, a vehicle and an automatic parking control method.
Description
Technical Field
The invention belongs to the technical field of vehicles, and particularly relates to an automatic parking control system, a probe module for automatic parking, a vehicle and an automatic parking control method.
Background
With the development of social economy, the living standard of people is continuously improved, the demand of automobiles is more and more increased, but due to the lag of road construction and public facilities, the problem of difficult parking troubles automobile families, under the condition, an intelligent auxiliary parking system comes into force, an ultrasonic probe which is one of the most core of the parking system is responsible for acquiring information around an automobile body and a parking space, and the accuracy, the real-time property and the precision of data can finally influence the parking safety.
In the related technology, the ultrasonic probe sends driving waves and collects echo signals, the echo signals are filtered and amplified and then transmitted to the parking ECU, and the ECU collects the signals, judges and calculates the distance information of the obstacles. However, the echo signal is interfered not only in the process of being reflected back to the ultrasonic probe by the obstacle, but also in the process of being sent to the parking ECU by the ultrasonic probe, and the signal becomes very weak, so that the accuracy of calculating the distance and parking track by the ECU is influenced; in addition, the ECU is most important to process the parking algorithm, and if the calculated distance is also processed by the ECU, the workload on software and algorithm is large, and the stability of the system is greatly reduced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the present invention is to provide an automatic parking control system, which can reduce interference and reduce workload of a parking control module.
The invention also provides a probe module for automatic parking, a vehicle and an automatic parking control method.
In order to solve the above problem, an aspect of the present invention provides an automatic parking control system including: n probe modules, N is greater than 1 positive integer, and each probe module includes: the probe unit is used for transmitting an ultrasonic signal and receiving an echo signal corresponding to the ultrasonic signal; the chip unit comprises a processing subunit, and the processing subunit is used for calculating the distance between the parking vehicle and the obstacle according to the ultrasonic signal and the echo signal; the control module is used for identifying a parking space according to the distance between the parking vehicle and the obstacle, determining the starting position of the parking vehicle according to the distance between the parking vehicle and the obstacle adjacent to the parking space and the angle of the parking vehicle relative to the parking space, calculating a parking track route, and generating a parking control signal according to the starting position and the parking track route; and the parking execution module is used for controlling the parking vehicle to park according to the parking control signal.
According to the automatic parking control system provided by the embodiment of the invention, after the probe unit receives the echo signal, the chip unit of the probe module performs distance calculation, so that the interference on the echo signal sent to the control module can be reduced, the subsequent calculation precision is improved, the control module performs position finding and track calculation according to distance information, the obstacle distance calculation is not required, the workload is reduced, and the system stability is improved.
In order to solve the above problems, another aspect of the present invention provides a probe module for automatic parking, including: the probe unit is used for transmitting an ultrasonic signal and receiving an echo signal corresponding to the ultrasonic signal; and the chip unit comprises a processing subunit, and the processing subunit is used for calculating the distance between the parked vehicle and the obstacle according to the ultrasonic signal and the echo signal and sending the distance information to the control module for automatic parking.
According to the probe module provided by the embodiment of the invention, after the probe unit receives the echo signal, the chip unit of the probe module performs distance calculation, so that the interference on the echo signal sent to the control module can be reduced, the subsequent calculation precision is improved, the control module does not need to perform obstacle distance calculation, the workload of the control module is reduced, and the system stability is improved.
Based on the automatic parking control system of the above aspect, a vehicle according to still another aspect of the present invention includes the automatic parking control system of the above aspect.
According to the vehicle provided by the embodiment of the invention, the automatic parking control system can reduce echo interference, improve the calculation precision of the parking track and improve the parking safety.
In order to solve the above problem, a further aspect of the present invention provides an automatic parking control method including: the probe module transmits an ultrasonic signal and receives an echo signal corresponding to the ultrasonic signal; and the probe module calculates the distance between the parked vehicle and the obstacle according to the ultrasonic signal and the echo signal, and sends the distance information to a control module for automatic parking of the vehicle.
According to the automatic parking control method provided by the embodiment of the invention, the distance calculation is carried out after the probe module receives the echo signal, so that the interference on the echo signal sent to the control module can be reduced, the subsequent calculation precision is improved, the workload reduction of the control module is further reduced, and the system stability is improved.
Drawings
Fig. 1 is a block diagram of an automatic parking control system according to an embodiment of the present invention;
fig. 2 is an operational diagram of an automatic parking control system according to an embodiment of the present invention;
fig. 3 is a block diagram of an automatic parking control system according to another embodiment of the present invention;
FIG. 4 is a schematic illustration of the connection of a plurality of probe modules according to yet another embodiment of the present invention;
fig. 5 is a block diagram of an automatic parking control system according to still another embodiment of the present invention;
FIG. 6 is a block diagram of a probe module according to an embodiment of the invention;
FIG. 7 is a block diagram of a probe module according to another embodiment of the invention;
FIG. 8 is a block diagram of a vehicle according to an embodiment of the invention;
fig. 9 is a flowchart of an automatic parking control method according to an embodiment of the present invention; and
FIG. 10 is a flow diagram of calculating distance information according to one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An automatic parking control system, a probe module for automatic parking, a vehicle, and an automatic parking control method according to embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a block diagram of an automatic parking control system according to an embodiment of the present invention, and as shown in fig. 1, the automatic parking control system 100 includes N probe modules 10, a control module 20, and a parking execution module 30.
Where N is a positive integer greater than 1, for example, the probe modules are respectively installed at the front and rear of the vehicle, and for example, the probe modules are respectively installed at the left and right sides of the front and rear bumpers of the vehicle.
Each probe module 10 includes a probe unit 11 and a chip unit 12. The probe unit 11 is configured to transmit an ultrasonic signal and receive an echo signal corresponding to the ultrasonic signal, and specifically, the probe unit 11 may include an ultrasonic transmitting unit and an ultrasonic receiving unit that are paired, where the ultrasonic transmitting unit transmits the ultrasonic signal, the ultrasonic signal returns when encountering an obstacle, and then the ultrasonic receiving unit corresponding to the ultrasonic transmitting unit may receive the echo signal.
The chip unit 12 includes a processing subunit 121, and the processing subunit 121 is configured to calculate a distance between the parked vehicle and the obstacle according to the ultrasonic signal and the echo signal. Unlike the related art in which the echo signal is transmitted to the parking ECU after the probe unit 11 detects the echo signal and the ECU calculates the obstacle distance, in the present invention, the extended probe module 10 calculates the obstacle distance by the chip unit 12. The interference in the process of resending the echo signal can be reduced, and the workload of the parking ECU for calculating the distance information can be reduced.
The control module 20, i.e. the parking ECU, is configured to identify the parking space according to the distance between the parked vehicle and the obstacle, and it can be understood that, according to the calculated distance between the obstacle, a distance discontinuity between two vehicles can be identified, for example, for a lateral parking space, a discontinuity of the distance between the front end of the rear vehicle and the rear end of the front vehicle of the parking space can be identified, that is, the calculated distance when there is a vehicle is smaller than the distance when there is no vehicle, i.e. there is a vacancy, so that the start point and the end point of the parking space can be determined, the length of the parking space is calculated, so that the parking space is identified according to the measured distance, and the function of searching the.
When parking, the control module 20 determines a starting position of the parked vehicle according to a distance between the parked vehicle and an obstacle adjacent to the parking space, for example, an obstacle around the parking space, for example, a vehicle around or around the parking space, and a body angle of the parked vehicle with respect to the parking space, and calculates a trajectory path for parking, wherein the starting position may be determined by a method in the related art, and the trajectory path may be calculated, for example, by a method using a tangent arc and a tangent line. Further, parking control signals, such as vehicle speed, steering, braking, etc., are generated based on the starting position and trajectory path.
And a parking execution module 30 for controlling the parked vehicle to park according to the parking control signal. The parking execution module 30 may include execution units required for parking, such as a smart key system, an ESP/ABS system, a remote control driving system, a meter/multimedia system, and the like, so as to implement automatic parking control of the vehicle.
According to the automatic parking control system 100 of the embodiment of the invention, after the probe unit 11 receives the echo signal, the chip unit 12 of the probe module 10 performs distance calculation, so that interference on the echo signal when the echo signal is sent to the control module 20 can be reduced, subsequent calculation accuracy is improved, the control module 20 performs position finding and track calculation according to distance information, obstacle distance calculation is not required, workload is reduced, and system stability is improved.
Specifically, IN some embodiments of the present invention, the probe module 10 may adopt an E L MOS core chip E524.14 and a long-distance probe core, where the E524.14 chip integrates MCU (micro controller Unit), L IN (L oral Interconnect Network; local Interconnect Network), ADC (Analog-to-digital converter), amplification, etc., and is very powerful, and the long-distance probe core may have a maximum detection distance of up to 5 meters, and the probe core may be integrated with the transceiver.
Referring to fig. 2, the probe module 10 and the control module 20 communicate with each other IN L IN, that is, the probe module 10 is used as a slave node of the L IN bus, passively waits for a ranging request command from the control module 20, and after receiving the ranging request command, executes a ranging procedure, that is, the processing subunit 121 sends a driving wave to a driving circuit of the middle-cycle probe to drive the probe unit 11 to generate an ultrasonic signal, and after the ultrasonic signal is emitted, if an obstacle is encountered, the ultrasonic signal is reflected back, the reflected ultrasonic wave is received by the probe unit 11, the processing subunit 121 times the emission and the reception, and calculates the distance to the object to be measured according to the time difference between the emission and the reception and the propagation speed of the ultrasonic wave, for example, the sound speed is 331.5+0.607t (m/s), where t is the temperature.
Considering the interference of the ground and road environment, the probe module 10 adds the judgment of the dynamic threshold, and the processing subunit 121 is further configured to, before calculating the distance between the parked vehicle and the obstacle, compare the echo signal with the dynamic threshold, and determine that the parked vehicle is the real obstacle when the echo signal is greater than the dynamic threshold, where the dynamic threshold is determined according to the time difference between transmitting the ultrasonic signal and receiving the echo signal, that is, when the echo is lower than the threshold, the echo is not properly processed, and the threshold also matches the characteristics of the echo according to the characteristics that the echo is weaker when the detected distance is farther, the dynamic threshold is set smaller when the detected distance is farther, and when the parked vehicle is determined to be the real obstacle after filtering and threshold comparison, the processing subunit 121 converts the time difference and the ultrasonic propagation speed into distance information according to the protocol of the L IN bus, the control module 20 sends the ranging request ID, and the probe module 10 responds to the control module 20, thereby reducing the software workload of the control module 20, and improving the anti-interference capability of the data during transmission.
It can be understood that, when parking a car automatically, the car searching and parking control usually requires the probe unit 11 to detect a distance of approximately 5 meters, and for ultrasonic waves, the farther the detection distance is, the greater the energy attenuation is, so when detecting a distance exceeding 3 meters, the echo signal will be weaker, and in addition, the road environment is more complex, the interference noise will be larger, and it is difficult to extract and correctly identify the true echo signal in practical application, so the interference noise needs to be reduced.
In some embodiments of the present invention, the probe module 10 adds a driving parameter adaptive adjustment function, so as to effectively shield the influence of interference noise. As shown in fig. 3, the chip unit 12 further includes an amplifying subunit 122, and the amplifying subunit 122 is used for amplifying the echo signal. The drive parameters of the probe unit 11, such as the drive current, the number of pulses and the amplification factor of the amplification subunit 122, all have an influence on the echo signal. The amplification factor and the number of pulses greatly affect ultrasonic echoes, because echo signals reflected by ultrasonic signals are often very weak, the longer the measurement distance is, the fewer the driving pulses are, the weaker the generated echo signals are, the echo signals received by the probe unit 11 are converted into voltage signals, the voltage signals are usually only dozens of millivolts or even smaller, the amplification, the ADC conversion and the filtering are configured in the chip unit 12, the signals are often amplified by dozens of times or dozens of times, and the subsequent operation can be performed. Considering that the actual road environment disturbance factors are many, such as wind, road surface stones, etc., the disturbance noise is large, in this case, the amplification factor of the amplification subunit 122 is larger, the noise is amplified while the true obstacle echo is amplified, and therefore, the application of the amplification factor is critical. Meanwhile, the larger the number of pulses driving the probe unit 11 is, the larger the probability of detecting an object is at the time of remote detection. Therefore, the detection of different distance sections by the adjustment of the self-adaptive driving parameters is necessary, and the precision of the detected object and the interference shielding are greatly improved.
In an embodiment of the present invention, the processing subunit 121 adjusts the driving parameters of the probe unit 11 and the amplification factor of the amplification subunit according to the time from transmitting the ultrasonic signal to receiving the echo signal, that is, selects suitable parameters according to the detection distance, so as to reduce the noise interference of the echo signal. In the early stage, the engineer determines the relationship between the detection distance and the drive parameters of the probe unit 11 and the amplification factor of the amplification subunit 122 based on the test data, and stores the relationship in the probe module 10. For example, the driving parameter of the probe unit 11 includes at least one of a driving current and a number of pulses, and in the detection range, the farther the detection distance is, the larger the selected driving current is or the larger the number of pulses is; aiming at the range from the blind area to the farthest detection distance, the amplification factor of the amplification subunit 122 is gradually increased from near to far, so as to achieve the best detection precision.
IN addition, the ultrasonic propagation speed is related to the temperature, unlike the conventional probe module which adds temperature compensation, IN the embodiment of the present invention, the processing subunit 121 obtains the ambient temperature of the parked vehicle, determines the ultrasonic propagation speed according to the ambient temperature, and calculates the distance between the parked vehicle and the obstacle according to the ultrasonic propagation speed and the time from transmitting the ultrasonic signal to receiving the echo signal, specifically, for example, the probe module 10 uses L IN bus (L local interconnect network) to receive the temperature information, i.e., the parking ECU receives the data from the air conditioner temperature sensor on the CAN bus IN real time, before sending the ranging request, the real-time temperature information is sent to the probe module 10 through a message through L IN bus, the probe module 10 receives the temperature information IN a buffer, and after calculating the time difference between the ultrasonic transmission and the ultrasonic reception, the processing subunit 121 adaptively selects the corresponding ultrasonic speed according to the temperature information to calculate the obstacle distance, i.e., the temperature compensation is realized by the software of the processing subunit 121, thereby improving the reliability of the temperature compensation, the hardware of the probe module 10 does not need to add the detection unit, and reduces the cost.
In addition, in the actual automatic parking application, four probe modules 10 for long-distance detection are generally required, each probe module needs to be assigned a fixed ID for distinguishing in order for the control module 20 to identify and read the distance information of which car body, and thus, the originally same probe module becomes four different probes in production and after-sale, which is inconvenient for product management.
IN some embodiments of the present invention, as shown IN FIG. 4, there is provided a method for automatically assigning addresses to probe modules 10 by software, each probe module further comprising a first L IN interface and a second L IN interface, such as L0 INM and L1 INS IN FIG. 4, wherein VBAT is a power line and GND is a ground line, IN the N probe modules, the first L IN interface of the first probe module is connected to the control module 20, the first L IN interface of the M-th probe module is connected to the second L IN interface of the M-1 probe module, the second L IN interface of the M-th probe module is connected to the first L IN interface of the M + 1-th probe module, the first L IN interface of the N-th probe module is connected to the second L interface of the N-1 probe module, the second L interface of the N-th probe module, wherein M is a positive integer < N < M < N < N.
Based on the connection manner of the probe modules 10, as shown in fig. 5, the automatic parking control system 100 further includes a current detection module 40, where the current detection module 40 is configured to detect the current of each probe module respectively; the control module 20 controls each probe module to be powered on and assigns an identification address to each of the N probe modules based on the current of each probe module.
Specifically, four-wire interfaces are used to automatically assign probe IDs to each probe via serial connections to identify each probe, where the four wires are VBAT, GND, L INM, L INS, and L0 INM of each probe module is connected to L1 INS of the probe module serially adjacent thereto, for example, IN the case of four probe module applications, L2 INM of the first probe module is connected to the control module 20, i.e., the probe module 10 is connected to the control module 20 via L IN, L INS interface of the first probe module is connected to L INM interface of the second probe module, L INS interface of the second probe module is connected to L INM interface of the third probe module, L INS interface of the third probe module is connected to L INM interface of the fourth probe module, i.e., L INS interface of the last probe module on the serial bus is floating, and VBAT of each probe module may be independently installed, or connected IN parallel, or not specifically limited to GND 20.
After each power-on start, the control module 20 sends an address allocation command IN a broadcast form through an L IN bus, after the four probe modules receive the command IN sequence, the four probe modules enter an address allocation program respectively, L IN bus currents of the four probe modules are defined to be I1, I2, I3 and I4 respectively, each probe module opens an internal pull-up resistor and a current source respectively, the original serial bus structure of the four probe modules becomes a mixed serial-parallel structure, therefore, I1, I2, I3 and I4 exist, the control module 20 distinguishes the four probe modules by judging the current magnitude, then the four probe modules are allocated with addresses NAD1, NAD2, NAD3 and NAD4 IN sequence and written into respective EEPROMs, namely, the software automatically allocates addresses, and the allocation commands are sent after each power-on, therefore, if a certain probe module is damaged and needs to be replaced, the whole vehicle power supply can automatically allocate addresses, and the vehicle power supply is very convenient.
IN summary, the automatic parking system 100 according to the embodiment of the present invention performs the operation of the distance between the probe modules 10 and the obstacle, thereby reducing the workload of the control module and avoiding the interference when the echo signal is transmitted from the probe module 10 to the control module 20, during the temperature compensation, the probe module 10 does not need to be provided with a temperature sensor, and the probe module 10 can obtain the temperature information detected by the temperature sensor originally installed IN the vehicle, for example, the temperature from the air conditioner temperature sensor is received through the L IN bus, thereby reducing the cost, IN the aspects of improving the accuracy of identifying the obstacle and the accuracy of measuring the distance, the probe module 10 adds the adaptive adjustment of the driving parameters, and for the detected objects IN different distance segments, the software automatically matches the corresponding driving parameters, optimizes the echo signal, shields the interference, and improves the accuracy of the measurement, IN addition, each probe module 10 realizes the automatic allocation of the identification address after being powered on through the software control of the control module 20, that all probe modules are the same when being produced, and do not need to be distinguished, and after the real vehicles are connected IN series, the respective identification addresses are automatically allocated through the software, so that the probe modules 20 can identify and.
A probe module for automatic parking according to another aspect of the embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 6 is a block diagram of a probe module for automatic parking according to an embodiment of the present invention, and as shown in fig. 6, the probe module 10 includes a probe unit 11 and a chip unit 12.
The probe unit 11 is configured to transmit an ultrasonic signal and receive an echo signal corresponding to the ultrasonic signal. The chip unit 12 includes a processing subunit 121, and the processing subunit 121 is configured to calculate a distance between the parked vehicle and the obstacle according to the ultrasonic signal and the echo signal, and send distance information to the control module for automatic parking.
According to the probe module 10 of the embodiment of the invention, after the probe unit 11 receives the echo signal, the chip unit 12 of the probe module 10 performs distance calculation, so that the interference on the echo signal when the echo signal is sent to the control module can be reduced, the subsequent calculation precision is improved, the control module does not need to perform obstacle distance calculation, the workload of the control module is reduced, and the system stability is improved.
Specifically, the processing subunit 121 is further configured to compare the echo signal with a dynamic threshold value before calculating the distance between the parked vehicle and the obstacle, and determine that the parked vehicle is a real obstacle when the echo signal is greater than the dynamic threshold value, wherein the dynamic threshold value is determined according to a time difference between transmitting the ultrasonic signal and receiving the echo signal, that is, when the detected distance is less than the threshold value, the echo is improperly processed, and the threshold value is also matched with the characteristics of the echo according to the characteristics that the echo is weaker when the detected distance is farther, the dynamic threshold value is set to be smaller when the detected distance is farther, and when the parked vehicle is determined to be a real obstacle after filtering and threshold value comparison, the processing subunit 121 converts the calculated time difference and the ultrasonic propagation speed into distance information, and the control module 20 transmits the ranging request ID according to the protocol of the L IN bus, and the probe module 10 responds to the control module with the distance information, thereby reducing the software workload of the control module and improving the capability of data to resist interference during transmission.
In the embodiment of the present invention, in order to reduce noise interference of the echo signal, the probe module 10 adds a driving parameter adaptive adjustment function. Specifically, as shown in fig. 7, the chip unit 12 further includes an amplifying subunit 122, where the amplifying subunit 122 is configured to amplify the echo signal; the processing subunit 121 is further configured to adjust the driving parameters of the probe unit and the amplification factor of the amplification subunit 122 according to the time from transmitting the ultrasound signal to receiving the echo signal. The driving parameter of the probe unit 11 includes at least one of a driving current and the number of pulses. That is, the parameters are selected according to the detection distance to reduce the noise interference of the echo signal. In the early stage, the engineer determines the relationship between the detection distance and the drive parameters of the probe unit 11 and the amplification factor of the amplification subunit 122 based on the test data, and stores the relationship in the probe module 10. The detection of different distance sections is realized by adjusting the self-adaptive driving parameters, so that the precision and the interference shielding of the detected object are greatly improved.
IN addition, the ultrasonic wave propagation speed is related to the temperature, and unlike the traditional probe module for adding temperature compensation, IN the embodiment of the present invention, the processing subunit 121 obtains the ambient temperature of the parked vehicle, for example, obtains the temperature of the air-conditioning temperature detector originally arranged IN the vehicle through the L IN bus, determines the ultrasonic propagation speed according to the ambient temperature, and calculates the distance between the parked vehicle and the obstacle according to the ultrasonic propagation speed and the time from transmitting the ultrasonic signal to receiving the echo signal, namely, the temperature compensation is realized through the software of the processing subunit 121, so that the reliability of the temperature compensation is improved, the hardware of the probe module 10 does not need to add a temperature detection unit, and the cost is reduced.
IN addition, IN some embodiments of the present invention, each probe module includes N, wherein each probe module further includes a first L IN interface and a second L IN interface, and among the N probe modules, the first L IN interface of the first probe module is connected to the control module, the first L IN interface of the mth probe module is connected to the second L IN interface of the M-1 probe module, the second L IN interface of the mth probe module is connected to the first L IN interface of the M +1 probe module, the first L IN interface of the nth probe module is connected to the second L IN interface of the N-1 probe module, and the second L IN interface of the nth probe module is floating, where N is a positive integer greater than 1, M is a positive integer and satisfies 1< M < N.
Based on the connection mode of the probe modules 10, the currents of the probe modules are different, and the control module for automatic parking can determine which probe module is according to the current signal, specifically, after the control module controls each probe module to be powered on, identification addresses are allocated to the N probe modules according to the currents of the probe modules. Because the distribution instruction is sent after each power-on, if a certain probe module is damaged and needs to be replaced, a new probe module is directly replaced, and then the power supply of the whole vehicle is restarted, so that the address distribution can be automatically carried out, and the method is very convenient.
In summary, the probe module 10 for automatic parking according to the embodiment of the present invention can reduce the workload of the control module, reduce the noise interference of the echo signal, perform temperature compensation, and conveniently realize automatic address allocation and replacement of the damaged probe module.
Based on the automatic parking control system of the embodiment of the aspect described above, fig. 8 is a block diagram of a vehicle according to an embodiment of the present invention, and as shown in fig. 8, the vehicle 1000 includes the automatic parking control system 100 described above.
According to the vehicle 1000 of the embodiment of the invention, by adopting the automatic parking control system 100, the echo interference can be reduced, the calculation accuracy of the parking trajectory can be improved, and the parking safety can be improved.
Based on the automatic parking control system of the embodiment of the above aspect, an automatic parking control method according to still another aspect of the present invention will be described below with reference to the accompanying drawings.
Fig. 9 is a flowchart of an automatic parking control method according to an embodiment of the present invention, which includes, as shown in fig. 9:
s1, the probe module transmits ultrasonic signals and receives echo signals corresponding to the ultrasonic signals;
and S2, the probe module calculates the distance between the parked vehicle and the obstacle according to the ultrasonic signal and the echo signal, and sends the distance information to a control module for automatic parking of the vehicle.
According to the automatic parking control method provided by the embodiment of the invention, the distance calculation is carried out after the probe module receives the echo signal, so that the interference on the echo signal sent to the control module can be reduced, the subsequent calculation precision is improved, the workload reduction of the control module is further reduced, and the system stability is improved.
Further, the probe module adds a dynamic threshold judgment in consideration of the interference of the ground and road environment. Before calculating the distance between the parked vehicle and the obstacle, the automatic parking control method further includes: the probe module compares the echo signal with a dynamic threshold value; and when the echo signal is greater than a dynamic threshold value, the probe module determines the echo signal as a real obstacle, and further calculates the distance between the parked vehicle and the obstacle, wherein the dynamic threshold value is determined according to the time difference from the transmission of the ultrasonic signal to the reception of the echo signal. Therefore, the software workload of the control module is reduced, and meanwhile, the anti-interference capacity of data in the transmission process is improved.
In the embodiment of the invention, in order to reduce the noise interference of the echo signal, the probe module is added with a driving parameter self-adaptive adjusting function. Specifically, the probe module adjusts the driving parameters of the probe unit and the amplification factor of the amplification subunit for amplifying the echo signal according to the time from the transmission of the ultrasonic signal to the reception of the echo signal. Wherein the drive parameter of the probe unit includes at least one of a drive current and a number of pulses. That is, the parameters are selected according to the detection distance to reduce the noise interference of the echo signal. In the early stage, the engineer determines the relationship between the detection distance and the driving parameters of the probe unit 11 and the amplification factor of the amplification subunit according to the test data, and stores the relationship in the probe module. The detection of different distance sections is realized by adjusting the self-adaptive driving parameters, so that the precision and the interference shielding of the detected object are greatly improved.
IN addition, the ultrasonic wave propagation speed is related to the temperature, and is different from the traditional probe module for adding temperature compensation, IN the embodiment of the invention, the probe module acquires the ambient temperature of the parked vehicle, for example, the temperature of an air conditioner temperature detector originally arranged on the vehicle is acquired through an L IN bus, the probe module determines the ultrasonic wave propagation speed according to the ambient temperature, and the probe module calculates the distance between the parked vehicle and an obstacle according to the ultrasonic wave propagation speed and the time from transmitting an ultrasonic wave signal to receiving an echo signal.
IN addition, IN some embodiments of the present invention, each probe module includes N, each probe module further includes a first L IN interface and a second L IN interface, among the N probe modules, the first L IN interface of the first probe module is connected to the control module, the first L IN interface of the mth probe module is connected to the second L IN interface of the M-1 probe module, the second L IN interface of the mth probe module is connected to the first L IN interface of the M +1 probe module, the first L IN interface of the nth probe module is connected to the second L IN interface of the N-1 probe module, and the second L IN interface of the nth probe module is floating, where N is a positive integer greater than 1, M is a positive integer and satisfies 1< M < N.
Based on the connection mode of the probe modules, the current of each probe module is unequal, the control module for automatic parking can judge which probe module is according to the current signal, and the automatic parking control method further comprises the following steps: the control module collects the current of each probe module and allocates identification addresses to the N probe modules according to the current of each probe module. Specifically, after the control module controls each probe module to be powered on, identification addresses are allocated to the N probe modules according to the current of each probe module. Because the distribution instruction is sent after each power-on, if a certain probe module is damaged and needs to be replaced, a new probe module is directly replaced, and then the power supply of the whole vehicle is restarted, so that the address distribution can be automatically carried out, and the method is very convenient.
Fig. 10 is a schematic diagram of a passing vehicle for implementing distance detection according to an embodiment of the present invention, as shown in fig. 10, including:
and S100, receiving a command of a parking control module.
S110, automatically allocating identification addresses.
And S120, acquiring temperature information and calculating the distance.
And S130, calculating and outputting linear distance information by an algorithm.
In summary, the automatic parking control system, the probe module, the vehicle and the automatic parking control method of the embodiments of the present invention can reduce echo interference and reduce workload of the parking control module; the temperature compensation is realized by adopting software, so that the cost pressure caused by adopting a temperature sensor is reduced, and the reliability of the temperature compensation is improved; the driving parameters are adaptively adjusted, so that the influence of interference noise is effectively shielded, and the accuracy of parking space calculation and judgment is improved to a great extent; the automatic allocation of the identification address of the probe module directly brings convenience to factory configuration and after-sale maintenance, and manual software upgrading and easy confusion among probes are avoided.
It should be noted that in the description of this specification, any process or method description in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (17)
1. An automatic parking control system, characterized by comprising:
n probe modules, N is greater than 1 positive integer, and each probe module includes:
the probe unit is used for transmitting an ultrasonic signal and receiving an echo signal corresponding to the ultrasonic signal; and
the chip unit comprises a processing subunit, and the processing subunit is used for calculating the distance between the parking vehicle and the obstacle according to the ultrasonic signal and the echo signal;
the control module is used for identifying a parking space according to the distance between the parking vehicle and the obstacle, determining the starting position of the parking vehicle according to the distance between the parking vehicle and the obstacle adjacent to the parking space and the angle of the parking vehicle relative to the parking space, calculating a parking track route, and generating a parking control signal according to the starting position and the parking track route;
the parking execution module is used for controlling the parking vehicle to park according to the parking control signal;
the processing subunit is further configured to compare the echo signal with a dynamic threshold value before calculating the distance between the parked vehicle and the obstacle, and determine the obstacle as a real obstacle when the echo signal is greater than the dynamic threshold value, where the dynamic threshold value is determined according to a time difference from transmitting the ultrasonic signal to receiving the echo signal.
2. The automatic parking control system according to claim 1, wherein the chip unit further includes:
the amplification subunit is used for amplifying the echo signal;
the processing subunit is further used for adjusting the driving parameters of the probe unit and the amplification factor of the amplification subunit according to the time from the transmission of the ultrasonic signal to the reception of the echo signal.
3. The automatic parking control system according to claim 2, wherein the drive parameter of the probe unit includes at least one of a drive current and a number of pulses.
4. The automatic parking control system according to claim 1, wherein the processing subunit is further configured to acquire an ambient temperature at which the parked vehicle is located, determine an ultrasonic propagation speed based on the ambient temperature, and calculate a distance between the parked vehicle and the obstacle based on the ultrasonic propagation speed and a time from transmitting the ultrasonic signal to receiving the echo signal.
5. The automatic parking control system of claim 1, wherein each probe module further comprises a first L IN interface and a second L IN interface, wherein IN the N probe modules, the first L IN interface of the first probe module is connected to the control module, the first L IN interface of the mth probe module is connected to the second L IN interface of the M-1 probe module, the second L IN interface of the mth probe module is connected to the first L IN interface of the M +1 probe module, the first L IN interface of the nth probe module is connected to the second L IN interface of the N-1 probe module, and the second L IN interface of the nth probe module is floating, wherein M is a positive integer and satisfies 1< M < N.
6. The automatic parking control system according to claim 5, further comprising:
the current detection module is used for respectively detecting the current of each probe module;
the control module is also used for controlling each probe module to be electrified and allocating identification addresses to the N probe modules according to the current of each probe module.
7. A probe module for automatic parking, comprising:
the probe unit is used for transmitting an ultrasonic signal and receiving an echo signal corresponding to the ultrasonic signal; and
the chip unit comprises a processing subunit, the processing subunit is used for calculating the distance between the parked vehicle and the obstacle according to the ultrasonic signal and the echo signal and sending the distance information to the control module for automatic parking;
the processing subunit is further configured to compare the echo signal with a dynamic threshold value before calculating the distance between the parked vehicle and the obstacle, and determine the obstacle as a real obstacle when the echo signal is greater than the dynamic threshold value, where the dynamic threshold value is determined according to a time difference from transmitting the ultrasonic signal to receiving the echo signal.
8. The probe module for automatic parking according to claim 7, wherein the chip unit further comprises:
the amplification subunit is used for amplifying the echo signal;
the processing subunit is further used for adjusting the driving parameters of the probe unit and the amplification factor of the amplification subunit according to the time from the transmission of the ultrasonic signal to the reception of the echo signal.
9. The probe module for automatic parking according to claim 8, wherein the drive parameter of the probe unit includes at least one of a drive current and a number of pulses.
10. The probe module for automatic parking according to claim 7, wherein the processing subunit is further configured to obtain an ambient temperature at which the parked vehicle is located, determine an ultrasound propagation speed according to the ambient temperature, and calculate a distance between the parked vehicle and the obstacle according to the ultrasound propagation speed and a time from transmitting the ultrasound signal to receiving the echo signal.
11. The probe module for automatic parking of claim 7, wherein the probe module comprises N, wherein each probe module further comprises a first L IN interface and a second L IN interface, wherein IN the N probe modules, the first L IN interface of the first probe module is connected to the control module, the first L IN interface of the mth probe module is connected to the second L IN interface of the M-1 probe module, the second L IN interface of the mth probe module is connected to the first L IN interface of the M +1 probe module, the first L IN interface of the nth probe module is connected to the second L IN interface of the N-1 probe module, and the second L IN interface of the nth probe module is floating, wherein N is a positive integer greater than 1, M is a positive integer and satisfies 1< M < N.
12. A vehicle characterized by comprising the automatic parking control system according to any one of claims 1 to 6.
13. An automatic parking control method characterized by comprising:
the probe module transmits an ultrasonic signal and receives an echo signal corresponding to the ultrasonic signal;
the probe module calculates the distance between the parked vehicle and the obstacle according to the ultrasonic signal and the echo signal, and sends the distance information to a control module for automatic parking of the vehicle;
before calculating the distance between the parked vehicle and the obstacle, the method further comprises:
the probe module compares the echo signal to a dynamic threshold;
the probe module calculates a distance between the parked vehicle and the obstacle when the echo signal is greater than the dynamic threshold, wherein the dynamic threshold is determined according to a time difference from transmitting the ultrasonic signal to receiving the echo signal.
14. The automatic parking control method according to claim 13, further comprising:
the probe module adjusts the driving parameters of the probe unit and the amplification times of the amplification subunit for amplifying the echo signals according to the time from the transmission of the ultrasonic signals to the reception of the echo signals.
15. The automatic parking control method according to claim 14, wherein the drive parameter of the probe unit includes at least one of a drive current and a number of pulses.
16. The automatic parking control method according to claim 13, further comprising:
the probe module acquires the ambient temperature of the parked vehicle;
the probe module determines the ultrasonic propagation speed according to the environment temperature; and
the probe module calculates the distance between the parked vehicle and the obstacle according to the ultrasonic propagation speed and the time from the transmission of the ultrasonic signal to the reception of the echo signal.
17. The automatic parking control method according to claim 13, wherein the probe modules include N, each probe module further includes a first L IN interface and a second L IN interface, the first L IN interface of a first probe module among the N probe modules is connected to the control module, the first L IN interface of an M-th probe module is connected to the second L IN interface of an M-1 th probe module, the second L IN interface of the M-th probe module is connected to the first L IN interface of an M +1 th probe module, the first L IN interface of an N-th probe module is connected to the second L IN interface of an N-1 th probe module, and the second L IN interface of the N-th probe module is floating, wherein N is a positive integer greater than 1, M is a positive integer and satisfies 1< M < N, the control method further comprising:
the control module collects the current of each probe module; and
and the control module allocates identification addresses to the N probe modules according to the current of each probe module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611059535.1A CN108082183B (en) | 2016-11-22 | 2016-11-22 | Automatic parking control system and control method, probe module and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611059535.1A CN108082183B (en) | 2016-11-22 | 2016-11-22 | Automatic parking control system and control method, probe module and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108082183A CN108082183A (en) | 2018-05-29 |
| CN108082183B true CN108082183B (en) | 2020-07-10 |
Family
ID=62171122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611059535.1A Active CN108082183B (en) | 2016-11-22 | 2016-11-22 | Automatic parking control system and control method, probe module and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108082183B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109177911B (en) * | 2018-09-19 | 2020-11-24 | 同致电子科技（昆山）有限公司 | Blind area detection system based on ultrasonic wave is anti-interference |
| CN112009476B (en) * | 2019-05-13 | 2022-03-15 | 比亚迪股份有限公司 | Vehicle protection method and device and vehicle |
| CN110517507B (en) * | 2019-08-27 | 2022-10-11 | 纵目科技（上海）股份有限公司 | Vehicle pose detection method, system, terminal and storage medium based on ultrasonic sensor |
| CN114428252A (en) * | 2022-01-25 | 2022-05-03 | 珠海极海半导体有限公司 | Ultrasonic distance detection chip, system and method and vehicle control method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008050685A1 (en) * | 2008-10-07 | 2010-04-08 | Valeo Schalter Und Sensoren Gmbh | Method for detecting threatening collision with obstacle during opening of door of parked vehicle i.e. passenger car, involves detecting position of obstacle using sensor devices during parking process of vehicle in parking lot |
| CN202879483U (en) * | 2012-11-19 | 2013-04-17 | 长安大学 | Automatic parking system for automobiles |
| US9696420B2 (en) * | 2013-04-09 | 2017-07-04 | Ford Global Technologies, Llc | Active park assist object detection |
| CN103241239B (en) * | 2013-04-27 | 2015-10-14 | 重庆邮电大学 | A kind of automated parking system parking stall recognition methods |
| CN103754219A (en) * | 2014-02-21 | 2014-04-30 | 重庆邮电大学 | Automatic parking system of information fusion of multiple sensors |
-
2016
- 2016-11-22 CN CN201611059535.1A patent/CN108082183B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108082183A (en) | 2018-05-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108082183B (en) | Automatic parking control system and control method, probe module and vehicle | |
| CN108068800B (en) | Automatic parking control system, probe module, vehicle and automatic parking control method | |
| CN109318933B (en) | Train screening method, device and system and vehicle-mounted equipment | |
| US20110121994A1 (en) | Method For Detecting Objects Having a Low Height | |
| KR102114759B1 (en) | Method and apparatus for improved data fusion when detecting surrounding environment in a car | |
| CN106537175B (en) | Device and method for the acoustic inspection of surrounding objects of a vehicle | |
| US10571555B2 (en) | Method for detecting a blocked state of an ultrasonic sensor of a motor vehicle, ultrasonic sensor apparatus and motor vehicle | |
| CN102103206A (en) | In-vehicle monitoring system | |
| CN103085714A (en) | System of controling virtual engine sound and method thereof | |
| EP2845028B1 (en) | Method for operating a distance sensor for detecting surroundings | |
| CN109725318B (en) | Signal processing method and device, active sensor and storage medium | |
| KR102179631B1 (en) | Device and method for generating and evaluating ultrasound signals, particularly for determining the distance of a vehicle from an obstacle | |
| US10629076B2 (en) | Determination of laterally remote parking spaces | |
| CN113552575B (en) | Parking obstacle detection method and device | |
| CN113484927B (en) | Target detection method, system and computer readable storage medium | |
| DE102012214047B4 (en) | Method for selecting an operating frequency range of an environment sensor device and corresponding environment sensor device | |
| CN112219134A (en) | Ultrasonic sensor system and method for detecting objects in the surroundings of a vehicle, and vehicle having an ultrasonic sensor system | |
| CN106772399B (en) | Wireless detection radar device and detection method thereof | |
| US11580793B2 (en) | Sensor for emitting signals and for receiving reflected echo signals, and system including a control unit and such a sensor | |
| CN113267783A (en) | Apparatus, system and method for ultra-short range detection of obstacles | |
| CN111983591A (en) | Echo simulation system and method | |
| JP6831746B2 (en) | Electromagnetic noise measurement system | |
| CN104325977A (en) | Adapting adjusted travelling speed of motor vehicle under condition that object identification waiting time is increased | |
| US20230091243A1 (en) | Ultrasonic sensor, parking assistance system, and signal processing method | |
| US11099256B2 (en) | Device and method for processing radar signals |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |