CN113820719A - Method for measuring height of obstacle by ultrasonic radar sensor and vehicle system - Google Patents
Method for measuring height of obstacle by ultrasonic radar sensor and vehicle system Download PDFInfo
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- CN113820719A CN113820719A CN202111101642.7A CN202111101642A CN113820719A CN 113820719 A CN113820719 A CN 113820719A CN 202111101642 A CN202111101642 A CN 202111101642A CN 113820719 A CN113820719 A CN 113820719A
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- 238000004364 calculation method Methods 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 abstract description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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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Abstract
The invention discloses a method for measuring the height of an obstacle by an ultrasonic radar sensor and a vehicle system, wherein the method comprises the following steps: s1, carrying out envelope emission on an ultrasonic radar sensor, wherein in a detection range, in one detection period of the ultrasonic radar sensor, one obstacle can detect two echoes, the first echo is reflected by the position with the shortest distance of the obstacle, and the second echo is reflected back to the ultrasonic radar sensor through the ground; and S2, in the detection period, after the two echo information are obtained, the distance values corresponding to the two echoes can be obtained, the distance value of the second echo is approximately equal to the distance from the ultrasonic radar sensor to the intersection point of the obstacle and the ground, and the height of the obstacle can be approximately calculated. The algorithm related to the method is simpler, the approximate height of the barrier can be flexibly judged, the space utilization rate is greatly improved, and therefore the system performance is improved.
Description
Technical Field
The invention relates to the technical field of ultrasonic measurement, in particular to a method for measuring the height of an obstacle by an ultrasonic radar sensor and a vehicle system.
Background
In the existing ultrasonic radar sensor application, the distance is expanded based on the obstacle fed back by the ultrasonic radar sensor. However, for some applications, such as autonomous parking or autonomous braking operation, for example, only the distance information of the obstacle, no matter how high the obstacle is, the corresponding braking operation is performed at the set distance, so that the corresponding braking operation is also continued for a short obstacle which can be overcome originally, the space utilization behind the short obstacle is wasted, and the performance of the application system is relatively reduced. If the approximate height of the obstacle can be identified in the running process of the vehicle, the system can flexibly judge that the obstacle can cross or needs to be subjected to anti-collision operation, and particularly when the obstacle is short, if the vehicle can cross the obstacle, the space utilization rate can be greatly improved, so that the system performance is improved.
Through retrieval and discovery, Chinese patent document CN113325400A discloses a method for identifying high and low objects in a horizontal parking space based on ultrasonic waves, wherein an ultrasonic radar sensor is statically calibrated, a calibrated object is selected, a road edge or a solid large wall is selected, the FOV (field of view) in the vertical direction of a detection area of the ultrasonic radar sensor is determined, then software algorithm identification is carried out, when the vehicle is automatically parked in a dynamic parking space for scanning, after two side edges are determined, all echo widths and echo distances are stored in an array, the echo widths and the echo distances are counted, a counting area is classified, high and low obstacles are identified, in the collected array, the relationship between the echo widths and the echo distances is established, and the type of the object detected each time is recorded through table lookup. When the type of a certain object falls in a half interval, the type of the object can be determined. The method for identifying the high and low objects in the horizontal parking space based on the ultrasonic waves has the advantages of reducing the difficulty of an identification algorithm, facilitating automatic parking planning, reducing false identification and the like. The design of the invention aims to identify the height of an object in the parking space, so that the parking system can plan a final parking position. However, the algorithm of the invention is more complex and is mainly used for identifying the height of an object in a parking space, the ultrasonic radar sensor is statically calibrated, and a calibrated object, such as a road edge or a solid wall, is selected. More importantly, the invention can only distinguish the height of the obstacle into two types, namely, a high object or a low object, and cannot accurately measure the height of the obstacle, namely, cannot calculate the approximate height of the obstacle.
Therefore, there is still a space for design.
Disclosure of Invention
In view of the above, in order to solve the above technical problems, the present invention aims to provide a method for measuring the height of an obstacle by using an ultrasonic radar sensor and a vehicle system, in which the algorithm involved in the method is simpler, the approximate height of the obstacle can be flexibly determined, the space utilization rate is greatly improved, and the system performance is improved.
The adopted technical scheme is as follows:
a method for measuring the height of an obstacle by an ultrasonic radar sensor comprises the following steps:
s1, carrying out envelope emission on an ultrasonic radar sensor, wherein in a detection range, in one detection period of the ultrasonic radar sensor, one obstacle can detect two echoes, the first echo is reflected by the position with the shortest distance of the obstacle, and the second echo is reflected back to the ultrasonic radar sensor through the ground;
and S2, in the detection period, after the two echo information are obtained, the distance values corresponding to the two echoes can be obtained, the distance value of the second echo is approximately equal to the distance from the ultrasonic radar sensor to the intersection point of the obstacle and the ground, and the height of the obstacle can be approximately calculated.
Further, the method also comprises the following steps:
and S3, obtaining the height of an obstacle in one detection period, obtaining data calculation through a plurality of detection periods in the motion of the vehicle, and finally determining the approximate height of the obstacle according to normal distribution.
Further, the method also comprises the following steps:
and S4, judging whether the two echoes are caused by two obstacles or not according to the change trend of the two echoes during a plurality of continuous detection periods when the vehicle moves, and checking the interference caused by the multiple obstacles.
Further, in S4, it is determined whether the discrimination is caused by two obstacles by:
s41, when the distance between the obstacles is closer, if the echo peak value change trends of the two echoes are consistent, judging that the two echoes are two obstacles; if the echo peak value change trends of the two echoes are inconsistent, judging that the two echoes are an obstacle.
Further, in S41, if the trend of the echo peak value of both the two echoes is larger and larger, it is determined that the two echoes are two obstacles, and if the trend of the echo peak value of the first echo is larger and larger, and the trend of the echo peak value of the second echo is smaller and smaller, it is determined that the two echoes are one obstacle.
The present invention provides a vehicle system, including: an ultrasonic radar sensor, an actuator, a memory, a processor and a software program stored on the memory and executable on the processor, the software program, when executed by the processor, implementing the steps of the method for an ultrasonic radar sensor to measure the height of an obstacle as described above.
The invention has the beneficial effects that:
the algorithm related to the method is simpler, the approximate height of the barrier can be flexibly judged, the space utilization rate is greatly improved, and therefore the system performance is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic diagram of the structure of the envelope emission of an ultrasonic radar sensor.
Fig. 2 is a schematic diagram of the structure of two echo reflection paths.
Fig. 3 is a schematic diagram of fig. 2 with additional reference.
Fig. 4 is a diagram illustrating two echo trend curves of two obstacles.
Fig. 5 is a diagram illustrating the trend of two echoes in a single obstacle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only preferred embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Since the ultrasonic radar sensor (hereinafter referred to as sensor) is an envelope emission, as shown in fig. 1.
Within a certain detection range, in one detection period of the sensor, two echoes are possibly detected by one obstacle, the first echo reflects from the shortest distance position of the obstacle (as shown in a path 1 in fig. 2), and the second echo reflects back to the sensor through the ground (as shown in a path 2 in fig. 2):
after the two echo information are obtained in one detection period, the distance values corresponding to the two echoes can be obtained, and the distance value of the second echo is approximately equal to the distance from the sensor to the intersection point of the obstacle and the ground, so that the height of the obstacle can be approximately calculated, as shown in fig. 3 below.
The distance L can be calculated according to the installation height H of the sensor and the second echo distance value L2, and then the value X can be calculated by combining the first echo distance value L1, so that the height of the obstacle is equal to H-X.
For example, if the sensor mounting angle is 50cm, the test results in L1 of 100cm and L2 of 105cm, the following calculation can be performed:
L2＝1052-502＝8525；
X2＝1002-L2；
X≈38.4，
the barrier height h is 50-38.4 ≈ 12.6 cm.
The height of the obstacle can be obtained in the above one detection period, data calculation is obtained through a plurality of detection periods in the motion of the vehicle, and finally the approximate height of the obstacle can be determined according to normal distribution.
In addition, since two echoes are possibly caused by two obstacles when the ultrasonic radar sensor detects, how to distinguish whether the two echoes are caused by two obstacles or a single obstacle when the two echoes are detected, the following judgment is made:
s41, when the distance between the obstacles is closer, if the echo peak value change trends of the two echoes are consistent, judging that the two echoes are two obstacles; if the echo peak value change trends of the two echoes are inconsistent, judging that the two echoes are an obstacle.
More specifically, in S41, if the trend of the echo peak value of both the two echoes is larger and larger, it is determined that the two echoes are two obstacles, and if the trend of the echo peak value of the first echo is larger and larger, and the trend of the echo peak value of the second echo is smaller and smaller, it is determined that the two echoes are one obstacle.
This is because:
if the two obstacles exist, when the distance between the obstacles is closer, the corresponding echo peak value is larger, so that the echo peak value change trend of the two echoes is larger and larger;
if the ultrasonic radar sensor is an obstacle, the peak value of the first echo is larger when the obstacle is closer, but the closer the distance is due to the envelope emission of the ultrasonic radar sensor, the larger the angle blind area of the sensor is, the more difficult the echo is reflected by the ground, and the smaller the peak value of the second echo is.
By combining the characteristics, whether the signal is caused by two obstacles can be distinguished through the change trend of the two echo peak values in a plurality of continuous detection periods when the vehicle moves, so that the interference caused by the multiple obstacles can be eliminated.
Thus, a method for measuring the height of an obstacle by using an ultrasonic radar sensor is obtained, which comprises the following steps:
s1, carrying out envelope emission on an ultrasonic radar sensor, wherein in a detection range, in one detection period of the ultrasonic radar sensor, one obstacle can detect two echoes, the first echo is reflected by the position with the shortest distance of the obstacle, and the second echo is reflected back to the ultrasonic radar sensor through the ground;
s2, in the detection period, after the two echo information are obtained, a distance value corresponding to the two echoes can be obtained, the distance value of the second echo is approximately equal to the distance from the ultrasonic radar sensor to the intersection point of the obstacle and the ground, and the height of the obstacle can be approximately calculated;
s3, obtaining the height of an obstacle in one detection period, obtaining data calculation through a plurality of detection periods in vehicle movement, and finally determining the approximate height of the obstacle according to normal distribution;
and S4, judging whether the two echoes are caused by two obstacles or not according to the change trend of the two echoes during a plurality of continuous detection periods when the vehicle moves, and checking the interference caused by the multiple obstacles.
By the measuring method, the approximate height of the obstacle can be effectively measured.
Example 2
A system for a vehicle, comprising: an ultrasonic radar sensor, an actuator, a memory, a processor and a software program stored on the memory and executable on the processor, which when executed by the processor, implement the steps of the method of measuring the height of an obstacle of an ultrasonic radar sensor of embodiment 1.
The method for measuring the height of the obstacle by the ultrasonic radar sensor comprises the steps of acquiring sensor data of the ultrasonic radar sensor in a method for measuring the height of the obstacle, storing the acquired sensor data in a memory, and automatically realizing an algorithm related to the method for measuring the height of the obstacle by the ultrasonic radar sensor by a software program running on a processor when the processor is executed, thereby realizing the steps of the method.
For example, by using the software program, after the two echo information are obtained in step 2, the distance values corresponding to the two echoes can be obtained, and the height of the obstacle can be calculated approximately by an algorithm.
The measuring method has the advantages that the application system (namely the vehicle system) can effectively perform anti-collision operation or cross obstacles by combining the vehicle body condition, so that the space utilization around the vehicle is greatly improved, and the system performance is improved.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (6)
1. A method for measuring the height of an obstacle by an ultrasonic radar sensor is characterized by comprising the following steps:
s1, carrying out envelope emission on an ultrasonic radar sensor, wherein in a detection range, in one detection period of the ultrasonic radar sensor, one obstacle can detect two echoes, the first echo is reflected by the position with the shortest distance of the obstacle, and the second echo is reflected back to the ultrasonic radar sensor through the ground;
and S2, in the detection period, after the two echo information are obtained, the distance values corresponding to the two echoes can be obtained, the distance value of the second echo is approximately equal to the distance from the ultrasonic radar sensor to the intersection point of the obstacle and the ground, and the height of the obstacle can be approximately calculated.
2. The method of claim 1, further comprising the steps of:
and S3, obtaining the height of an obstacle in one detection period, obtaining data calculation through a plurality of detection periods in the motion of the vehicle, and finally determining the approximate height of the obstacle according to normal distribution.
3. The method of claim 2, further comprising the steps of:
and S4, judging whether the two echoes are caused by two obstacles or not according to the change trend of the two echoes during a plurality of continuous detection periods when the vehicle moves, and checking the interference caused by the multiple obstacles.
4. The method for measuring the height of an obstacle according to claim 3, wherein in S4, it is determined whether the discrimination is made between two obstacles by:
s41, when the distance between the obstacles is closer, if the echo peak value change trends of the two echoes are consistent, judging that the two echoes are two obstacles; if the echo peak value change trends of the two echoes are inconsistent, judging that the two echoes are an obstacle.
5. The method for measuring the height of an obstacle according to claim 4, wherein in S41, two obstacles are determined if the trend of the peak echo value of both echoes is larger and larger, and one obstacle is determined if the trend of the peak echo value of the first echo is larger and the trend of the peak echo value of the second echo is smaller and smaller.
6. A vehicle system, comprising: an ultrasonic radar sensor, an actuator, a memory, a processor and a software program stored on the memory and executable on the processor, which software program, when executed by the processor, carries out the steps of the method of measuring the height of an obstacle with an ultrasonic radar sensor according to any one of claims 1 to 5.
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