CN113030926A - Static barrier filtering method and system based on ultrasonic radar - Google Patents
Static barrier filtering method and system based on ultrasonic radar Download PDFInfo
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- CN113030926A CN113030926A CN202110479896.6A CN202110479896A CN113030926A CN 113030926 A CN113030926 A CN 113030926A CN 202110479896 A CN202110479896 A CN 202110479896A CN 113030926 A CN113030926 A CN 113030926A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The invention discloses a static barrier filtering method and a system based on an ultrasonic radar, which relate to the field of the automobile industry, and the method comprises the steps of detecting and obtaining a static barrier within a preset time after the ultrasonic radar is started based on the ultrasonic radar; taking the detected static obstacle as a reference static obstacle, and calculating to obtain the distance between the reference static obstacle and the ultrasonic radar probe as a reference distance; detecting in real time by using an ultrasonic radar, and calculating the distance between the obstacle to be judged and an ultrasonic radar probe when the obstacle to be judged is detected; and judging whether the obstacle to be judged is a dynamic obstacle or not based on the relation between the distance between the obstacle to be judged and the reference static obstacle and the set misdistance distance and the distance change between the obstacle to be judged and the ultrasonic radar probe. The invention can realize the filtration of static obstacles in the radar detection range when the vehicle is parked, thereby avoiding the false alarm of a fuel anti-theft system.
Description
Technical Field
The invention relates to the field of automobile industry, in particular to a static barrier filtering method and system based on an ultrasonic radar.
Background
The ultrasonic wave is sound wave with frequency higher than 20000 Hz, has good directivity and strong penetrating power, is easy to obtain more concentrated sound energy, and can be used for distance measurement, speed measurement, cleaning, welding, stone breaking, sterilization and disinfection and the like. The ultrasonic radar for an automobile refers to a device for measuring a distance using ultrasonic waves, and has been widely used in the automobile field.
At present, in the design of the fuel oil anti-theft system of a vehicle, an ultrasonic radar is generally used for detecting an obstacle, and the obstacle is judged by judging whether the distance between the obstacle and a probe exceeds a set threshold value or not so as to give an alarm, but the obstacle judgment mode cannot filter static obstacles in a radar detection range when the vehicle parks, so that false alarm of the fuel oil anti-theft system is extremely easy to cause.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a static barrier filtering method and a static barrier filtering system based on an ultrasonic radar, which can realize the filtering of static barriers in a radar detection range when a vehicle is parked, thereby avoiding the false alarm of a fuel anti-theft system.
In order to achieve the above object, the invention provides a static obstacle filtering method based on an ultrasonic radar, which specifically comprises the following steps:
detecting to obtain a static obstacle within a preset time after the ultrasonic radar is started based on the ultrasonic radar;
taking the detected static obstacle as a reference static obstacle, and calculating to obtain the distance between the reference static obstacle and the ultrasonic radar probe as a reference distance;
detecting in real time by using an ultrasonic radar, and calculating the distance between the obstacle to be judged and an ultrasonic radar probe when the obstacle to be judged is detected;
and setting an error distance, and judging whether the obstacle to be judged is a dynamic obstacle or not based on the relationship between the distance between the obstacle to be judged and the reference static obstacle and the set error difference distance and the distance change between the obstacle to be judged and the ultrasonic radar probe.
On the basis of the technical scheme, the method comprises the following specific steps of detecting static obstacles within preset time after the ultrasonic radar is started based on the ultrasonic radar, and comprises the following steps:
starting an ultrasonic radar which is arranged on a vehicle and used for preventing fuel from being stolen;
the ultrasonic radar transmits ultrasonic waves to the surrounding environment where the vehicle is located and lasts for a preset time;
and acquiring the obstacle detected in the preset time.
On the basis of the technical scheme, the detected static obstacles are used as reference static obstacles, wherein the detected static obstacles are multiple, two static obstacles are selected as reference static obstacles, and the two selected static obstacles are respectively a first static obstacle and a second static obstacle.
On the basis of the technical scheme, the calculation is used for obtaining the distance between the reference static obstacle and the ultrasonic radar probe as a reference distance, and the specific steps are as follows:
calculating to obtain a distance between a first reference static obstacle and the ultrasonic radar probe, and taking the distance as a first reference distance;
and calculating to obtain the distance between the second reference static obstacle and the ultrasonic radar probe as a second reference distance.
On the basis of the technical scheme, a calculation formula for calculating the first reference distance is as follows:
L1＝C*(t1-t)/2
where L1 denotes a first reference distance, C denotes a propagation speed of a sound wave in the air, t denotes a time when the ultrasonic radar probe transmits an ultrasonic wave, and t1 denotes a time when the ultrasonic wave transmitted from the ultrasonic radar probe returns to the ultrasonic radar probe after encountering a first reference static obstacle.
On the basis of the above technical solution, a calculation formula for calculating the second reference distance is as follows:
L2＝C*(t2-t)/2
where L2 denotes a second reference distance, C denotes a propagation speed of a sound wave in the air, t denotes a time when the ultrasonic radar probe transmits an ultrasonic wave, and t2 denotes a time when the ultrasonic wave transmitted from the ultrasonic radar probe returns to the ultrasonic radar probe after encountering a second reference static obstacle.
On the basis of the technical scheme, when the obstacle to be judged is obtained by detection, the distance between the obstacle to be judged and the ultrasonic radar probe is obtained by calculation, and the method specifically comprises the following steps:
and when the obstacle to be judged is obtained through detection, calculating to obtain the distance between the obstacle to be judged and the ultrasonic radar probe, simultaneously calculating again to obtain the distance between the first reference static obstacle and the ultrasonic radar probe, and calculating again to obtain the distance between the second reference static obstacle and the ultrasonic radar probe.
On the basis of the technical scheme, when the obstacle to be judged enters the detection range of the ultrasonic radar, the distance between the obstacle to be judged and the ultrasonic radar probe is calculated.
On the basis of the above technical solution, the determining whether the obstacle to be determined is a dynamic obstacle specifically includes:
when | L1' -L1 | <Δl, and | L2' -L2 | <Δl, and | L3' -L1 | > Δ L, and | L3' -L2 | > Δ L, and the distance between the obstacle to be determined and the ultrasonic radar probe changes within a set time period, it is determined that the obstacle to be determined is a dynamic obstacle, and on the contrary, it is determined that the obstacle to be determined is not a dynamic obstacle, L1 represents a first reference distance, L2 represents a second reference distance, L1' represents the distance between the first reference static obstacle and the ultrasonic radar probe which is calculated again, L2' represents the distance between the second reference static obstacle and the ultrasonic radar probe which is calculated again, Δ L represents a set error distance, and L3' represents the distance between the obstacle to be determined and the ultrasonic radar probe.
The invention provides a static obstacle filtering system based on an ultrasonic radar, which comprises:
the detection module is used for detecting and obtaining a static obstacle within a preset time after the ultrasonic radar is started based on the ultrasonic radar;
the first calculation module is used for calculating the distance between the reference static obstacle and the ultrasonic radar probe as a reference distance by taking the detected static obstacle as the reference static obstacle;
the second calculation module is used for driving the ultrasonic radar to detect in real time, and calculating the distance between the obstacle to be judged and the ultrasonic radar probe when the obstacle to be judged is detected;
and the judging module is used for setting an error distance and judging whether the obstacle to be judged is a dynamic obstacle or not based on the relation between the distance between the obstacle to be judged and the reference static obstacle and the set error difference distance and the distance change between the obstacle to be judged and the ultrasonic radar probe.
Compared with the prior art, the invention has the advantages that: the static barrier detected when the ultrasonic radar is just started is used as a reference static barrier, the distance between the reference static barrier and the ultrasonic radar probe is calculated and used as a reference distance, an error distance is set, the judgment of whether the barrier to be judged is a dynamic barrier is carried out subsequently based on the relation between the distance between the barrier to be judged and the reference static barrier and the set error difference distance and the distance change between the barrier to be judged and the ultrasonic radar probe, the filtration of the static barrier in the radar detection range when the vehicle is parked is realized, and the false alarm of a fuel anti-theft system is avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a static obstacle filtering method based on an ultrasonic radar according to an embodiment of the present invention;
fig. 2 is a schematic application diagram of a static obstacle filtering method based on an ultrasonic radar in an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a static barrier filtering method based on an ultrasonic radar, which is characterized in that a static barrier obtained by detection when the ultrasonic radar is just started is used as a reference static barrier, the distance between the reference static barrier and an ultrasonic radar probe is obtained through calculation and is used as a reference distance, an error distance is set, and then whether the barrier to be judged is a dynamic barrier or not is judged based on the relation between the distance between the barrier to be judged and the reference static barrier and a set error difference distance and the distance change between the barrier to be judged and the ultrasonic radar probe, so that the static barrier in a radar detection range is filtered when a vehicle is stopped, and false alarm of a fuel anti-theft system is avoided. The embodiment of the invention correspondingly provides a static obstacle filtering system based on the ultrasonic radar.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, a static obstacle filtering method based on an ultrasonic radar according to an embodiment of the present invention specifically includes the following steps:
s1: detecting to obtain a static obstacle within a preset time after the ultrasonic radar is started based on the ultrasonic radar;
s2: taking the detected static obstacle as a reference static obstacle, and calculating to obtain the distance between the reference static obstacle and the ultrasonic radar probe as a reference distance;
s3: detecting in real time by using an ultrasonic radar, and calculating the distance between the obstacle to be judged and an ultrasonic radar probe when the obstacle to be judged is detected;
s4: and setting an error distance, and judging whether the obstacle to be judged is a dynamic obstacle or not based on the relationship between the distance between the obstacle to be judged and the reference static obstacle and the set error difference distance and the distance change between the obstacle to be judged and the ultrasonic radar probe.
In the embodiment of the invention, based on the ultrasonic radar, the static obstacle within the preset time after the ultrasonic radar is started is obtained by detection, and the specific steps comprise:
s101: starting an ultrasonic radar which is arranged on a vehicle and used for preventing fuel from being stolen;
s102: the ultrasonic radar transmits ultrasonic waves to the surrounding environment where the vehicle is located and lasts for a preset time;
s103: and acquiring the obstacle detected in the preset time.
After a fuel anti-theft system of a vehicle is started (the fuel anti-theft system on the vehicle is generally started after the vehicle stops running), an ultrasonic radar installed on the vehicle for preventing fuel from being stolen is started, the ultrasonic radar immediately sends ultrasonic waves to the surrounding environment to detect after the radar is started, the ultrasonic radar continuously detects for a preset time, and an obstacle detected in the preset time is used as a static obstacle.
In the embodiment of the invention, the detected static obstacles are used as reference static obstacles, wherein the number of the detected static obstacles is multiple, two static obstacles are selected as reference static obstacles, and the two selected static obstacles are respectively a first static obstacle and a second static obstacle. Namely, when the radar is started to send ultrasonic waves to the surrounding environment for detection, two static obstacles are selected as reference static obstacles for a plurality of static obstacles detected in preset time.
In the embodiment of the invention, the distance between a reference static obstacle and an ultrasonic radar probe is obtained by calculation and is used as a reference distance, and the method specifically comprises the following steps:
calculating to obtain a distance between a first reference static obstacle and the ultrasonic radar probe, and taking the distance as a first reference distance;
and calculating to obtain the distance between the second reference static obstacle and the ultrasonic radar probe as a second reference distance.
The calculation formula for calculating the first reference distance is as follows:
L1＝C*(t1-t)/2
where L1 denotes a first reference distance, C denotes a propagation speed of a sound wave in the air, t denotes a time when the ultrasonic radar probe transmits an ultrasonic wave, and t1 denotes a time when the ultrasonic wave transmitted from the ultrasonic radar probe returns to the ultrasonic radar probe after encountering a first reference static obstacle.
The calculation formula for calculating the second reference distance is as follows:
L2＝C*(t2-t)/2
where L2 denotes a second reference distance, C denotes a propagation speed of a sound wave in the air, t denotes a time when the ultrasonic radar probe transmits an ultrasonic wave, and t2 denotes a time when the ultrasonic wave transmitted from the ultrasonic radar probe returns to the ultrasonic radar probe after encountering a second reference static obstacle.
The invention takes the first reference distance and the second reference distance which are obtained by calculation within the first period of time when the fuel anti-theft system is started as two reference quantities to be stored in the controller as the reference of static barrier filtering, and simultaneously sets an error range detected by a radar, namely sets the error distance. After the first reference distance and the second reference distance are determined and the error distance is set, the radar enters a formal mode for detecting surrounding obstacles.
In the embodiment of the invention, when the obstacle to be judged is obtained by detection, the distance between the obstacle to be judged and the ultrasonic radar probe is obtained by calculation, and the method specifically comprises the following steps: and when the obstacle to be judged is obtained through detection, calculating to obtain the distance between the obstacle to be judged and the ultrasonic radar probe, simultaneously calculating again to obtain the distance between the first reference static obstacle and the ultrasonic radar probe, and calculating again to obtain the distance between the second reference static obstacle and the ultrasonic radar probe. And when the obstacle to be judged enters the detection range of the ultrasonic radar, calculating to obtain the distance between the obstacle to be judged and the ultrasonic radar probe.
In the embodiment of the present invention, the determination of whether the obstacle to be determined is a dynamic obstacle is specifically:
when | L1' -L1 | <Δl, and | L2' -L2 | <Δl, and | L3' -L1 | > Δ L, and | L3' -L2 | > Δ L, and the distance between the obstacle to be determined and the ultrasonic radar probe changes within a set time period, it is determined that the obstacle to be determined is a dynamic obstacle, and on the contrary, it is determined that the obstacle to be determined is not a dynamic obstacle, L1 represents a first reference distance, L2 represents a second reference distance, L1' represents the distance between the first reference static obstacle and the ultrasonic radar probe which is calculated again, L2' represents the distance between the second reference static obstacle and the ultrasonic radar probe which is calculated again, Δ L represents a set error distance, and L3' represents the distance between the obstacle to be determined and the ultrasonic radar probe. And when the obstacle to be judged is judged to be the dynamic obstacle, taking L3' as a final effective value to participate in the operation of the fuel anti-theft controller.
Referring to fig. 2, a static obstacle filtering method of an ultrasonic radar according to an embodiment of the present invention will be described in detail.
A: when a fuel anti-theft system on a vehicle is started, a fuel anti-theft controller drives an ultrasonic radar probe to work, the ultrasonic radar sends ultrasonic waves to the surrounding environment where the vehicle is located and lasts for a preset time, a plurality of static obstacles are obtained through detection, and two of the static obstacles are selected as reference static obstacles, namely a static obstacle 1 and a second static obstacle 2;
b: calculating to obtain the distance between the static obstacle 1 and the ultrasonic radar probe as a first reference distance, and calculating to obtain the distance between the static obstacle 2 and the ultrasonic radar probe as a second reference distance;
c: the ultrasonic radar continuously works, when an obstacle to be judged (namely the obstacle 3 in the figure 2) enters the detection range of the ultrasonic radar, the distance between the obstacle 3 and the ultrasonic radar probe is calculated, meanwhile, the distance between the static obstacle 1 and the ultrasonic radar probe is calculated again, and the distance between the static obstacle 2 and the ultrasonic radar probe is calculated again.
D: judging whether the obstacle 3 is a dynamic obstacle, if the distance between the static obstacle 1 and the ultrasonic radar probe is calculated again, the absolute value of the difference value between the first reference distance and the first reference distance is smaller than the set error distance, the distance between the static obstacle 2 and the ultrasonic radar probe is calculated again, the absolute value of the difference value between the first reference distance and the second reference distance is smaller than the set error distance, and the distance between the obstacle 3 and the ultrasonic radar probe, the absolute value of the difference value between the first reference distance and the second reference distance is larger than the set error distance, and the distance between the obstacle 3 and the ultrasonic radar probe, the absolute value of the difference value between the first reference distance and the first reference distance is larger than the set error distance, the distance between the obstacle 3 and the ultrasonic radar probe changes in the set time period, the obstacle 3 is determined to be a dynamic obstacle, and on the contrary, the obstacle 3 is determined to be a static obstacle.
According to the static obstacle filtering method based on the ultrasonic radar, the static obstacle obtained by detection when the ultrasonic radar is just started is used as the reference static obstacle, the distance between the reference static obstacle and the ultrasonic radar probe is obtained through calculation and is used as the reference distance, the error distance is set, and then whether the obstacle to be judged is a dynamic obstacle or not is judged based on the relation between the distance between the obstacle to be judged and the reference static obstacle and the set error difference distance and the distance change between the obstacle to be judged and the ultrasonic radar probe, so that the static obstacle in the radar detection range is filtered when a vehicle is parked, and false alarm of a fuel anti-theft system is avoided.
Embodiments of the present invention also provide a readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the above-described convenient storage method. The method specifically comprises the following steps:
detecting to obtain a static obstacle within a preset time after the ultrasonic radar is started based on the ultrasonic radar;
taking the detected static obstacle as a reference static obstacle, and calculating to obtain the distance between the reference static obstacle and the ultrasonic radar probe as a reference distance;
detecting in real time by using an ultrasonic radar, and calculating the distance between the obstacle to be judged and an ultrasonic radar probe when the obstacle to be judged is detected;
and setting an error distance, and judging whether the obstacle to be judged is a dynamic obstacle or not based on the relationship between the distance between the obstacle to be judged and the reference static obstacle and the set error difference distance and the distance change between the obstacle to be judged and the ultrasonic radar probe.
In the embodiment of the invention, based on the ultrasonic radar, the static obstacle within the preset time after the ultrasonic radar is started is obtained by detection, and the specific steps comprise:
starting an ultrasonic radar which is arranged on a vehicle and used for preventing fuel from being stolen;
the ultrasonic radar transmits ultrasonic waves to the surrounding environment where the vehicle is located and lasts for a preset time;
and acquiring the obstacle detected in the preset time.
In the embodiment of the invention, the detected static obstacles are used as reference static obstacles, wherein the number of the detected static obstacles is multiple, two static obstacles are selected as reference static obstacles, and the two selected static obstacles are respectively a first static obstacle and a second static obstacle.
In the embodiment of the invention, the distance between a reference static obstacle and an ultrasonic radar probe is obtained by calculation and is used as a reference distance, and the method specifically comprises the following steps:
calculating to obtain a distance between a first reference static obstacle and the ultrasonic radar probe as a first reference distance, wherein a calculation formula for calculating to obtain the first reference distance is as follows:
L1＝C*(t1-t)/2
wherein L1 represents a first reference distance, C represents a propagation velocity of a sound wave in the air, t represents a time when the ultrasonic radar probe transmits an ultrasonic wave, and t1 represents a time when the ultrasonic wave transmitted by the ultrasonic radar probe returns to the ultrasonic radar probe after encountering a first reference static obstacle;
and calculating to obtain the distance between a second reference static obstacle and the ultrasonic radar probe as a second reference distance, wherein the calculation formula for calculating to obtain the second reference distance is as follows:
L2＝C*(t2-t)/2
where L2 denotes a second reference distance, C denotes a propagation speed of a sound wave in the air, t denotes a time when the ultrasonic radar probe transmits an ultrasonic wave, and t2 denotes a time when the ultrasonic wave transmitted from the ultrasonic radar probe returns to the ultrasonic radar probe after encountering a second reference static obstacle.
In the embodiment of the invention, when the obstacle to be judged is obtained by detection, the distance between the obstacle to be judged and the ultrasonic radar probe is obtained by calculation, and the method specifically comprises the following steps:
and when the obstacle to be judged is obtained through detection, calculating to obtain the distance between the obstacle to be judged and the ultrasonic radar probe, simultaneously calculating again to obtain the distance between the first reference static obstacle and the ultrasonic radar probe, and calculating again to obtain the distance between the second reference static obstacle and the ultrasonic radar probe.
In the embodiment of the present invention, the determination of whether the obstacle to be determined is a dynamic obstacle is specifically:
when | L1' -L1 | <Δl, and | L2' -L2 | <Δl, and | L3' -L1 | > Δ L, and | L3' -L2 | > Δ L, and the distance between the obstacle to be determined and the ultrasonic radar probe changes within a set time period, it is determined that the obstacle to be determined is a dynamic obstacle, and on the contrary, it is determined that the obstacle to be determined is not a dynamic obstacle, L1 represents a first reference distance, L2 represents a second reference distance, L1' represents the distance between the first reference static obstacle and the ultrasonic radar probe which is calculated again, L2' represents the distance between the second reference static obstacle and the ultrasonic radar probe which is calculated again, Δ L represents a set error distance, and L3' represents the distance between the obstacle to be determined and the ultrasonic radar probe.
In embodiments of the present invention, a storage medium may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The embodiment of the invention provides a static obstacle filtering system based on an ultrasonic radar.
The detection module is used for detecting static obstacles within preset time after the ultrasonic radar is started based on the ultrasonic radar; the first calculation module is used for calculating the distance between the reference static obstacle and the ultrasonic radar probe as a reference distance by taking the detected static obstacle as the reference static obstacle; the second calculation module is used for driving the ultrasonic radar to detect in real time, and when the obstacle to be judged is obtained through detection, calculating to obtain the distance between the obstacle to be judged and the ultrasonic radar probe; the judging module is used for setting an error distance, and judging whether the obstacle to be judged is a dynamic obstacle or not based on the relation between the distance between the obstacle to be judged and the reference static obstacle and the set error distance and the distance change between the obstacle to be judged and the ultrasonic radar probe.
According to the static obstacle filtering system based on the ultrasonic radar, the static obstacle obtained by detection when the ultrasonic radar is just started is used as the reference static obstacle, the distance between the reference static obstacle and the ultrasonic radar probe is obtained through calculation and is used as the reference distance, the error distance is set, and then whether the obstacle to be judged is a dynamic obstacle or not is judged based on the relation between the distance between the obstacle to be judged and the reference static obstacle and the set error difference distance and the distance change between the obstacle to be judged and the ultrasonic radar probe, so that the static obstacle in the radar detection range is filtered when a vehicle is parked, and false alarm of a fuel oil anti-theft system is avoided.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (10)
1. A static obstacle filtering method based on an ultrasonic radar is characterized by comprising the following steps:
detecting to obtain a static obstacle within a preset time after the ultrasonic radar is started based on the ultrasonic radar;
taking the detected static obstacle as a reference static obstacle, and calculating to obtain the distance between the reference static obstacle and the ultrasonic radar probe as a reference distance;
detecting in real time by using an ultrasonic radar, and calculating the distance between the obstacle to be judged and an ultrasonic radar probe when the obstacle to be judged is detected;
and setting an error distance, and judging whether the obstacle to be judged is a dynamic obstacle or not based on the relationship between the distance between the obstacle to be judged and the reference static obstacle and the set error difference distance and the distance change between the obstacle to be judged and the ultrasonic radar probe.
2. The method for filtering static obstacles based on the ultrasonic radar according to claim 1, wherein the method for detecting static obstacles within a preset time after the ultrasonic radar is started based on the ultrasonic radar comprises the following specific steps:
starting an ultrasonic radar which is arranged on a vehicle and used for preventing fuel from being stolen;
the ultrasonic radar transmits ultrasonic waves to the surrounding environment where the vehicle is located and lasts for a preset time;
and acquiring the obstacle detected in the preset time.
3. The ultrasonic radar-based static obstacle filtering method according to claim 1, wherein: and taking the detected static obstacles as reference static obstacles, wherein the detected static obstacles are multiple, two static obstacles are selected as reference static obstacles, and the two selected static obstacles are respectively a first static obstacle and a second static obstacle.
4. The method for filtering static obstacles based on the ultrasonic radar as claimed in claim 3, wherein the calculation is to obtain the distance between the reference static obstacle and the ultrasonic radar probe as the reference distance, and the specific steps are as follows:
calculating to obtain a distance between a first reference static obstacle and the ultrasonic radar probe, and taking the distance as a first reference distance;
and calculating to obtain the distance between the second reference static obstacle and the ultrasonic radar probe as a second reference distance.
5. The method of claim 4, wherein the first reference distance is calculated by the formula:
L1＝C*(t1-t)/2
where L1 denotes a first reference distance, C denotes a propagation speed of a sound wave in the air, t denotes a time when the ultrasonic radar probe transmits an ultrasonic wave, and t1 denotes a time when the ultrasonic wave transmitted from the ultrasonic radar probe returns to the ultrasonic radar probe after encountering a first reference static obstacle.
6. The method of claim 4, wherein the second reference distance is calculated by the formula:
L2＝C*(t2-t)/2
where L2 denotes a second reference distance, C denotes a propagation speed of a sound wave in the air, t denotes a time when the ultrasonic radar probe transmits an ultrasonic wave, and t2 denotes a time when the ultrasonic wave transmitted from the ultrasonic radar probe returns to the ultrasonic radar probe after encountering a second reference static obstacle.
7. The method for filtering static obstacles based on ultrasonic radar according to claim 4, wherein when the obstacle to be determined is detected, the distance between the obstacle to be determined and the ultrasonic radar probe is calculated, specifically:
and when the obstacle to be judged is obtained through detection, calculating to obtain the distance between the obstacle to be judged and the ultrasonic radar probe, simultaneously calculating again to obtain the distance between the first reference static obstacle and the ultrasonic radar probe, and calculating again to obtain the distance between the second reference static obstacle and the ultrasonic radar probe.
8. The method as claimed in claim 7, wherein the distance between the obstacle to be determined and the ultrasonic radar probe is calculated when the obstacle to be determined enters the detection range of the ultrasonic radar.
9. The method for filtering static obstacles based on ultrasonic radar according to claim 7, wherein the determining whether the obstacle to be determined is a dynamic obstacle specifically comprises:
when | L1' -L1 | <Δl, and | L2' -L2 | <Δl, and | L3' -L1 | > Δ L, and | L3' -L2 | > Δ L, and the distance between the obstacle to be determined and the ultrasonic radar probe changes within a set time period, it is determined that the obstacle to be determined is a dynamic obstacle, and on the contrary, it is determined that the obstacle to be determined is not a dynamic obstacle, L1 represents a first reference distance, L2 represents a second reference distance, L1' represents the distance between the first reference static obstacle and the ultrasonic radar probe which is calculated again, L2' represents the distance between the second reference static obstacle and the ultrasonic radar probe which is calculated again, Δ L represents a set error distance, and L3' represents the distance between the obstacle to be determined and the ultrasonic radar probe.
10. An ultrasonic radar-based static obstacle filtering system, comprising:
the detection module is used for detecting and obtaining a static obstacle within a preset time after the ultrasonic radar is started based on the ultrasonic radar;
the first calculation module is used for calculating the distance between the reference static obstacle and the ultrasonic radar probe as a reference distance by taking the detected static obstacle as the reference static obstacle;
the second calculation module is used for driving the ultrasonic radar to detect in real time, and calculating the distance between the obstacle to be judged and the ultrasonic radar probe when the obstacle to be judged is detected;
and the judging module is used for setting an error distance and judging whether the obstacle to be judged is a dynamic obstacle or not based on the relation between the distance between the obstacle to be judged and the reference static obstacle and the set error difference distance and the distance change between the obstacle to be judged and the ultrasonic radar probe.
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