CN110398742A - A kind of method, apparatus and vehicle inhibiting ultrasonic wave interference - Google Patents
A kind of method, apparatus and vehicle inhibiting ultrasonic wave interference Download PDFInfo
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- CN110398742A CN110398742A CN201910811299.1A CN201910811299A CN110398742A CN 110398742 A CN110398742 A CN 110398742A CN 201910811299 A CN201910811299 A CN 201910811299A CN 110398742 A CN110398742 A CN 110398742A
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- 238000000034 method Methods 0.000 title claims abstract description 69
- 230000002401 inhibitory effect Effects 0.000 title claims description 18
- 238000001514 detection method Methods 0.000 claims abstract description 531
- 239000000523 sample Substances 0.000 claims abstract description 62
- 230000005764 inhibitory process Effects 0.000 claims abstract description 20
- 238000004590 computer program Methods 0.000 claims description 15
- 238000012216 screening Methods 0.000 description 24
- 230000015654 memory Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000002592 echocardiography Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
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- 229910052799 carbon Inorganic materials 0.000 description 1
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Classifications
-
- 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
-
- 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
-
- 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
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
Abstract
The embodiment of the invention discloses the method, apparatus and vehicle of a kind of inhibition ultrasonic wave interference, are applied to ultrasonic technology field, can solve the problem of the Obstacle Position for causing to detect there are the interference of the echo of same or similar frequency range inaccuracy.This method comprises: obtaining the first detection range, the second detection range, third detection range and the 4th detection range, and calculate the first distance difference of the first detection range and third detection range by ultrasonic listening；In the case where the absolute value of first distance difference is less than or equal to distance threshold, the second distance difference of third detection range and the second detection range is calculated；In the case where the absolute value of second distance difference is less than or equal to distance threshold, the third distance difference of third detection range and the 4th detection range is calculated；And in the case where the absolute value of third distance difference is less than or equal to distance threshold, determine that the 4th detection range is effective probe value.
Description
Technical field
The present embodiments relate to ultrasonic technology field more particularly to a kind of method, apparatus for inhibiting ultrasonic wave interference
And vehicle.
Background technique
Usually setting ultrasonic sensor has to be used to detect the distance between vehicle and barrier in the car at present
Body, ultrasonic sensor can be detected according to fixed detection cycle, i.e., after emitting ultrasonic wave, in detection cycle
The reflected echo is received, and barrier is calculated according to the TOF of echo (Time of Flight, flight time) and is surpassed with this
The distance between sonic sensor.For the scene detected simultaneously using multiple ultrasonic sensors simultaneously, a ultrasound
Wave sensor is easily received the echo of the same or similar frequency range of other ultrasonic sensors transmitting, thus due to identical or phase
Like the interference of the echo of frequency range, lead to the Obstacle Position (or the distance between barrier and ultrasonic sensor) detected no
Accurately.
Summary of the invention
The embodiment of the present invention provides the method, apparatus and vehicle of a kind of inhibition ultrasonic wave interference, to solve the prior art
It is middle there are the interference of the echo of same or similar frequency range, lead to the problem of the Obstacle Position detected inaccuracy.In order to solve
Above-mentioned technical problem, the embodiments of the present invention are implemented as follows:
In a first aspect, providing a kind of method of inhibition ultrasonic wave interference, which comprises by ultrasonic listening, obtain
Take the first detection range, the second detection range, third detection range and the 4th detection range；
Calculate the first distance difference of first detection range Yu the third detection range；
In the case where the absolute value of the first distance difference is less than or equal to distance threshold, the third detection is calculated
The second distance difference of distance and second detection range；
In the case where the absolute value of the second distance difference is less than or equal to the distance threshold, the third is calculated
The third distance difference of detection range and the 4th detection range；
In the case where the absolute value of the third distance difference is less than or equal to the distance threshold, the described 4th is determined
Detection range is effective probe value；
Wherein, first detection range is to be calculated according to the flight time of an echo in n-th of detection cycle
's；Second detection range is to be calculated according to the flight time of second trip echo in n-th of detection cycle；It is described
Third detection range is to be calculated according to the flight time of an echo in (n+1)th detection cycle, the 4th detection
Distance is what is be calculated according to the flight time of second trip echo in (n+1)th detection cycle, and the n is positive integer.
As an alternative embodiment, in the first aspect of the embodiment of the present invention,
After the first distance difference for calculating first detection range and the third detection range, the method
Further include:
In the case where the absolute value of the first distance difference is greater than the distance threshold, calculates the first object and visit
From the 4th distance difference with second detection range, the first object detection range is first detection range for ranging
With biggish detection range in the third detection range；
In the case where the absolute value of the 4th distance difference is less than or equal to the distance threshold, the second target is calculated
5th distance difference of detection range and the 4th detection range, the second target acquisition distance are that the first object is visited
Ranging from in second detection range after the detection range that detects；
In the case where the absolute value of the 5th distance difference is less than or equal to the distance threshold, the described 4th is determined
Detection range is effective probe value；
Alternatively,
The absolute value of the 5th distance difference be greater than the distance threshold in the case where, determine third target acquisition away from
From for effective probe value, the third target acquisition distance be the second target acquisition distance in the 4th detection range
Biggish detection range.
As an alternative embodiment, in first aspect of the embodiment of the present invention,
It is described after the 4th distance difference for calculating the first object detection range and second detection range
Method further include:
The absolute value of the 4th distance difference be greater than the distance threshold in the case where, calculate the 4th target acquisition away from
From the 6th distance difference with the 4th detection range, the 4th target acquisition distance is the first object detection range
With biggish detection range in second detection range；
In the case where the absolute value of the 6th distance difference is less than or equal to the distance threshold, the described 4th is determined
Detection range is effective probe value；
Alternatively,
The absolute value of the 6th distance difference be greater than the distance threshold in the case where, determine the 5th target acquisition away from
From for effective probe value, the 5th target acquisition distance be the 4th target acquisition distance in the 4th detection range
Biggish detection range.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described to calculate the third detection
Distance with after the second distance difference of second detection range, the method also includes:
The absolute value of the second distance difference be greater than the distance threshold in the case where, calculate the 6th target acquisition away from
From the 7th distance difference with the 4th detection range, the 6th target acquisition distance is the third detection range and institute
State biggish detection range in the second detection range；
In the case where the 7th distance difference is less than or equal to the distance threshold, the 4th detection range is determined
For effective probe value；
Alternatively,
In the case where the 7th distance difference is greater than or equal to the distance threshold, determine that the 7th target visits distance and is
Effective probe value, the 7th target acquisition distance be the 6th target acquisition distance with it is larger in the 4th detection range
Detection range.
As an alternative embodiment, in first aspect of the embodiment of the present invention,
After the third distance difference for calculating the third detection range and the 4th detection range, the method
Further include:
The absolute value of the third distance difference be greater than the distance threshold in the case where, determine the 8th target acquisition away from
From for effective probe value, the 8th target acquisition distance be the third detection range with it is larger in the 4th detection range
Detection range.
As an alternative embodiment, the distance threshold is according to institute in first aspect of the embodiment of the present invention
State the difference determination of the duration of n-th of detection cycle and the duration of (n+1)th detection cycle.
Second aspect, provides a kind of device of inhibition ultrasonic wave interference, and described device includes:
Obtain module, for by ultrasonic listening, obtain the first detection range, the second detection range, third detection away from
From with the 4th detection range；
Computing module, for calculating the first distance difference of first detection range Yu the third detection range；
The computing module is also used to the case where the absolute value of the first distance difference is less than or equal to distance threshold
Under, calculate the second distance difference of the third detection range Yu second detection range；In the second distance difference
In the case that absolute value is less than or equal to the distance threshold, the third detection range and the 4th detection range are calculated
Third distance difference；
Determining module, for the absolute value in the third distance difference be less than or equal to the distance threshold the case where
Under, determine that the 4th detection range is effective probe value；
Wherein, first detection range is to be calculated according to the flight time of an echo in n-th of detection cycle
's；Second detection range is to be calculated according to the flight time of second trip echo in n-th of detection cycle；It is described
Third detection range is to be calculated according to the flight time of an echo in (n+1)th detection cycle, the 4th detection
Distance is what is be calculated according to the flight time of second trip echo in (n+1)th detection cycle, and the n is positive integer.
As an alternative embodiment, in second aspect of the embodiment of the present invention,
The computing module is also used in the first distance for calculating first detection range and the third detection range
After difference, in the case where the absolute value of the first distance difference is greater than the distance threshold, the first object is calculated
4th distance difference of detection range and second detection range, the first object detection range be it is described first detection away from
From with biggish detection range in the third detection range；
In the case where the absolute value of the 4th distance difference is less than or equal to the distance threshold, the second target is calculated
5th distance difference of detection range and the 4th detection range, the second target acquisition distance are that the first object is visited
Ranging from in second detection range after the detection range that detects；
The determining module is also used to be less than or equal to the distance threshold in the absolute value of the 5th distance difference
In the case of, determine that the 4th detection range is effective probe value；
Alternatively, determining third target in the case where the absolute value of the 5th distance difference is greater than the distance threshold
Detection range is effective probe value, and the third target acquisition distance is the second target acquisition distance and the 4th detection
Biggish detection range in distance.
As an alternative embodiment, in second aspect of the embodiment of the present invention,
The computing module is also used to calculating the 4th of the first object detection range and second detection range
After distance difference, in the case where the absolute value of the 4th distance difference is greater than the distance threshold, third target is calculated
5th distance difference of detection range and the 4th detection range, third target acquisition distance be first object detection away from
From with biggish detection range in second detection range；
The determining module is also used to be less than or equal to the distance threshold in the absolute value of the 5th distance difference
In the case of, determine that the 4th detection range is effective probe value；
Alternatively, determining the 5th target in the case where the absolute value of the 6th distance difference is greater than the distance threshold
Detection range is effective probe value, and the 5th target acquisition distance is the 4th target acquisition distance and the 4th detection
Biggish detection range in distance.
As an alternative embodiment, in second aspect of the embodiment of the present invention,
The computing module is also used to, and calculates the second range difference of the third detection range Yu second detection range
After value, the 7th distance difference of the 6th target acquisition distance and the 4th detection range, the 6th target acquisition are calculated
Distance is biggish detection range in the third detection range and second detection range；
The determining module is also used in the case where the 7th distance difference is less than or equal to the distance threshold,
Determine that the 4th detection range is effective probe value；
Alternatively, determining that the 7th target is visited in the case where the 7th distance difference is greater than or equal to the distance threshold
Distance is effective probe value, and the 7th target acquisition distance is the 6th target acquisition distance and the 4th detection range
In biggish detection range.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the determining module is also used to
After the computing module calculates the third distance difference of the third detection range and the 4th detection range, described the
In the case that the absolute value of three distance differences is greater than the distance threshold, determine that the 8th target acquisition distance is effective probe value,
The 8th target acquisition distance is biggish detection range in the third detection range and the 4th detection range.
As an alternative embodiment, the distance threshold is according to institute in second aspect of the embodiment of the present invention
State the difference determination of the duration of n-th of detection cycle and the duration of (n+1)th detection cycle.
The third aspect provides a kind of device of inhibition ultrasonic wave interference, which includes: processor, memory and storage
On the memory and the computer program that can run on the processor, the computer program are realized when being executed by the processor
The step of method of inhibition ultrasonic wave interference as described in relation to the first aspect.
Fourth aspect provides a kind of computer readable storage medium, stores computer on the computer readable storage medium
Program realizes the step of the method for inhibiting ultrasonic wave interference as described in relation to the first aspect when the computer program is executed by processor
Suddenly.
5th aspect, provides a kind of computer program product, when the computer program product is run on computers,
So that the computer executes the step of method for inhibiting ultrasonic wave interference as described in relation to the first aspect.
6th aspect, provides a kind of using distribution platform, and the application distribution platform is used to issue computer program product,
Wherein, when the computer program product is run on computers, so that the computer executes as described in relation to the first aspect
The step of inhibiting the method for ultrasonic wave interference.
Compared with prior art, the embodiment of the present invention has the advantages that
In the embodiment of the present invention, by ultrasonic listening, the first detection range, the second detection range, third detection are obtained
Distance and the 4th detection range, and calculate the first distance difference of the first detection range and third detection range；In first distance
In the case that the absolute value of difference is less than or equal to distance threshold, calculate the second of third detection range and the second detection range away from
Deviation value；In the case where the absolute value of second distance difference is less than or equal to distance threshold, third detection range and the are calculated
The third distance difference of four detection ranges；And the case where the absolute value of third distance difference is less than or equal to distance threshold
Under, determine that the 4th detection range is effective probe value；Wherein, the first detection range is according to once returning in n-th of detection cycle
What the flight time of wave was calculated；Second detection range is to be counted according to the flight time of second trip echo in n-th of detection cycle
It obtains；Third detection range is to be calculated according to the flight time of an echo in (n+1)th detection cycle, the 4th
Detection range is to be calculated according to the flight time of second trip echo in (n+1)th detection cycle, and n is positive integer.By this
Always scheme can obtain two detection ranges according to an echo and second trip echo out of two neighboring detection cycle, i.e., respectively
4 detection ranges are obtained altogether to judge from this 4 detection ranges then by being compared this 4 detection ranges two-by-two
Most believable 1 detection range be effective probe value, so can when receiving the interference of echo of same or similar frequency range,
Obtained detection range can be screened by this method, select effective probe value, so as to avoid it is identical or
The interference of the echo of similar frequency range improves the accuracy of ultrasonic listening.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of flow diagram one of method for inhibiting ultrasonic wave interference disclosed by the embodiments of the present invention；
Fig. 2 is a kind of flow diagram two of method for inhibiting ultrasonic wave interference disclosed by the embodiments of the present invention；
Fig. 3 is a kind of structural schematic diagram one of device for inhibiting ultrasonic wave interference disclosed by the embodiments of the present invention；
Fig. 4 is a kind of structural schematic diagram two of device for inhibiting ultrasonic wave interference disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Term " first " and " second " in description and claims of this specification etc. are for distinguishing different pairs
As, rather than it is used for the particular order of description object.For example, the first detection range and the second detection range etc. are for distinguishing not
Same detection range, rather than the particular order for describing detection range.
The term " includes " of the embodiment of the present invention and " having " and their any deformation, it is intended that covering is non-exclusive
Include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to clearly arrange
Those of out step or unit, but may include be not clearly listed or it is solid for these process, methods, product or equipment
The other step or units having.
It should be noted that in the embodiment of the present invention, " illustrative " or " such as " etc. words make example, example for indicating
Card or explanation.Be described as in the embodiment of the present invention " illustrative " or " such as " any embodiment or design scheme do not answer
It is interpreted than other embodiments or design scheme more preferably or more advantage.Specifically, " illustrative " or " example are used
Such as " word is intended to that related notion is presented in specific ways.
The embodiment of the present invention provides the method, apparatus and vehicle of a kind of inhibition ultrasonic wave interference, can inhibit different detections
The interference of echo between period, to improve the accuracy of ultrasonic listening.
The method provided in an embodiment of the present invention for inhibiting ultrasonic wave interference, can be applied to ultrasonic listening (can be to adopt
With ultrasonic distance measurement) scene in.For example, can be applied to super in the scenes such as reversing early warning and the automatic parking of vehicle
Acoustic detection.
The executing subject of the method provided in an embodiment of the present invention for inhibiting ultrasonic wave interference can be inhibition ultrasonic wave interference
Device, or inhibit ultrasonic wave interference device kind partial function module or functional entity, the embodiment of the present invention is not
It limits.The following examples are by taking executing subject is to inhibit the device of ultrasonic wave interference as an example, to provided in an embodiment of the present invention
The method of ultrasonic wave interference is inhibited illustratively to be illustrated.
The embodiment of the present invention provides a kind of method of inhibition ultrasonic wave interference, and this method can be applied to any need to carry out
In the scene of ultrasonic listening (such as: reversing early warning or automatic parking etc.) it can be used during ultrasonic listening
Method provided in an embodiment of the present invention inhibits ultrasonic wave interference.
What is provided in the embodiment of the present invention inhibits the scheme of ultrasonic wave interference, needs the spy by continuous 2 detection cycles
Ranging is realized from being calculated, and below will be n-th of detection cycle and (n+1)th detection week with continuous 2 detection cycles
Illustratively illustrated for phase, wherein n can take any positive integer, for example, when n is 1, above-mentioned continuous 2 detections
Period is the 1st detection cycle and the 2nd detection cycle；When n is 2, above-mentioned continuous 2 detection cycles are the 2nd detection
Period and the 3rd detection cycle.That is, inhibiting the scheme of ultrasonic wave interference can be by arbitrarily connecting in the embodiment of the present invention
2 continuous detection cycles realize that the selection of specific detection cycle can determine according to the value of n.
The executing subject of the method provided in an embodiment of the present invention for inhibiting ultrasonic wave interference can be vehicle, or this
What is provided in inventive embodiments inhibits the device of ultrasonic wave interference, when the device of inhibition ultrasonic wave interference is applied in vehicle,
Can be ultrasonic radar, for example, automatic parking auxiliary (Automatic Parking Assistance, APA) radar or
Ultrasonic wave parking auxiliary (Ultrasonic Parking Assistance, UPA) radar, the following examples will be to inhibit super
Sound wave interference method executing subject be vehicle for, illustratively illustrated.
Embodiment one
Illustratively, as shown in Figure 1, this method may include following step:
101, vehicle is by ultrasonic listening, obtains the first detection range, the second detection range, third detection range and the
Four detection ranges.
Wherein, the first detection range is to be calculated according to the flight time of an echo in n-th of detection cycle；The
Two detection ranges are to be calculated according to the flight time of second trip echo in n-th of detection cycle；Third detection range is root
It is calculated according to the flight time of an echo in (n+1)th detection cycle, the 4th detection range is to be detected according to (n+1)th
The flight time of second trip echo is calculated in period, and n is positive integer.
In the embodiment of the present invention, the first detection range is equal in n-th detection cycle the flight time and sound of an echo
The product of speed；Second detection range is equal to the flight time of second trip echo and the product of the velocity of sound in n-th of detection cycle；Third is visited
Product of the ranging from the flight time and the velocity of sound for being equal in (n+1)th detection cycle an echo；4th detection range is equal to n-th
The product of the flight time of second trip echo and the velocity of sound in+1 detection cycle.
When usual ultrasonic listening, the detection cycle of ultrasonic wave can be pre-set, and in the starting of each detection cycle
Moment sends ultrasonic signal.Each detection cycle would generally be both configured to a regular time length at present.
In the embodiment of the present invention, the duration of each detection cycle is not construed as limiting, each detection cycle can be all provided with
It is set to identical time span, different detection cycles can also be arranged to different time length, it can also be by part detection week
Phase is arranged to identical time span (for example, odd number detection cycle is same time span).
102, vehicle calculates the first distance difference of the first detection range and third detection range.
In the embodiment of the present invention, compares and first obtained according to two echoes in the logic of 4 above-mentioned detection ranges
First detection range and third detection range compare, and carry out first time screening.
103, vehicle calculates third detection in the case where the absolute value of first distance difference is less than or equal to distance threshold
The second distance difference of distance and the second detection range.
In the embodiment of the present invention, the first detection range and third detection range obtained according to two echoes is carried out pair
Than, and the method for carrying out first time screening specifically includes: first distance difference is calculated, it is small in the absolute value of the first distance difference
In or in the case where being equal to distance threshold, then it is assumed that detecting after in two detection ranges is more believable value, due to the
In one detection range and third detection range, third detection range detects after being, therefore, it is considered that third detection range is more
It is credible；And the first distance difference be greater than distance threshold in the case where, then it is assumed that in two detection ranges it is biggish detection away from
From more credible.
In the embodiment of the present invention, in the case where the first distance difference is less than or equal to distance threshold, it is believed that the
One detection range and third detection range are more believable, but third detection range is got due to after, more
Meet the distance value of current real-time detection, therefore, it is considered that above-mentioned third detection range is more credible.
In the embodiment of the present invention, in the case where the first distance difference is greater than distance threshold, it is believed that the first detection
The detection range first detected in distance and third detection range may be to be obtained according to the interference wave of same or similar frequency range,
Therefore the detection range that can be detected by after is considered more believable value.
104, vehicle calculates third detection in the case where the absolute value of second distance difference is less than or equal to distance threshold
The third distance difference of distance and the 4th detection range.
105, vehicle determines the 4th detection in the case where the absolute value of third distance difference is less than or equal to distance threshold
Distance is effective probe value.
Further, after the screening of above-mentioned first time, it is determined that after third detection range, which can be detected
Distance carries out programmed screening with the second detection range, is next carried out using the result of programmed screening and the 4th detection range
Third time is screened, to filter out detection range the most believable as effective probe value.Wherein, programmed screening and third time are sieved
The logic of the logical AND of choosing screening for the first time is similar, and details are not described herein again.
In the embodiment of the present invention, the duration of two neighboring detection cycle be can be set identical, the difference that also can be set.
In a kind of optional implementation: as above-mentioned n=2k-1, when a length of first duration of (n+1)th detection cycle,
When a length of second duration of n-th detection cycle；As above-mentioned n=2k, when a length of second duration of (n+1)th detection cycle,
When a length of first duration of n-th detection cycle.Wherein, the first duration is different from the second duration, and k is positive integer.
Optionally, above-mentioned first duration can be 50ms, and above-mentioned second duration can be 70ms.
Optionally, above-mentioned first when a length of 70ms, above-mentioned second when a length of 50ms.
In above-mentioned optional implementation, the detection cycle of ultrasonic wave can be alternatively set as a shorter time cycle
With a longer time period, for example, odd cycle is disposed as 50ms, even cycle is disposed as 70ms；Or odd number
Period is disposed as 70ms, and even cycle is disposed as 50ms.
Illustratively, first detection cycle can be set to 50ms, and second detection cycle can be set to 70ms, the
Three detection cycles can be set to 50ms, and the 4th detection cycle can be set to 70ms ... ..., such short cycle and long week
Phase is arranged alternately.
Optionally, above-mentioned distance threshold can n-th according to detection cycle duration and (n+1)th detection cycle when
What long difference determined.
Illustratively, it is assumed that when a length of first duration of above-mentioned n-th of detection cycle, above-mentioned (n+1)th detection cycle
The second duration of Shi Changwei, then meeting following formula between the first duration and the difference and distance threshold of the second duration:
Δ T=a* (the 2*D/ velocity of sound)
Wherein, a is the constant greater than 1, and Δ T indicates the difference of the first duration and the second duration, and D indicates distance threshold.
The embodiment of the present invention provides a kind of method of inhibition ultrasonic wave interference, by ultrasonic listening, obtains the first detection
Distance, the second detection range, third detection range and the 4th detection range, and calculate the first detection range and third detection range
First distance difference；In the case where the absolute value of first distance difference is less than or equal to distance threshold, third detection is calculated
The second distance difference of distance and the second detection range；It is less than or equal to the feelings of distance threshold in the absolute value of second distance difference
Under condition, the third distance difference of third detection range and the 4th detection range is calculated；And the absolute value in third distance difference
In the case where less than or equal to distance threshold, determine that the 4th detection range is effective probe value；Wherein, the first detection range is root
It is calculated according to the flight time of an echo in n-th of detection cycle；Second detection range is according to n-th of detection cycle
What the flight time of interior second trip echo was calculated；Third detection range is according to an echo in (n+1)th detection cycle
What the flight time was calculated, the 4th detection range is to be calculated according to the flight time of second trip echo in (n+1)th detection cycle
It obtains, n is positive integer.It with this solution, can be out of two neighboring detection cycle according to an echo and secondary returning wavelength-division
Not Huo Qu two detection ranges, i.e., in total obtain 4 detection ranges, then by being compared two-by-two to this 4 detection ranges,
Judge from this 4 detection ranges most believable 1 detection range be effective probe value, so can receive it is identical or
When the interference of the echo of similar frequency range, obtained detection range can be screened by this method, select effective spy
Measured value, so as to avoid same or similar frequency range echo interference, improve the accuracy of ultrasonic listening.
Embodiment two
As shown in Fig. 2, the embodiment of the present invention also provides a kind of method of inhibition ultrasonic wave interference, under this method may include
State step:
201, vehicle is by ultrasonic listening, obtains the first detection range, the second detection range, third detection range and the
Four detection ranges.
202, vehicle calculates the first distance difference of the first detection range and third detection range.
For above-mentioned 201 and 202 description, the associated description to 101 and 102 is referred in above-described embodiment one, this
Place repeats no more.
203, vehicle judges whether the absolute value of first distance difference is less than or equal to distance threshold.
If the absolute value of first distance difference is less than or equal to distance threshold, following 204 to 212 are executed；If first away from
The absolute value of deviation value is greater than distance threshold, then executes following 213 to 220.
Wherein, if the absolute value of first distance difference is less than or equal to distance threshold, illustrate the first detection range and the
The difference of three detection ranges is smaller, at this time when screen for the first time, it is believed that after the distance that detects closer to real-time detection
The distance value arrived, the third detection range detected by after screen, and the third detection range filtered out and second are visited
Ranging is from progress programmed screening；If the absolute value of first distance difference be greater than distance threshold, illustrate the first detection range with
The difference of third detection range is larger, at this time when screen for the first time, it is believed that lesser detection range may be according to dry
Disturb what wave obtained, therefore can be by detection range biggish in the first detection range and third detection range (i.e. first object spy
Ranging from) screen, and with the second detection range carry out programmed screening.
204, vehicle calculates the second distance difference of third detection range and the second detection range.
205, vehicle judges whether the absolute value of second distance difference is less than or equal to distance threshold.
If the absolute value of second distance difference is less than or equal to distance threshold, following 206 to 209 are executed；If second away from
The absolute value of deviation value is greater than distance threshold, then executes 210 to 212.
Wherein, if the absolute value of second distance difference is less than or equal to distance threshold, illustrate the second detection range and the
The difference of three detection ranges is smaller, at this time when carrying out programmed screening, it is believed that after the third detection range that detects it is closer
The distance value real-time detected, the third detection range detected by after screen, and carry out third with the 4th detection range
Secondary screening；If the absolute value of first distance difference is greater than distance threshold, illustrate the second detection range and third detection range
Difference is larger, at this time when carrying out programmed screening, it is believed that lesser detection range may be to be obtained according to interference wave, therefore
Second detection range and detection range (i.e. the 6th target acquisition distance) biggish in third detection range can be screened,
And third time screening is carried out with the second detection range.
206, vehicle calculates the third distance difference of third detection range and the 4th detection range.
207, vehicle judges whether the absolute value of third distance difference is less than or equal to distance threshold.
If the absolute value of third distance difference is less than or equal to distance threshold, following 208 are executed；If third distance difference
Absolute value be greater than distance threshold, then execute following 209.
Wherein, if the absolute value of third distance difference is less than or equal to distance threshold, illustrate the 4th detection range and the
The difference of three detection ranges is smaller, at this time when carrying out third time and screening, it is believed that after the 4th detection range that detects it is closer
The distance value real-time detected determines it as effective probe value；If the absolute value of first distance difference is greater than distance threshold,
Illustrate that the difference of the 4th detection range and third detection range is larger, at this time when carrying out third time screening, it is believed that lesser spy
Ranging is obtained according to interference wave from may be, therefore can be by biggish detection in the 4th detection range and third detection range
Distance (i.e. the 8th target acquisition distance) is determined as effective probe value.
208, vehicle determines that the 4th detection range is effective probe value.
209, vehicle determines that the 8th target acquisition distance is effective probe value.
Wherein, the 8th target acquisition distance is biggish detection range in third detection range and the 4th detection range.
210, vehicle calculates the 7th distance difference of the 6th target acquisition distance and the 4th detection range.
211, vehicle judges whether the absolute value of the 7th distance difference is less than or equal to distance threshold.
Wherein, the 6th target acquisition distance be the third detection range with it is biggish in second detection range
Detection range.
If the absolute value of the 7th distance difference is less than or equal to distance threshold, above-mentioned 208 are executed；If the 7th distance difference
Absolute value be greater than distance threshold, then execute following 212.
Wherein, if the absolute value of the 7th distance difference is less than or equal to distance threshold, illustrate the 6th target acquisition distance
It is smaller with the difference of the 4th detection range, at this time when carrying out third time and screening, it is believed that after the 4th detection range that detects more
The distance value that near real-time detects determines it as effective probe value；If the absolute value of the 7th distance difference is greater than apart from threshold
Value then illustrates that the 6th target acquisition distance and the difference of the 4th detection range are larger, at this time when carrying out third time screening, it is believed that
Lesser detection range may be to be obtained according to interference wave, therefore can be by the 6th target acquisition distance and the 4th detection range
In biggish detection range (i.e. the 7th target visits distance) be determined as effective probe value.
212, it is effective probe value that vehicle, which determines that the 7th target visits distance,.
213, vehicle calculates the 4th distance difference of first object detection range and the second detection range.
214, vehicle judges whether the absolute value of the 4th distance difference is less than or equal to distance threshold.
If the absolute value of the 4th distance difference is less than or equal to distance threshold, following 215 to 217 are executed；If the 4th away from
The absolute value of deviation value is greater than distance threshold, then executes following 218 to 220.
Wherein, if the absolute value of the 4th distance difference is less than or equal to distance threshold, illustrate the second detection range and the
The difference of one target acquisition distance is smaller, at this time when carrying out programmed screening, it is believed that after the second target acquisition for detecting away from
From closer to the distance value that real-time detects, the second target acquisition distance is screened, and carries out the with the 4th detection range
It screens three times；If the absolute value of the 4th distance difference is greater than distance threshold, illustrate that the second detection range and first object detect
The difference of distance is larger, at this time when carrying out programmed screening, it is believed that lesser detection range may be to be obtained according to interference wave
, thus can by detection range biggish in the second detection range and first object detection range (i.e. the 4th target acquisition away from
From) screen, and third time screening is carried out with the second detection range.
215, vehicle calculates the 5th distance difference of the second target acquisition distance and the 4th detection range.
216, judge whether the absolute value of the 5th distance difference is less than or equal to distance threshold.
If the absolute value of the 5th distance difference is less than or equal to distance threshold, above-mentioned 208 are executed；If the 5th distance difference
Absolute value be greater than distance threshold.Then execute following 217.
Wherein, if the absolute value of the 5th distance difference is less than or equal to distance threshold, illustrate the second target acquisition distance
It is smaller with the difference of the 4th detection range, at this time when carrying out third time and screening, it is believed that after the 4th detection range that detects more
The distance value that near real-time detects determines it as effective probe value；If the absolute value of the 5th distance difference is greater than apart from threshold
Value, then illustrate that the second target acquisition distance and the difference of the 4th detection range are larger, at this time when carrying out third time screening, it is believed that
Lesser detection range may be to be obtained according to interference wave, therefore can be by the second target acquisition distance and the 4th detection range
In biggish detection range (i.e. third target acquisition distance) be determined as effective probe value.
217, determine that third target acquisition distance is effective probe value.
218, vehicle calculates the 6th distance difference of the 4th target acquisition distance and the 4th detection range.
Wherein, the 4th target acquisition distance be in the second detection range and first object detection range biggish detection away from
From.
219, vehicle judges whether the absolute value of the 6th distance difference is less than or equal to distance threshold.
If the absolute value of the 6th distance difference is less than or equal to distance threshold, above-mentioned 208 are executed, if the 6th distance difference
Absolute value be greater than distance threshold, then execute following 220.
Wherein, if the absolute value of the 6th distance difference is less than or equal to distance threshold, illustrate the 4th target acquisition distance
It is smaller with the difference of the 4th detection range, at this time when carrying out third time and screening, it is believed that after the 4th detection range that detects more
The distance value that near real-time detects determines it as effective probe value；If the absolute value of the 6th distance difference is greater than apart from threshold
Value then illustrates that the 4th target acquisition distance and the difference of the 4th detection range are larger, at this time when carrying out third time screening, it is believed that
Lesser detection range may be to be obtained according to interference wave, therefore can be by the 4th target acquisition distance and the 4th detection range
In biggish detection range (i.e. the 5th target visits distance) be determined as effective probe value.
220, it is effective probe value that vehicle, which determines that the 5th target visits distance,.
It should be noted that above-mentioned each control method for vehicle shown in the drawings is to combine in the embodiment of the present invention
The explanation of exemplary for an attached drawing in the embodiment of the present invention.When specific implementation, above-mentioned each vehicle shown in the drawings
Other combinable any attached drawings that control method can be combined with illustrating in above-described embodiment realize that details are not described herein again.
The scheme of the present embodiment can be obtained out of two neighboring detection cycle according to an echo and second trip echo respectively
Two detection ranges obtain 4 detection ranges, then by being compared two-by-two to this 4 detection ranges, in the two in total
When difference is smaller, the detection range detected after selection selects biggish detection range, according to this when difference of them is larger
The logic of sample is passed through screens three times, judges that most believable 1 detection range is effective probe value from this 4 detection ranges,
It can can will so be excluded by method according to interference wave when receiving the interference of echo of same or similar frequency range
Obtained detection range, to select effective probe value, so as to avoid same or similar frequency range echo interference,
Improve the accuracy of ultrasonic listening.
Embodiment three
As shown in figure 3, the embodiment of the present invention provides a kind of device of inhibition ultrasonic wave interference, inhibition ultrasonic wave interference
Device includes:
Module 301 is obtained, for obtaining the first detection range, the second detection range, third detection by ultrasonic listening
Distance and the 4th detection range；
Computing module 302, for calculating the first distance difference of the first detection range Yu third detection range；
Computing module 302 is also used in the case where the absolute value of first distance difference is less than or equal to distance threshold, meter
Calculate the second distance difference of third detection range and the second detection range；Second distance difference absolute value be less than or equal to away from
In the case where threshold value, the third distance difference of third detection range and the 4th detection range is calculated；
Determining module 303, for determining in the case where the absolute value of third distance difference is less than or equal to distance threshold
4th detection range is effective probe value；
Wherein, the first detection range is to be calculated according to the flight time of an echo in n-th of detection cycle；The
Two detection ranges are to be calculated according to the flight time of second trip echo in n-th of detection cycle；Third detection range is root
It is calculated according to the flight time of an echo in (n+1)th detection cycle, the 4th detection range is to be detected according to (n+1)th
The flight time of second trip echo is calculated in period, and n is positive integer.
Optionally, computing module 302, it is poor in the first distance for calculating the first detection range and third detection range to be also used to
After value, in the case where the absolute value of first distance difference is greater than distance threshold, first object detection range and second is calculated
4th distance difference of detection range, first object detection range are biggish spy in the first detection range and third detection range
Ranging from；
In the case where the absolute value of the 4th distance difference is less than or equal to distance threshold, the second target acquisition distance is calculated
With the 5th distance difference of the 4th detection range, the second target acquisition distance is first object detection range and the second detection range
In after the detection range that detects；
Determining module 303 is also used in the case where the absolute value of the 5th distance difference is less than or equal to distance threshold, really
Fixed 4th detection range is effective probe value；
Alternatively, determining third target acquisition distance in the case where the absolute value of the 5th distance difference is greater than distance threshold
For effective probe value, third target acquisition distance be the second target acquisition distance with detection biggish in the 4th detection range away from
From.
Optionally, computing module 302, be also used to calculate the 4th of first object detection range and the second detection range away from
After deviation value, the absolute value of the 4th distance difference be greater than distance threshold in the case where, calculate third target acquisition distance with
5th distance difference of the 4th detection range, third target acquisition distance is in first object detection range and the second detection range
Biggish detection range；
Determining module 303 is also used in the case where the absolute value of the 5th distance difference is less than or equal to distance threshold, really
Fixed 4th detection range is effective probe value；
Alternatively, determining the 5th target acquisition distance in the case where the absolute value of the 6th distance difference is greater than distance threshold
For effective probe value, the 5th target acquisition distance be the 4th target acquisition distance with detection biggish in the 4th detection range away from
From.
Optionally, computing module 302 are also used to calculate the second distance difference of third detection range and the second detection range
Later, the 7th distance difference of the 6th target acquisition distance and the 4th detection range is calculated, the 6th target acquisition distance is third
Biggish detection range in detection range and the second detection range；
Determining module 303 is also used to determine the 4th spy in the case where the 7th distance difference is less than or equal to distance threshold
Ranging is from for effective probe value；
Alternatively, determining that the 7th target visits distance to have in the case where the 7th distance difference is greater than or equal to distance threshold
Probe value is imitated, the 7th target acquisition distance is the 6th target acquisition distance and biggish detection range in the 4th detection range.
Optionally, determining module 303 are also used to calculate third detection range and the 4th detection range in computing module 302
Third distance difference after, the absolute value of third distance difference be greater than distance threshold in the case where, determine the 8th target visit
Ranging from for effective probe value, the 8th target acquisition distance be in third detection range and the 4th detection range it is biggish detect away from
From.
As shown in figure 4, the embodiment of the present invention also provides a kind of device of inhibition ultrasonic wave interference, inhibition ultrasonic wave interference
Device include: processor 401, memory 402 and be stored on the memory 402 and can be run on the processor 401
Computer program realizes the inhibition ultrasonic dry in above method embodiment when the computer program is executed by the processor 401
The step of method disturbed.
The device provided in an embodiment of the present invention for inhibiting ultrasonic wave interference can be realized shown in above method embodiment
Each process, to avoid repeating, details are not described herein again.
The embodiment of the present invention provides a kind of device of inhibition ultrasonic wave interference,
By ultrasonic listening, obtain the first detection range, the second detection range, third detection range and the 4th detection away from
From, and calculate the first distance difference of the first detection range and third detection range；It is less than in the absolute value of first distance difference
Or in the case where being equal to distance threshold, the second distance difference of third detection range and the second detection range is calculated；Second away from
In the case that the absolute value of deviation value is less than or equal to distance threshold, the third of third detection range and the 4th detection range is calculated
Distance difference；And the absolute value of third distance difference be less than or equal to distance threshold in the case where, determine the 4th detection away from
From for effective probe value；Wherein, the first detection range is to be calculated according to the flight time of an echo in n-th of detection cycle
It arrives；Second detection range is to be calculated according to the flight time of second trip echo in n-th of detection cycle；Third detection away from
From for what is be calculated according to the flight time of an echo in (n+1)th detection cycle, the 4th detection range is according to (n+1)th
The flight time of second trip echo is calculated in a detection cycle, and n is positive integer.It with this solution, can be from two neighboring
In detection cycle two detection ranges are obtained according to an echo and second trip echo respectively, i.e., obtains 4 detection ranges in total, so
Afterwards by being compared two-by-two to this 4 detection ranges, most believable 1 detection range is judged from this 4 detection ranges
For effective probe value, so can when receiving the interference of echo of same or similar frequency range, can by this method to
To detection range screened, select effective probe value, so as to avoid same or similar frequency range echo it is dry
It disturbs, improves the accuracy of ultrasonic listening.
The embodiment of the present invention provides a kind of vehicle, which is characterized in that the vehicle includes: the inhibition ultrasound in above-described embodiment
The device of wave interference.
The embodiment of the present invention provides a kind of computer readable storage medium, stores and calculates on the computer readable storage medium
Machine program realizes each process in such as above method embodiment when the computer program is executed by processor.
The embodiment of the present invention provides a kind of computer program product, when the computer program product is run on computers
When, so that the computer executes each process in above method embodiment.
The embodiment of the present invention provides a kind of using distribution platform, and the application distribution platform is produced for issuing computer program
Product, wherein when the computer program product is run on computers, so that the computer executes above method embodiment
In each process.
In various embodiments of the present invention, it should be appreciated that magnitude of the sequence numbers of the above procedures are not meant to execute suitable
Successively, the execution sequence of each process should be determined by its function and internal logic the certainty of sequence, without coping with the embodiment of the present invention
Implementation process constitutes any restriction.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be object unit, can be in one place, or may be distributed over multiple networks
On unit.Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can integrate in one processing unit, it is also possible to
Each unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit
Both it can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product,
It can store in a retrievable memory of computer.Based on this understanding, technical solution of the present invention substantially or
Person says all or part of of the part that contributes to existing technology or the technical solution, can be in the form of software products
It embodies, which is stored in a memory, including several requests are with so that a computer is set
Standby (can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executes
Some or all of each embodiment above method of the invention step.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can
For carrying or any other computer-readable medium of storing data.
Claims (10)
1. a kind of method for inhibiting ultrasonic wave interference, which is characterized in that the described method includes:
By ultrasonic listening, the first detection range, the second detection range, third detection range and the 4th detection range are obtained；
Calculate the first distance difference of first detection range Yu the third detection range；
In the case where the absolute value of the first distance difference is less than or equal to distance threshold, the third detection range is calculated
With the second distance difference of second detection range；
In the case where the absolute value of the second distance difference is less than or equal to the distance threshold, the third detection is calculated
The third distance difference of distance and the 4th detection range；
In the case where the absolute value of the third distance difference is less than or equal to the distance threshold, the 4th detection is determined
Distance is effective probe value；
Wherein, first detection range is to be calculated according to the flight time of an echo in n-th of detection cycle；Institute
Stating the second detection range is to be calculated according to the flight time of second trip echo in n-th of detection cycle；The third
Detection range is to be calculated according to the flight time of an echo in (n+1)th detection cycle, the 4th detection range
For what is be calculated according to the flight time of second trip echo in (n+1)th detection cycle, the n is positive integer.
2. the method according to claim 1, wherein described calculate first detection range and third spy
Ranging from first distance difference after, the method also includes:
In the case where the absolute value of the first distance difference is greater than the distance threshold, calculate first object detection away from
From the 4th distance difference with second detection range, the first object detection range is first detection range and institute
State biggish detection range in third detection range；
In the case where the absolute value of the 4th distance difference is less than or equal to the distance threshold, the second target acquisition is calculated
5th distance difference of distance and the 4th detection range, second target acquisition distance be first object detection away from
From in second detection range after the detection range that detects；
In the case where the absolute value of the 5th distance difference is less than or equal to the distance threshold, the 4th detection is determined
Distance is effective probe value；
Alternatively,
In the case where the absolute value of the 5th distance difference is greater than the distance threshold, determine that third target acquisition distance is
Effective probe value, third target acquisition distance be the second target acquisition distance with it is larger in the 4th detection range
Detection range.
3. according to the method described in claim 2, it is characterized in that, described calculate the first object detection range and described the
After 4th distance difference of two detection ranges, the method also includes:
The absolute value of the 4th distance difference be greater than the distance threshold in the case where, calculate the 4th target acquisition distance with
6th distance difference of the 4th detection range, the 4th target acquisition distance is the first object detection range and institute
State biggish detection range in the second detection range；
In the case where the absolute value of the 6th distance difference is less than or equal to the distance threshold, the 4th detection is determined
Distance is effective probe value；
Alternatively,
In the case where the absolute value of the 6th distance difference is greater than the distance threshold, determine that the 5th target acquisition distance is
Effective probe value, the 5th target acquisition distance be the 4th target acquisition distance with it is larger in the 4th detection range
Detection range.
4. the method according to claim 1, wherein the third detection range and described second that calculates is visited
Ranging from second distance difference after, the method also includes:
The absolute value of the second distance difference be greater than the distance threshold in the case where, calculate the 6th target acquisition distance with
7th distance difference of the 4th detection range, the 6th target acquisition distance are the third detection range and described the
Biggish detection range in two detection ranges；
In the case where the 7th distance difference is less than or equal to the distance threshold, determine that the 4th detection range is to have
Imitate probe value；
Alternatively,
In the case where the 7th distance difference is greater than or equal to the distance threshold, it is effective for determining that the 7th target visits distance
Probe value, the 7th target acquisition distance is the 6th target acquisition distance and biggish spy in the 4th detection range
Ranging from.
5. the method according to claim 1, wherein the third detection range and the described 4th that calculates is visited
Ranging from third distance difference after, the method also includes:
In the case where the absolute value of the third distance difference is greater than the distance threshold, determine that the 8th target acquisition distance is
Effective probe value, the 8th target acquisition distance is biggish spy in the third detection range and the 4th detection range
Ranging from.
6. method according to any one of claims 1 to 5, which is characterized in that the distance threshold is according to described n-th
What the difference of the duration of the duration of detection cycle and (n+1)th detection cycle determined.
7. a kind of device for inhibiting ultrasonic wave interference characterized by comprising
Obtain module, for by ultrasonic listening, obtain the first detection range, the second detection range, third detection range and
4th detection range；
Computing module, for calculating the first distance difference of first detection range Yu the third detection range；
The computing module is also used in the case where the absolute value of the first distance difference is less than or equal to distance threshold,
Calculate the second distance difference of the third detection range Yu second detection range；In the absolute of the second distance difference
In the case that value is less than or equal to the distance threshold, the third of the third detection range Yu the 4th detection range is calculated
Distance difference；
Determining module, for the absolute value of the third distance difference be less than or equal to the distance threshold in the case where, really
Fixed 4th detection range is effective probe value；
Wherein, first detection range is to be calculated according to the flight time of an echo in n-th of detection cycle；Institute
Stating the second detection range is to be calculated according to the flight time of second trip echo in n-th of detection cycle；The third
Detection range is to be calculated according to the flight time of an echo in (n+1)th detection cycle, the 4th detection range
For what is be calculated according to the flight time of second trip echo in (n+1)th detection cycle, the n is positive integer.
8. device according to claim 7, which is characterized in that
The computing module is also used in the first distance difference for calculating first detection range and the third detection range
Later, in the case where the absolute value of the first distance difference is greater than the distance threshold, the first object detection is calculated
4th distance difference of distance and second detection range, the first object detection range be first detection range with
Biggish detection range in the third detection range；
In the case where the absolute value of the 4th distance difference is less than or equal to the distance threshold, the second target acquisition is calculated
5th distance difference of distance and the 4th detection range, second target acquisition distance be first object detection away from
From in second detection range after the detection range that detects；
The determining module is also used to the case where the absolute value of the 5th distance difference is less than or equal to the distance threshold
Under, determine that the 4th detection range is effective probe value；
Alternatively, determining third target acquisition in the case where the absolute value of the 5th distance difference is greater than the distance threshold
Distance is effective probe value, and the third target acquisition distance is the second target acquisition distance and the 4th detection range
In biggish detection range.
9. a kind of vehicle, which is characterized in that the vehicle includes the dress as claimed in claim 7 or 8 for inhibiting ultrasonic wave interference
It sets.
10. a kind of computer readable storage medium, which is characterized in that store computer journey on the computer readable storage medium
Sequence is realized when the computer program is executed by processor as inhibition ultrasonic wave as claimed in any one of claims 1 to 6 interferes
Method.
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