CN114167429A - Detection method, device and equipment based on ultrasonic sensor and storage medium - Google Patents

Detection method, device and equipment based on ultrasonic sensor and storage medium Download PDF

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Publication number
CN114167429A
CN114167429A CN202111441372.4A CN202111441372A CN114167429A CN 114167429 A CN114167429 A CN 114167429A CN 202111441372 A CN202111441372 A CN 202111441372A CN 114167429 A CN114167429 A CN 114167429A
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China
Prior art keywords
detection
sensor
ultrasonic
active
passive
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CN202111441372.4A
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Chinese (zh)
Inventor
覃国宇
徐立人
张鹭
韩旭
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Wenyuan Suhang Jiangsu Technology Co ltd
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Wenyuan Suhang Jiangsu Technology Co ltd
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Priority to CN202111441372.4A priority Critical patent/CN114167429A/en
Publication of CN114167429A publication Critical patent/CN114167429A/en
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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
    • 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
    • G01S15/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems

Abstract

The invention relates to the technical field of ultrasonic waves, and discloses a detection method, a detection device, detection equipment and a storage medium based on an ultrasonic sensor, which are used for improving the accuracy of a positioning area of an obstacle and reducing the collision risk with the obstacle. The method comprises the following steps: selecting at least one ultrasonic sensor from the plurality of ultrasonic sensors as an active detection sensor, and determining at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor; sending an ultrasonic detection signal through an active detection sensor; acquiring an active detection result of an active detection sensor and a passive detection result of a passive detection sensor; and determining a prediction area of the target obstacle according to the active detection result and the passive detection result.

Description

Detection method, device and equipment based on ultrasonic sensor and storage medium
Technical Field
The present invention relates to the field of ultrasound technologies, and in particular, to a detection method, apparatus, device, and storage medium based on an ultrasound sensor.
Background
With the rapid development of the intelligent traffic field, more and more automobiles adopt ultrasonic sensors to assist driving.
The vehicle-mounted ultrasonic sensor converts the electric signal into an ultrasonic signal through the inverse piezoelectric effect of the piezoelectric crystal, the ultrasonic signal is reflected after meeting a target object, the vehicle-mounted ultrasonic sensor is converted into the electric signal through the positive piezoelectric effect of the piezoelectric crystal after receiving the reflected ultrasonic signal, and the distance between the ultrasonic sensor and the target object can be calculated through the time difference and the sound speed between the transmitted signal and the received signal.
However, the existing scheme can only detect the approximate direction of the obstacle, and cannot accurately position the area where the obstacle is located.
Disclosure of Invention
The invention provides a detection method, a detection device, detection equipment and a storage medium based on an ultrasonic sensor, which are used for improving the accuracy of a positioning area of an obstacle and reducing the collision risk with the obstacle.
A first aspect of an embodiment of the present invention provides a detection method based on an ultrasonic sensor, including: selecting at least one ultrasonic sensor from a plurality of ultrasonic sensors as an active detection sensor, and determining at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor; sending an ultrasonic detection signal through the active detection sensor; acquiring an active detection result of the active detection sensor and a passive detection result of the passive detection sensor; and determining a prediction area of the target obstacle according to the active detection result and the passive detection result.
In one possible embodiment, the determining the predicted area of the target obstacle according to the active detection result and the passive detection result includes: determining a candidate area where a target obstacle is located according to the active detection result and the passive detection result, wherein the candidate area comprises at least one detection area; acquiring the current coordinate and the current speed of the target obstacle; determining an activity area of the target obstacle within a preset time according to the current coordinate and the current speed; and generating a prediction area of the target obstacle according to the candidate area and the activity area.
In a possible implementation manner, the determining a candidate region where the target obstacle is located according to the active detection result and the passive detection result, where the candidate region includes at least one detection region, includes: when the active detection result is that a feedback signal is detected and the passive detection result is that no feedback signal is detected, determining that a candidate region where the target obstacle is located is a first candidate region, wherein the first candidate region comprises a first detection region and a second detection region of the active detection sensor; when the active detection result is that no feedback signal is detected and the passive detection result is that a feedback signal is detected, determining a candidate region where the target obstacle is located as a second candidate region, wherein the second candidate region comprises a third detection region and a fourth detection region of the passive detection sensor; and when the active detection result is that a feedback signal is detected and the passive detection result is that a feedback signal is detected, determining that the candidate region where the target obstacle is located is a third candidate region, wherein the third candidate region comprises a fifth detection region and a sixth detection region which are adjacent, the fifth detection region is adjacent to the first candidate region, and the sixth detection region is adjacent to the second candidate region.
In a possible embodiment, the determining an activity area of the target obstacle within a preset time period according to the current coordinates and the current speed includes: when the current speed is smaller than a preset value, determining a vertical speed component of the target obstacle in the vertical direction and a horizontal speed component of the target obstacle in the horizontal direction according to the current speed; calculating the predicted coordinate of the target obstacle according to the preset duration, the vertical speed component and the horizontal speed component; and taking a half of the distance between the current coordinate and the predicted coordinate as a long axis of an ellipse, and taking a preset length as a short axis of the ellipse to generate an active area of the target obstacle.
In one possible embodiment, the generating the predicted area of the target obstacle according to the candidate area and the active area includes: calculating the distances between the center of the active area and the active detection sensor and the distances between the center of the active area and the passive detection sensor respectively to obtain an active measurement distance and a passive measurement distance; selecting a smaller one of the actively measured distance and the passively measured distance as a minimum straight-line distance; determining a warning line segment perpendicular to the minimum straight-line distance on the edge of the active area; and drawing the warning line segment and the activity area in the candidate area to obtain a prediction area of the target obstacle.
In a possible embodiment, before the selecting at least one ultrasonic sensor from the plurality of ultrasonic sensors as the active detection sensor, the method further includes: the detection ranges of the ultrasonic sensors are acquired and divided into a plurality of detection areas.
In a possible embodiment, the acquiring detection ranges of a plurality of ultrasonic sensors and dividing the detection ranges into a plurality of detection areas includes: halving the detection range of each ultrasonic sensor to obtain two initial areas of each ultrasonic sensor, wherein the detection ranges of any two spaced ultrasonic sensors are not crossed, the two spaced ultrasonic sensors are adjacent to the same ultrasonic sensor, and one initial area of any one ultrasonic sensor is crossed with one initial area of the adjacent ultrasonic sensor; and dividing each initial area of each ultrasonic sensor into two parts to obtain four detection areas of each ultrasonic sensor, and combining and de-duplicating the four detection areas of each ultrasonic sensor to obtain a plurality of detection areas.
A second aspect of an embodiment of the present invention provides a detection apparatus based on an ultrasonic sensor, including: the ultrasonic detection device comprises a selection module, a detection module and a control module, wherein the selection module is used for selecting at least one ultrasonic sensor from a plurality of ultrasonic sensors as an active detection sensor and determining at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor; the transmitting module is used for transmitting an ultrasonic detection signal through the active detection sensor; the acquisition module is used for acquiring an active detection result of the active detection sensor and a passive detection result of the passive detection sensor; and the determining module is used for determining a prediction area of the target obstacle according to the active detection result and the passive detection result.
In one possible embodiment, the determining module includes: the first determining unit is used for determining a candidate area where the target obstacle is located according to the active detection result and the passive detection result, and the candidate area comprises at least one detection area; an acquisition unit configured to acquire a current coordinate and a current speed of the target obstacle; the second determining unit is used for determining an activity area of the target obstacle within a preset time length according to the current coordinate and the current speed; a generating unit configured to generate a predicted region of the target obstacle according to the candidate region and the active region.
In a possible embodiment, the first determining unit is specifically configured to: when the active detection result is that a feedback signal is detected and the passive detection result is that no feedback signal is detected, determining that a candidate region where the target obstacle is located is a first candidate region, wherein the first candidate region comprises a first detection region and a second detection region of the active detection sensor; when the active detection result is that no feedback signal is detected and the passive detection result is that a feedback signal is detected, determining a candidate region where the target obstacle is located as a second candidate region, wherein the second candidate region comprises a third detection region and a fourth detection region of the passive detection sensor; and when the active detection result is that a feedback signal is detected and the passive detection result is that a feedback signal is detected, determining that the candidate region where the target obstacle is located is a third candidate region, wherein the third candidate region comprises a fifth detection region and a sixth detection region which are adjacent, the fifth detection region is adjacent to the first candidate region, and the sixth detection region is adjacent to the second candidate region.
In a possible embodiment, the second determination unit is specifically configured to: when the current speed is smaller than a preset value, determining a vertical speed component of the target obstacle in the vertical direction and a horizontal speed component of the target obstacle in the horizontal direction according to the current speed; calculating the predicted coordinate of the target obstacle according to the preset duration, the vertical speed component and the horizontal speed component; and taking a half of the distance between the current coordinate and the predicted coordinate as a long axis of an ellipse, and taking a preset length as a short axis of the ellipse to generate an active area of the target obstacle.
In a possible embodiment, the generating unit is specifically configured to: calculating the distances between the center of the active area and the active detection sensor and the distances between the center of the active area and the passive detection sensor respectively to obtain an active measurement distance and a passive measurement distance; selecting a smaller one of the actively measured distance and the passively measured distance as a minimum straight-line distance; determining a warning line segment perpendicular to the minimum straight-line distance on the edge of the active area; and drawing the warning line segment and the activity area in the candidate area to obtain a prediction area of the target obstacle.
In one possible embodiment, the ultrasound sensor-based detection device further comprises: and the acquisition and division module is used for acquiring the detection ranges of the ultrasonic sensors and dividing the detection ranges into a plurality of detection areas.
In a possible implementation manner, the obtaining and dividing module is specifically configured to: halving the detection range of each ultrasonic sensor to obtain two initial areas of each ultrasonic sensor, wherein the detection ranges of any two spaced ultrasonic sensors are not crossed, the two spaced ultrasonic sensors are adjacent to the same ultrasonic sensor, and one initial area of any one ultrasonic sensor is crossed with one initial area of the adjacent ultrasonic sensor; and dividing each initial area of each ultrasonic sensor into two parts to obtain four detection areas of each ultrasonic sensor, and combining and de-duplicating the four detection areas of each ultrasonic sensor to obtain a plurality of detection areas.
A third aspect of an embodiment of the present invention provides an ultrasonic-sensor-based detection apparatus, including: a memory and at least one processor, the memory having instructions stored therein; the at least one processor invokes the instructions in the memory to cause the ultrasonic-sensor based detection device to perform the ultrasonic-sensor based detection method described above.
A fourth aspect of the present invention provides a computer-readable storage medium having stored therein instructions, which, when run on a computer, cause the computer to perform the above-described ultrasonic-sensor-based detection method.
In the technical scheme provided by the embodiment of the invention, at least one ultrasonic sensor is selected from a plurality of ultrasonic sensors as an active detection sensor, and at least one ultrasonic sensor adjacent to the active detection sensor is determined as a passive detection sensor; sending an ultrasonic detection signal through an active detection sensor; acquiring an active detection result of an active detection sensor and a passive detection result of a passive detection sensor; and determining a prediction area of the target obstacle according to the active detection result and the passive detection result. According to the embodiment of the invention, the selected ultrasonic sensors are controlled to respectively carry out active detection, then the active detection result of the selected ultrasonic sensor and the passive detection of the ultrasonic sensor adjacent to the selected ultrasonic sensor are obtained, and the positioning area of the target obstacle is predicted according to the active detection result and the passive detection result, so that the accuracy of the positioning area of the obstacle is improved, and the collision risk with the obstacle is reduced.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an ultrasonic sensor-based detection method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a field of view of an ultrasonic sensor in a horizontal direction in an embodiment of the present invention;
FIG. 3 is a schematic view of a field of view of an ultrasonic sensor in an embodiment of the invention in a vertical direction;
FIG. 4 is a schematic view of an ultrasonic sensor and a target obstacle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another embodiment of an ultrasonic sensor-based detection method according to an embodiment of the present invention;
FIG. 6 is a schematic view of a field of view of an ultrasonic sensor in an embodiment of the invention;
FIG. 7 is a diagram illustrating a scenario of a prediction region according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of another embodiment of an ultrasonic sensor-based detection method in an embodiment of the invention;
FIG. 9 is a schematic diagram of an embodiment of an ultrasonic sensor-based detection apparatus in an embodiment of the present invention;
fig. 10 is a schematic diagram of an embodiment of an ultrasonic sensor-based detection device in an embodiment of the present invention.
Detailed Description
The invention provides a detection method, a detection device, detection equipment and a storage medium based on an ultrasonic sensor, which are used for improving the accuracy of a positioning area of an obstacle and reducing the collision risk with the obstacle.
Referring to fig. 1, a flowchart of a method for controlling a simulated vehicle load according to an embodiment of the present invention specifically includes:
101. at least one ultrasonic sensor is selected from the plurality of ultrasonic sensors as an active detection sensor, and at least one ultrasonic sensor adjacent to the active detection sensor is determined as a passive detection sensor.
The server selects at least one ultrasonic sensor among the plurality of ultrasonic sensors as an active detection sensor, and determines at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor. The number of the Ultrasonic sensors is determined by the size of the vehicle and the size of the Field of View of the Ultrasonic sensors, wherein the Field of View of the Ultrasonic sensors is calibrated in advance, the Field of View of different types of Ultrasonic sensors may be the same or different, the Ultrasonic sensors in this embodiment are of the same type, therefore, the Field of View of each Ultrasonic Sensor involved in the embodiment of the present invention is the same, and has the same Field of View size, and when the detection direction of the Ultrasonic Sensor is set horizontally, the Field of View in the horizontal direction is as shown in fig. 2, which shows an example of the detection range (USS FOV) of the complete Ultrasonic Sensor. Fig. 3 is a schematic top view of another detection range provided by the embodiment of the present invention, which shows the detection range of the ultrasonic sensor shown in fig. 2 after the detection range is rotated by 90 °, and the detection direction of the ultrasonic sensor is vertically arranged. The embodiment of the present invention will be described by taking a horizontal setting as an example.
It should be noted that the height of the ultrasonic sensor on the vehicle needs to be set according to the actual situation of the vehicle, and the invention is not limited.
It can be understood that the active detection sensor in the embodiment of the present invention is an ultrasonic sensor that turns on the transmitting function and turns off the receiving function, that is, when performing active detection, only a signal is transmitted and no signal is received; similarly, the passive detection sensor is an ultrasonic sensor which is used for closing the transmitting function and opening the receiving function, namely, when passive detection is carried out, only signals can be received, and signals cannot be transmitted.
102. And sending an ultrasonic detection signal through the active detection sensor.
The server actively transmits the ultrasonic detection signal by controlling the active detection sensor (i.e. the selected one or more ultrasonic sensors). When the number of the ultrasonic sensors included in the active detection sensors is greater than or equal to two, two ultrasonic sensors for passive detection need to be spaced between the two active detection sensors.
It can be understood that in a group of consecutively arranged ultrasonic sensors, in order to ensure the uniqueness of the signal source, two passive detection ultrasonic sensors are required between every two actively detected ultrasonic sensors, so that it can be ensured that the signals of the two actively detected ultrasonic sensors do not interfere with each other, and the feedback signal received by the passive detection is necessarily obtained by reflecting the detection signal sent by the active detection sensor closest to the passive detection sensor by an object. For example, when there are six adjacent ultrasonic sensors, which are respectively named as number 1-6, number 1 and number 4 can be determined as active detection sensors, and number 2, number 3 and number 5 can be determined as passive detection sensors, so as to ensure that the ultrasonic waves emitted by the active detection sensor number 1 are detected by the passive detection sensor number 2 and cannot be detected by the passive detection sensor number 3, and at this time, the ultrasonic sensor number 6 can simultaneously turn off the emitting and receiving functions; likewise, the emitted ultrasonic waves of the active detection sensor No. 4 are detected by the passive detection sensors No. 3 and No. 5, and are not detected by the passive detection sensor No. 2. Similarly, the numbers 2 and 5 can be determined as active detection sensors, and the numbers 1, 3, 4 and 6 can be determined as passive detection sensors; it is also possible to determine the numbers 3 and 6 as active detection sensors and the numbers 2, 4, and 5 as passive detection sensors, and at this time, the number 1 ultrasonic sensor can turn off the transmitting and receiving functions at the same time.
It should be noted that the ultrasonic sensor in the present embodiment has both transmitting and receiving functions, and needs to transmit separately when installed in a vehicle for use in a kit, otherwise the ultrasonic sensor cannot determine whether the received ultrasonic wave is emitted by itself or by another ultrasonic sensor.
103. And acquiring an active detection result of the active detection sensor and a passive detection result of the passive detection sensor.
The server acquires an active detection result of the active detection sensor and a passive detection result of the passive detection sensor. When the active detection sensor receives the electric signal to emit the detection signal, the ultrasonic feedback signal is received, and the time difference delta t between the emission detection signal and the reception feedback signal is used1And speed of sound VSCan calculate the ultrasonic sensor U1Distance L from target obstacle P1As shown in FIG. 4, wherein L1＝Δt1×VSAnd/2, the process is active detection. When the active detection sensor receives the electric signal to emit the detection signal, the adjacent ultrasonic sensor can also receive the signal ultrasonic feedback signal, and the time difference delta t between the emission detection signal and the reception feedback signal2And speed of sound VSCalculating the ultrasonic sensor U2A distance L from the target obstacle P2As shown in FIG. 4, wherein L2＝Δt2×VS-L1＝(Δt2-Δt1/2)×VSThis process is passive probing.
104. And determining a prediction area of the target obstacle according to the active detection result and the passive detection result.
Specifically, the server determines a prediction area of the target obstacle according to the active detection result and the passive detection result. The active detection result includes the detection of a feedback signal and the non-detection of a feedback signal, and similarly, the passive detection result also includes the detection of a feedback signal and the non-detection of a feedback signal. The active detection result and the passive detection result may further include a coordinate calculation of the obstacle:
using triangulation principles, based on U1Coordinate, U of2Coordinate of (1), L1And L2According to the formula L1 2＝(X1-Xn)2+(Y1-Yn)2,L2 2＝(X2-Xn)2+(Y2-Yn)2Calculating to obtain the current coordinate (X) of the target obstacle Pn,Yn)。
According to the embodiment of the invention, the selected ultrasonic sensors are controlled to respectively carry out active detection, then the active detection result of the selected ultrasonic sensor and the passive detection of the ultrasonic sensor adjacent to the selected ultrasonic sensor are obtained, and the positioning area of the target obstacle is predicted according to the active detection result and the passive detection result, so that the accuracy of the positioning area of the obstacle is improved, and the collision risk with the obstacle is reduced.
Referring to fig. 5, another flowchart of a detection method based on an ultrasonic sensor according to an embodiment of the present invention specifically includes:
501. at least one ultrasonic sensor is selected from the plurality of ultrasonic sensors as an active detection sensor, and at least one ultrasonic sensor adjacent to the active detection sensor is determined as a passive detection sensor.
The server selects at least one ultrasonic sensor among the plurality of ultrasonic sensors as an active detection sensor, and determines at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor. The number of the Ultrasonic sensors is determined by the size of the vehicle and the size of the Field of View of the Ultrasonic sensors, wherein the Field of View of the Ultrasonic sensors is calibrated in advance, the Field of View of different types of Ultrasonic sensors may be the same or different, the Ultrasonic sensors in this embodiment are of the same type, therefore, the Field of View of each Ultrasonic Sensor involved in the embodiment of the present invention is the same, and has the same Field of View size, and when the detection direction of the Ultrasonic Sensor is set horizontally, the Field of View in the horizontal direction is as shown in fig. 2, which shows an example of the detection range (USS FOV) of the complete Ultrasonic Sensor. Fig. 3 is a schematic top view of another detection range provided by the embodiment of the present invention, which shows the detection range of the ultrasonic sensor shown in fig. 2 after the detection range is rotated by 90 °, and the detection direction of the ultrasonic sensor is vertically arranged. The embodiment of the present invention will be described by taking a horizontal setting as an example.
It should be noted that the height of the ultrasonic sensor on the vehicle needs to be set according to the actual situation of the vehicle, and the invention is not limited.
502. And sending an ultrasonic detection signal through the active detection sensor.
The server actively transmits the ultrasonic detection signal by controlling the active detection sensor (i.e. the selected one or more ultrasonic sensors). When the number of the ultrasonic sensors included in the active detection sensors is greater than or equal to two, two ultrasonic sensors for passive detection need to be spaced between the two active detection sensors.
It can be understood that in a group of consecutively arranged ultrasonic sensors, in order to ensure the uniqueness of the signal source, two passive detection ultrasonic sensors are required between every two actively detected ultrasonic sensors, so that it can be ensured that the signals of the two actively detected ultrasonic sensors do not interfere with each other, and the feedback signal received by the passive detection is necessarily obtained by reflecting the detection signal sent by the active detection sensor closest to the passive detection sensor by an object.
It should be noted that the ultrasonic sensor in the present embodiment has both transmitting and receiving functions, and needs to transmit separately when installed in a vehicle for use in a kit, otherwise the ultrasonic sensor cannot determine whether the received ultrasonic wave is emitted by itself or by another ultrasonic sensor.
503. And acquiring an active detection result of the active detection sensor and a passive detection result of the passive detection sensor.
The server acquires an active detection result of the active detection sensor and a passive detection result of the passive detection sensor. When the active detection sensor receives the electric signal to emit the detection signal, the ultrasonic feedback signal is received, and the time difference delta t between the emission detection signal and the reception feedback signal is used1And speed of sound VSCan calculate the ultrasonic sensor U1Distance L from target obstacle P1As shown in FIG. 4, wherein L1＝Δt1×VSAnd/2, the process is active detection. When the active detection sensor receives the electric signal to emit the detection signal, the adjacent ultrasonic sensor can also receive the signal ultrasonic feedback signal, and the time difference delta t between the emission detection signal and the reception feedback signal2And speed of sound VSCalculating the ultrasonic sensor U2A distance L from the target obstacle P2As shown in FIG. 4, wherein L2＝Δt2×VS-L1＝(Δt2-Δt1/2)×VSThis process is passive probing.
504. And determining a candidate area where the target obstacle is located according to the active detection result and the passive detection result, wherein the candidate area comprises at least one detection area.
Specifically, when the active detection result is that a feedback signal is detected and the passive detection result is that no feedback signal is detected, the server determines that a candidate region where the target obstacle is located is a first candidate region, wherein the first candidate region comprises a first detection region and a second detection region of the active detection sensor; when the active detection result is that no feedback signal is detected and the passive detection result is that the feedback signal is detected, the server determines that the candidate area where the target obstacle is located is a second candidate area, wherein the second candidate area comprises a third detection area and a fourth detection area of the passive detection sensor; when the active detection result is that the feedback signal is detected and the passive detection result is that the feedback signal is detected, the server determines that the candidate region where the target obstacle is located is a third candidate region, wherein the third candidate region comprises a fifth detection region and a sixth detection region which are adjacent, the fifth detection region is adjacent to the first candidate region, and the sixth detection region is adjacent to the second candidate region.
For example, as shown in FIG. 6, assume that U is at this time1Active probing, U2Passive probing, U1Is U on the right side0，U2Is U on the left side3When U is formed1Detects a feedback signal and U2When the feedback signal is not detected, the server determines that the candidate region where the target obstacle P is located is a first candidate region, wherein the first candidate region comprises a first detection region V1R and a second detection region V0L of the active detection sensor; when U is turned1No feedback signal is detected and U2When the feedback signal is detected, the server determines that the candidate region where the target obstacle P is located is a second candidate region, wherein the second candidate region comprises a third detection region V2L and a fourth detection region V3R of the passive detection sensor; when U is turned1Detects a feedback signal and U2When the feedback signal is detected, the server determines the candidate region where the target obstacle P is located as a third candidate region, wherein the third candidate region includes a fifth detection region V1L and a sixth detection region V2R which are adjacent to each other, the fifth detection region V1L is adjacent to the first candidate region, and the sixth detection region V2R is adjacent to the second candidate region.
505. And acquiring the current coordinate and the current speed of the target obstacle.
The server obtains current coordinates and current speed of the target obstacle. In particularThe server utilizes the principle of triangulation based on U1Coordinate, U of2Coordinate of (1), L1And L2According to the formula L1 2＝(X1-Xn)2+(Y1-Yn)2,L2 2＝(X2-Xn)2+(Y2-Yn)2Calculating to obtain the current coordinate (X) of the target obstacle Pn,Yn). The server calculates the current velocity of the target obstacle by a plurality of measurements.
506. And determining the moving area of the target obstacle within the preset time according to the current coordinate and the current speed.
Specifically, when the current speed of the target obstacle is smaller than a preset value, the server determines a vertical speed component of the target obstacle in the vertical direction and a horizontal speed component of the target obstacle in the horizontal direction according to the current speed; the server calculates the predicted coordinates of the target obstacle according to the preset duration, the vertical speed component and the horizontal speed component; and the server takes half of the distance between the current coordinate and the predicted coordinate as the major axis of the ellipse and takes the preset length as the minor axis of the ellipse to generate the moving area of the target obstacle.
507. A predicted region of the target obstacle is generated based on the candidate region and the active region.
Specifically, the server calculates the distances between the center of the activity area and the active detection sensor and the distances between the center of the activity area and the passive detection sensor respectively to obtain an active measurement distance and a passive measurement distance; the server selects a smaller distance from the active measurement distance and the passive measurement distance as a minimum straight-line distance; the server determines a warning line segment perpendicular to the minimum straight line distance on the edge of the active area; and the server draws a warning line segment and an activity area in the candidate area to obtain a prediction area of the target obstacle.
For example, as shown in FIG. 7, the active area of the target obstacle is an elliptical area with a distance U1Is closer, thus, perpendicular to the target obstacle and U1In the direction of the linear distance, drawing a warning line segment in the area not exceeding the candidate area, and then drawing a warning line segment L, the active area and the current positionThe front detection region V1L is plotted as a whole.
According to the embodiment of the invention, the selected ultrasonic sensors are controlled to respectively carry out active detection, then the active detection result of the selected ultrasonic sensor and the passive detection of the ultrasonic sensor adjacent to the selected ultrasonic sensor are obtained, and the positioning area of the target obstacle is predicted according to the active detection result and the passive detection result, so that the accuracy of the positioning area of the obstacle is improved, and the collision risk with the obstacle is reduced.
Referring to fig. 8, another flowchart of a detection method based on an ultrasonic sensor according to an embodiment of the present invention specifically includes:
801. the detection ranges of the ultrasonic sensors are acquired and divided into a plurality of detection areas.
Specifically, the server bisects the detection range of each ultrasonic sensor to obtain two initial regions of each ultrasonic sensor, wherein the detection ranges of any two spaced ultrasonic sensors are not crossed, the two spaced ultrasonic sensors are adjacent to the same ultrasonic sensor, and one initial region of any one ultrasonic sensor is crossed with one initial region of the adjacent ultrasonic sensor; the server equally divides each initial area of each ultrasonic sensor into two parts to obtain four detection areas of each ultrasonic sensor, and combines and deduplicates the four detection areas of each ultrasonic sensor to obtain a plurality of detection areas. For example, as shown in FIG. 6 or 7, U1Two initial regions of (2) are named as U1L and U1R，U1Halving the R to obtain a first detection area V1R and a second detection area V0L; u shape2Two initial regions of (2) are named as U2L and U2R，U2L is halved to obtain a third detection area V2L and a fourth detection area V3R; u shape2R and U1The detection zones after L halving overlap and are designated as a fifth detection zone V1L and a sixth detection zone V2R, wherein the fifth detection zone V1L is adjacent to the first detection zone V1R of the first candidate zones and the sixth detection zone V2R is adjacent to the third detection zone V2 of the second candidate zonesThe measurement areas V2L are adjacent.
It should be noted that, in this embodiment, the FOV of the ultrasonic sensor may be divided into 4 parts, and each part is used as a detection region, so as to determine which specific divided region is located, and achieve more accurate region positioning.
802. At least one ultrasonic sensor is selected from the plurality of ultrasonic sensors as an active detection sensor, and at least one ultrasonic sensor adjacent to the active detection sensor is determined as a passive detection sensor.
The server selects at least one ultrasonic sensor among the plurality of ultrasonic sensors as an active detection sensor, and determines at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor. The number of the Ultrasonic sensors is determined by the size of the vehicle and the size of the Field of View of the Ultrasonic sensors, wherein the Field of View of the Ultrasonic sensors is calibrated in advance, the Field of View of different types of Ultrasonic sensors may be the same or different, the Ultrasonic sensors in this embodiment are of the same type, therefore, the Field of View of each Ultrasonic Sensor involved in the embodiment of the present invention is the same, and has the same Field of View size, and when the detection direction of the Ultrasonic Sensor is set horizontally, the Field of View in the horizontal direction is as shown in fig. 2, which shows an example of the detection range (USS FOV) of the complete Ultrasonic Sensor. Fig. 3 is a schematic top view of another detection range provided by the embodiment of the present invention, which shows the detection range of the ultrasonic sensor shown in fig. 2 after the detection range is rotated by 90 °, and the detection direction of the ultrasonic sensor is vertically arranged. The embodiment of the present invention will be described by taking a horizontal setting as an example.
It should be noted that the height of the ultrasonic sensor on the vehicle needs to be set according to the actual situation of the vehicle, and the invention is not limited.
803. And sending an ultrasonic detection signal through the active detection sensor.
The server actively transmits the ultrasonic detection signal by controlling the active detection sensor (i.e. the selected one or more ultrasonic sensors). When the number of the ultrasonic sensors included in the active detection sensors is greater than or equal to two, two ultrasonic sensors for passive detection need to be spaced between the two active detection sensors.
It can be understood that in a group of consecutively arranged ultrasonic sensors, in order to ensure the uniqueness of the signal source, two passive detection ultrasonic sensors are required between every two actively detected ultrasonic sensors, so that it can be ensured that the signals of the two actively detected ultrasonic sensors do not interfere with each other, and the feedback signal received by the passive detection is necessarily obtained by reflecting the detection signal sent by the active detection sensor closest to the passive detection sensor by an object.
It should be noted that the ultrasonic sensor in the present embodiment has both transmitting and receiving functions, and needs to transmit separately when installed in a vehicle for use in a kit, otherwise the ultrasonic sensor cannot determine whether the received ultrasonic wave is emitted by itself or by another ultrasonic sensor.
804. And acquiring an active detection result of the active detection sensor and a passive detection result of the passive detection sensor.
The server acquires an active detection result of the active detection sensor and a passive detection result of the passive detection sensor. When the active detection sensor receives the electric signal to emit the detection signal, the ultrasonic feedback signal is received, and the time difference delta t between the emission detection signal and the reception feedback signal is used1And speed of sound VSCan calculate the ultrasonic sensor U1Distance L from target obstacle P1As shown in FIG. 4, wherein L1＝Δt1×VSAnd/2, the process is active detection. When the active detection sensor receives the electric signal to emit the detection signal, the adjacent ultrasonic sensor can also receive the signal ultrasonic feedback signal, and the time difference delta t between the emission detection signal and the reception feedback signal2And speed of sound VSCalculating the ultrasonic sensor U2A distance L from the target obstacle P2As shown in FIG. 4, wherein L2＝Δt2×VS-L1＝(Δt2-Δt1/2)×VSThis process is passive probing.
805. And determining a candidate area where the target obstacle is located according to the active detection result and the passive detection result, wherein the candidate area comprises at least one detection area.
Specifically, when the active detection result is that a feedback signal is detected and the passive detection result is that no feedback signal is detected, the server determines that a candidate region where the target obstacle is located is a first candidate region, wherein the first candidate region comprises a first detection region and a second detection region of the active detection sensor; when the active detection result is that no feedback signal is detected and the passive detection result is that the feedback signal is detected, the server determines that the candidate area where the target obstacle is located is a second candidate area, wherein the second candidate area comprises a third detection area and a fourth detection area of the passive detection sensor; when the active detection result is that the feedback signal is detected and the passive detection result is that the feedback signal is detected, the server determines that the candidate region where the target obstacle is located is a third candidate region, wherein the third candidate region comprises a fifth detection region and a sixth detection region which are adjacent, the fifth detection region is adjacent to the first candidate region, and the sixth detection region is adjacent to the second candidate region.
For example, as shown in FIG. 6, assume that U is at this time1Active probing, U2Passive probing, U1Is U on the right side0，U2Is U on the left side3When U is formed1Detects a feedback signal and U2When the feedback signal is not detected, the server determines that the candidate region where the target obstacle P is located is a first candidate region, wherein the first candidate region comprises a first detection region V1R and a second detection region V0L of the active detection sensor; when U is turned1No feedback signal is detected and U2When the feedback signal is detected, the server determines that the candidate region where the target obstacle P is located is a second candidate region, wherein the second candidate region comprises a third detection region V2L and a fourth detection region V3R of the passive detection sensor; when U is turned1Detects a feedback signal and U2When the feedback signal is detected, the feedback signal is transmitted,the server determines the candidate region where the target obstacle P is located as a third candidate region, where the third candidate region includes a fifth detection region V1L and a sixth detection region V2R that are adjacent, the fifth detection region V1L is adjacent to the first candidate region, and the sixth detection region V2R is adjacent to the second candidate region.
806. And acquiring the current coordinate and the current speed of the target obstacle.
The server obtains current coordinates and current speed of the target obstacle. Specifically, the server utilizes the principle of triangulation based on U1Coordinate, U of2Coordinate of (1), L1And L2According to the formula L1 2＝(X1-Xn)2+(Y1-Yn)2,L2 2＝(X2-Xn)2+(Y2-Yn)2Calculating to obtain the current coordinate (X) of the target obstacle Pn,Yn). The server calculates the current velocity of the target obstacle by a plurality of measurements.
807. And determining the moving area of the target obstacle within the preset time according to the current coordinate and the current speed.
Specifically, when the current speed of the target obstacle is smaller than a preset value, the server determines a vertical speed component of the target obstacle in the vertical direction and a horizontal speed component of the target obstacle in the horizontal direction according to the current speed; the server calculates the predicted coordinates of the target obstacle according to the preset duration, the vertical speed component and the horizontal speed component; and the server takes half of the distance between the current coordinate and the predicted coordinate as the major axis of the ellipse and takes the preset length as the minor axis of the ellipse to generate the moving area of the target obstacle.
808. A predicted region of the target obstacle is generated based on the candidate region and the active region.
Specifically, the server calculates the distances between the center of the activity area and the active detection sensor and the distances between the center of the activity area and the passive detection sensor respectively to obtain an active measurement distance and a passive measurement distance; the server selects a smaller distance from the active measurement distance and the passive measurement distance as a minimum straight-line distance; the server determines a warning line segment perpendicular to the minimum straight line distance on the edge of the active area; and the server draws a warning line segment and an activity area in the candidate area to obtain a prediction area of the target obstacle.
For example, as shown in FIG. 7, the active area of the target obstacle is an elliptical area with a distance U1Is closer, thus, perpendicular to the target obstacle and U1The guard line segment L, the active area, and the current detection area V1L are drawn as a whole.
According to the embodiment of the invention, the selected ultrasonic sensors are controlled to respectively carry out active detection, then the active detection result of the selected ultrasonic sensor and the passive detection of the ultrasonic sensor adjacent to the selected ultrasonic sensor are obtained, and the positioning area of the target obstacle is predicted according to the active detection result and the passive detection result, so that the accuracy of the positioning area of the obstacle is improved, and the collision risk with the obstacle is reduced.
With reference to fig. 9, the detection method based on the ultrasonic sensor in the embodiment of the present invention is described above, and the detection apparatus based on the ultrasonic sensor in the embodiment of the present invention is described below, where an embodiment of the detection apparatus based on the ultrasonic sensor in the embodiment of the present invention includes:
a selecting module 901, configured to select at least one ultrasonic sensor from the plurality of ultrasonic sensors as an active detection sensor, and determine at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor;
a sending module 902, configured to send an ultrasonic detection signal through the active detection sensor;
an obtaining module 903, configured to obtain an active detection result of the active detection sensor and a passive detection result of the passive detection sensor;
a determining module 904 configured to determine a predicted area of the target obstacle according to the active detection result and the passive detection result.
Optionally, the determining module 904 includes:
a first determining unit 9041, configured to determine a candidate region where a target obstacle is located according to the active detection result and the passive detection result, where the candidate region includes at least one detection region;
an obtaining unit 9042, configured to obtain a current coordinate and a current speed of the target obstacle;
a second determining unit 9043, configured to determine, according to the current coordinate and the current speed, an activity area of the target obstacle within a preset time duration;
a generating unit 9044, configured to generate a predicted region of the target obstacle according to the candidate region and the activity region.
Optionally, the first determining unit 9041 is specifically configured to:
when the active detection result is that a feedback signal is detected and the passive detection result is that no feedback signal is detected, determining that a candidate region where the target obstacle is located is a first candidate region, wherein the first candidate region comprises a first detection region and a second detection region of the active detection sensor;
when the active detection result is that no feedback signal is detected and the passive detection result is that a feedback signal is detected, determining a candidate region where the target obstacle is located as a second candidate region, wherein the second candidate region comprises a third detection region and a fourth detection region of the passive detection sensor;
and when the active detection result is that a feedback signal is detected and the passive detection result is that a feedback signal is detected, determining that the candidate region where the target obstacle is located is a third candidate region, wherein the third candidate region comprises a fifth detection region and a sixth detection region which are adjacent, the fifth detection region is adjacent to the first candidate region, and the sixth detection region is adjacent to the second candidate region.
Optionally, the second determining unit 9043 is specifically configured to:
when the current speed is smaller than a preset value, determining a vertical speed component of the target obstacle in the vertical direction and a horizontal speed component of the target obstacle in the horizontal direction according to the current speed;
calculating the predicted coordinate of the target obstacle according to the preset duration, the vertical speed component and the horizontal speed component;
and taking a half of the distance between the current coordinate and the predicted coordinate as a long axis of an ellipse, and taking a preset length as a short axis of the ellipse to generate an active area of the target obstacle.
Optionally, the generating unit 9044 is specifically configured to:
calculating the distances between the center of the active area and the active detection sensor and the distances between the center of the active area and the passive detection sensor respectively to obtain an active measurement distance and a passive measurement distance;
selecting a smaller one of the actively measured distance and the passively measured distance as a minimum straight-line distance;
determining a warning line segment perpendicular to the minimum straight-line distance on the edge of the active area;
and drawing the warning line segment and the activity area in the candidate area to obtain a prediction area of the target obstacle.
Optionally, the detection device based on the ultrasonic sensor further includes:
the acquiring and dividing module 905 is configured to acquire detection ranges of the multiple ultrasonic sensors and divide the detection ranges into multiple detection regions.
Optionally, the obtaining and dividing module 905 is specifically configured to:
halving the detection range of each ultrasonic sensor to obtain two initial areas of each ultrasonic sensor, wherein the detection ranges of any two spaced ultrasonic sensors are not crossed, the two spaced ultrasonic sensors are adjacent to the same ultrasonic sensor, and one initial area of any one ultrasonic sensor is crossed with one initial area of the adjacent ultrasonic sensor;
and dividing each initial area of each ultrasonic sensor into two parts to obtain four detection areas of each ultrasonic sensor, and combining and de-duplicating the four detection areas of each ultrasonic sensor to obtain a plurality of detection areas.
According to the embodiment of the invention, the selected ultrasonic sensors are controlled to respectively carry out active detection, then the active detection result of the selected ultrasonic sensor and the passive detection of the ultrasonic sensor adjacent to the selected ultrasonic sensor are obtained, and the positioning area of the target obstacle is predicted according to the active detection result and the passive detection result, so that the accuracy of the positioning area of the obstacle is improved, and the collision risk with the obstacle is reduced.
Fig. 10 is a schematic structural diagram of an ultrasonic sensor-based detection device 1000 according to an embodiment of the present invention, which may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 1010 (e.g., one or more processors) and a memory 1020, one or more storage media 1030 (e.g., one or more mass storage devices) storing an application program 1033 or data 1032. Memory 1020 and storage media 1030 may be, among other things, transient or persistent storage. The program stored on the storage medium 1030 may include one or more modules (not shown), each of which may include a sequence of instructions operating on the ultrasound sensor-based probe device 1000. Still further, processor 1010 may be configured to communicate with storage medium 1030 to execute a series of instructional operations on storage medium 1030 on ultrasound sensor-based detection device 1000.
The ultrasound sensor-based detection device 1000 may also include one or more power sources 1040, one or more wired or wireless network interfaces 1050, one or more input-output interfaces 1060, and/or one or more operating systems 1031, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, and the like. Those skilled in the art will appreciate that the configuration of the ultrasound sensor based detection device shown in FIG. 10 does not constitute a limitation of the ultrasound sensor based detection device and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, and which may also be a volatile computer readable storage medium, having stored therein instructions, which, when run on a computer, cause the computer to perform the steps of the ultrasound sensor based detection method.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. An ultrasonic sensor-based detection method, comprising:
selecting at least one ultrasonic sensor from a plurality of ultrasonic sensors as an active detection sensor, and determining at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor;
sending an ultrasonic detection signal through the active detection sensor;
acquiring an active detection result of the active detection sensor and a passive detection result of the passive detection sensor;
and determining a prediction area of the target obstacle according to the active detection result and the passive detection result.
2. The ultrasonic-sensor-based detection method of claim 1, wherein the determining a predicted area of a target obstacle based on the active detection result and the passive detection result comprises:
determining a candidate area where a target obstacle is located according to the active detection result and the passive detection result, wherein the candidate area comprises at least one detection area;
acquiring the current coordinate and the current speed of the target obstacle;
determining an activity area of the target obstacle within a preset time according to the current coordinate and the current speed;
and generating a prediction area of the target obstacle according to the candidate area and the activity area.
3. The ultrasonic-sensor-based detection method according to claim 2, wherein the determining a candidate region in which a target obstacle is located according to the active detection result and the passive detection result, the candidate region including at least one detection region, comprises:
when the active detection result is that a feedback signal is detected and the passive detection result is that no feedback signal is detected, determining that a candidate region where the target obstacle is located is a first candidate region, wherein the first candidate region comprises a first detection region and a second detection region of the active detection sensor;
when the active detection result is that no feedback signal is detected and the passive detection result is that a feedback signal is detected, determining a candidate region where the target obstacle is located as a second candidate region, wherein the second candidate region comprises a third detection region and a fourth detection region of the passive detection sensor;
and when the active detection result is that a feedback signal is detected and the passive detection result is that a feedback signal is detected, determining that the candidate region where the target obstacle is located is a third candidate region, wherein the third candidate region comprises a fifth detection region and a sixth detection region which are adjacent, the fifth detection region is adjacent to the first candidate region, and the sixth detection region is adjacent to the second candidate region.
4. The ultrasonic-sensor-based detection method according to claim 2, wherein the determining an active area of the target obstacle within a preset time period according to the current coordinates and the current speed comprises:
when the current speed is smaller than a preset value, determining a vertical speed component of the target obstacle in the vertical direction and a horizontal speed component of the target obstacle in the horizontal direction according to the current speed;
calculating the predicted coordinate of the target obstacle according to the preset duration, the vertical speed component and the horizontal speed component;
and taking a half of the distance between the current coordinate and the predicted coordinate as a long axis of an ellipse, and taking a preset length as a short axis of the ellipse to generate an active area of the target obstacle.
5. The ultrasonic-sensor-based detection method of claim 2, wherein the generating a predicted region of the target obstacle from the candidate region and an active region comprises:
calculating the distances between the center of the active area and the active detection sensor and the distances between the center of the active area and the passive detection sensor respectively to obtain an active measurement distance and a passive measurement distance;
selecting a smaller one of the actively measured distance and the passively measured distance as a minimum straight-line distance;
determining a warning line segment perpendicular to the minimum straight-line distance on the edge of the active area;
and drawing the warning line segment and the activity area in the candidate area to obtain a prediction area of the target obstacle.
6. The ultrasonic-sensor-based detection method according to any one of claims 1-5, further comprising, before the selecting at least one ultrasonic sensor among the plurality of ultrasonic sensors as an active detection sensor:
the detection ranges of the ultrasonic sensors are acquired and divided into a plurality of detection areas.
7. The ultrasonic-sensor-based detection method according to claim 6, wherein the acquiring detection ranges of a plurality of ultrasonic sensors and dividing the detection ranges into a plurality of detection regions comprises:
halving the detection range of each ultrasonic sensor to obtain two initial areas of each ultrasonic sensor, wherein the detection ranges of any two spaced ultrasonic sensors are not crossed, the two spaced ultrasonic sensors are adjacent to the same ultrasonic sensor, and one initial area of any one ultrasonic sensor is crossed with one initial area of the adjacent ultrasonic sensor;
and dividing each initial area of each ultrasonic sensor into two parts to obtain four detection areas of each ultrasonic sensor, and combining and de-duplicating the four detection areas of each ultrasonic sensor to obtain a plurality of detection areas.
8. An ultrasonic sensor-based detection device, comprising:
the ultrasonic detection device comprises a selection module, a detection module and a control module, wherein the selection module is used for selecting at least one ultrasonic sensor from a plurality of ultrasonic sensors as an active detection sensor and determining at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor;
the transmitting module is used for transmitting an ultrasonic detection signal through the active detection sensor;
the acquisition module is used for acquiring an active detection result of the active detection sensor and a passive detection result of the passive detection sensor;
and the determining module is used for determining a prediction area of the target obstacle according to the active detection result and the passive detection result.
9. An ultrasonic sensor-based detection apparatus, characterized in that the ultrasonic sensor-based detection apparatus comprises: a memory having instructions stored therein and at least one processor, the memory and the at least one processor interconnected by a line;
the at least one processor invokes the instructions in the memory to cause the ultrasound sensor-based detection device to perform the ultrasound sensor-based detection method of any of claims 1-7.
10. A computer-readable storage medium storing instructions that, when executed by a processor, implement the ultrasound sensor-based detection method of any of claims 1-7.
CN202111441372.4A 2021-11-30 2021-11-30 Detection method, device and equipment based on ultrasonic sensor and storage medium Pending CN114167429A (en)

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