CN114236517A - Ambient temperature acquisition method and device for intelligent driving - Google Patents
Ambient temperature acquisition method and device for intelligent driving Download PDFInfo
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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
- G01S7/52004—Means for monitoring or calibrating
- G01S7/52006—Means for monitoring or calibrating with provision for compensating the effects of temperature
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
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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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Abstract
The application provides a method and a device for ambient temperature acquisition for smart driving. A method for smart driving, comprising: acquiring first temperature data from a vehicle-mounted temperature sensor; acquiring second temperature data from the ultrasonic sensor; acquiring vehicle speed data of a vehicle; selecting one of the first temperature data and the second temperature data as the ambient temperature of the ultrasonic sensor according to the vehicle speed data; and performing a calibration operation on the ultrasonic sensor using the ambient temperature.
Description
Technical Field
The present invention relates generally to smart driving, and more particularly to a method and apparatus for ambient temperature acquisition of an ultrasonic sensor in smart driving.
Background
In smart driving, it is necessary to detect an obstacle using an ultrasonic sensor. In ultrasonic applications, an ultrasonic sensor emits ultrasonic waves and receives echoes for analysis. In order to filter the received echoes for noise, a detection threshold needs to be set. And when the echo intensity exceeds the detection threshold value, judging that the echo is effective. When ultrasonic waves propagate in a medium, different temperatures of the medium cause energy attenuation to different degrees. Therefore, in actual operation, the ambient temperature of the ultrasonic sensor during operation needs to be acquired to adjust the detection threshold.
The prior art generally uses an on-vehicle temperature sensor mounted on a vehicle body to determine the ambient temperature of the ultrasonic sensor, but in the event of failure of the on-vehicle temperature sensor, the ambient temperature of the ultrasonic sensor cannot be acquired.
Disclosure of Invention
In view of the above technical problems in the prior art, the present application provides a method for intelligent driving, comprising: acquiring first temperature data from a vehicle-mounted temperature sensor; acquiring second temperature data from the ultrasonic sensor; acquiring vehicle speed data of a vehicle; selecting one of the first temperature data and the second temperature data as the ambient temperature of the ultrasonic sensor according to the vehicle speed data; and performing a calibration operation on the ultrasonic sensor using the ambient temperature.
Optionally, the method further comprises: determining whether the first temperature data and the second temperature data are valid; selecting the first temperature data as the ambient temperature if the first temperature data is valid and the second temperature data is invalid; selecting the second temperature data as the ambient temperature if the second temperature data is valid and the first temperature data is invalid; and selecting a default temperature as the ambient temperature if the first temperature data is invalid and the second temperature data is invalid.
Optionally, the method further comprises: comparing the vehicle speed to a vehicle speed threshold; selecting the first temperature as the ambient temperature if the vehicle speed is greater than the vehicle speed threshold; and determining the ambient temperature from a temperature difference between the first temperature data and the second temperature data if the vehicle speed is less than or equal to the vehicle speed threshold.
Optionally, the method further comprises: comparing the temperature difference to a temperature difference threshold; selecting the first temperature as the ambient temperature if the temperature difference is less than or equal to the temperature difference threshold; and selecting the second temperature as the ambient temperature if the temperature difference is greater than the temperature difference threshold.
Optionally, the vehicle speed threshold is 30 km/h.
Another aspect of the present application provides an apparatus for smart driving, including: means for obtaining first temperature data from an onboard temperature sensor; means for obtaining second temperature data from the ultrasonic sensor; a module for obtaining vehicle speed data of a vehicle; means for selecting one of the first temperature data and the second temperature data as an ambient temperature of the ultrasonic sensor based on the vehicle speed data; and means for performing a calibration operation on the ultrasonic sensor using the ambient temperature.
Optionally, the apparatus further comprises: means for determining whether the first temperature data and the second temperature data are valid; means for selecting the first temperature data as the ambient temperature if the first temperature data is valid and the second temperature data is invalid; means for selecting the second temperature data as the ambient temperature if the second temperature data is valid and the first temperature data is invalid; and means for selecting a default temperature as the ambient temperature if the first temperature data is invalid and the second temperature data is invalid.
Optionally, the apparatus further comprises: means for comparing the vehicle speed to a vehicle speed threshold; means for selecting the first temperature as the ambient temperature if the vehicle speed is greater than the vehicle speed threshold; and means for determining the ambient temperature from a temperature difference between the first temperature data and the second temperature data if the vehicle speed is less than or equal to the vehicle speed threshold.
Optionally, the apparatus further comprises: means for comparing the temperature difference to a temperature difference threshold; means for selecting the first temperature as the ambient temperature if the temperature difference is less than or equal to the temperature difference threshold; and means for selecting the second temperature as the ambient temperature if the temperature difference is greater than the temperature difference threshold.
Optionally, the vehicle speed threshold is 30 km/h.
A further aspect of the application provides an electronic device for smart driving, comprising a processor and a memory, the memory storing program instructions; the processor executes program instructions to implement the method for intelligent driving as described above.
Drawings
FIG. 1 shows a flow diagram of a method for obtaining ambient temperature information for a vehicle ultrasonic sensor, according to aspects of the present application.
FIG. 2 is a flow chart of a method of determining an ambient temperature of a vehicle ultrasonic sensor according to aspects of the present application.
Fig. 3 is a diagram of an apparatus for determining an ambient temperature of a vehicle ultrasonic sensor according to aspects of the present application.
FIG. 4 is a diagram of an electronic device for determining an ambient temperature of a vehicle ultrasonic sensor, according to aspects of the present application.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below.
In smart driving, a distance measurement is generally performed using an ultrasonic sensor, so that an alarm is issued when an obstacle is detected. When the ultrasonic sensor receives the echo, the echo with the intensity smaller than the detection threshold value is filtered, and only the echo with the intensity larger than the detection threshold value is reserved. However, when the ultrasonic wave propagates in the air, the ultrasonic wave is attenuated by the action of air damping, and the fluctuation of the ambient temperature affects the magnitude of the air damping, so that the attenuation value generated when the ultrasonic wave propagates in the air changes along with the change of the external environment parameters. Therefore, the detection threshold of the ultrasonic sensor needs to be adjusted according to the ambient temperature in a specific application.
The application provides an improved scheme for obtaining the ambient temperature of an ultrasonic sensor.
FIG. 1 shows a flow diagram of a method for obtaining ambient temperature information for an ultrasonic sensor of a vehicle, according to aspects of the present disclosure.
At step 102, first temperature data may be acquired from an onboard temperature sensor mounted on a vehicle body.
The onboard temperature sensor may be mounted on the exterior of the vehicle body (e.g., on a bumper of the vehicle), which may be configured to sense temperature data (also referred to herein as first temperature data) of the environment in which the vehicle is located (i.e., outside of the cabin).
At step 104, second temperature data may be acquired from the ultrasonic sensor.
The ultrasonic sensor may be configured to output temperature data internal to the ultrasonic sensor, which may be indicative of a temperature on a chip internal to the ultrasonic sensor (also referred to herein as second temperature data).
At step 106, speed data for the vehicle may be acquired.
The speed data of the vehicle may be acquired from a speed sensor of the vehicle.
At step 108, the ambient temperature of the ultrasonic sensor may be determined based on the temperature data (the first temperature data and the second temperature data) and the velocity data obtained from steps 102-106.
In an aspect, it may be determined whether the first temperature data and the second temperature data are valid. The valid temperature data of the first temperature data and the second temperature data may be selected to determine an ambient temperature of the ultrasonic sensor.
Specifically, if the first temperature data is valid and the second temperature data is invalid, the first temperature data may be selected as the ambient temperature. If the first temperature data is invalid and the second temperature data is valid, the second temperature data may be selected as the ambient temperature. If both the first temperature data and the second temperature data are invalid, default temperature data (e.g., 20 ℃) may be used as the ambient temperature.
In one aspect, if both the first temperature and the second temperature are valid, the ambient temperature of the ultrasonic sensor may be further determined as a function of vehicle speed.
One of the first temperature data and the second temperature data may be selected as the ambient temperature according to the vehicle speed. Specifically, if the vehicle speed is greater than a vehicle speed threshold (e.g., 30 km/h), which indicates that the heat dissipation effect around the vehicle is good, the vehicle-mounted temperature sensor can better represent the ambient temperature of the ultrasonic sensor, and therefore the temperature data (first temperature data) output by the vehicle-mounted temperature sensor can be selected as the ambient temperature of the ultrasonic sensor. If the vehicle speed is less than the vehicle speed threshold, a temperature difference between the first temperature data and the second temperature data may be further determined and compared to a temperature threshold (e.g., 10℃.). If the temperature difference between the first temperature data and the second temperature data is smaller than the temperature difference threshold value, which indicates that the error of the temperature data (namely, the first temperature data) output by the vehicle-mounted temperature sensor is smaller, the first temperature value can be selected as the ambient temperature; if the difference between the first temperature data and the second temperature data is greater than the temperature difference threshold, indicating that the error of the temperature data output by the vehicle-mounted temperature sensor (i.e., the first temperature data) may be large, the second temperature data may be selected as the ambient temperature.
At step 110, a calibration operation may be performed on the ultrasonic sensor using the ambient temperature determined at step 108.
For example, the ambient temperature may be used to adaptively adjust the detection threshold of the ultrasonic sensor, thereby achieving stable detection of the ultrasonic sensor.
Fig. 2 is a flow diagram of a method of determining an ambient temperature of an ultrasonic sensor according to aspects of the present application.
Fig. 2 is a detailed illustration of step 108 of fig. 1.
As shown in fig. 2, at step 202, the ultrasonic sensor is initially powered up.
At step 204, a default temperature (e.g., 20 ℃) may be used as the ambient temperature of the ultrasonic sensor that is initially powered up.
In step 206, the validity of the first temperature data (temperature data output by the in-vehicle temperature sensor) and the second temperature data (temperature data output by the ultrasonic sensor) may be determined.
For example, the temperature data sensed by the on-vehicle temperature sensor and/or the ultrasonic sensor in real time may fluctuate greatly, and the temperature sensor may determine that the currently sensed temperature data is invalid, thereby outputting an invalid signal. As another example, an onboard temperature sensor and/or an ultrasonic sensor may currently fail to sense temperature, thereby also outputting an invalid signal.
If the first temperature data is valid and the second temperature data is invalid, the first temperature data may be selected as the ambient temperature.
If the first temperature data is invalid and the second temperature data is valid, the second temperature data may be selected as the ambient temperature.
If both the first temperature data and the second temperature data are invalid, default temperature data (e.g., 20 ℃) may be used as the ambient temperature.
If both the first temperature data and the second temperature data are valid, then proceed to step 208.
At step 208, the vehicle speed of the vehicle may be compared to a vehicle speed threshold.
If the vehicle speed is greater than the vehicle speed threshold, the temperature data (first temperature data) output by the vehicle-mounted sensor may be selected as the ambient temperature of the ultrasonic sensor. When the vehicle speed is higher, the radiating effect around the vehicle is better, and the vehicle-mounted temperature sensor can represent the ambient temperature of the ultrasonic sensor better, so that the temperature output by the vehicle-mounted temperature sensor can be selected as the ambient temperature of the ultrasonic sensor.
If the vehicle speed is less than the vehicle speed threshold, then proceed to step 210.
At step 210, the difference between the first temperature data and the second temperature data may be compared to a temperature difference threshold to determine an ambient temperature.
Specifically, if the difference between the first temperature data and the second temperature data is less than a temperature difference threshold (e.g., 10 ℃), indicating that the error of the temperature data output by the in-vehicle temperature sensor (i.e., the first temperature data) is small, the first temperature data may be selected as the ambient temperature.
If the difference between the first temperature data and the second temperature data is greater than the temperature difference threshold, indicating that the error of the temperature data output by the on-board temperature sensor (i.e., the first temperature data) may be large, the temperature data output by the ultrasonic sensor (i.e., the second temperature data) may be selected as the ambient temperature.
In one aspect, the vehicle speed threshold may be 30 kilometers per hour.
Fig. 3 is a diagram of an apparatus for determining an ambient temperature of a vehicle ultrasonic sensor according to aspects of the present application.
As shown in FIG. 3, an apparatus 300 for determining an ambient temperature of a vehicle ultrasonic sensor may include an on-board temperature sensor 302, an ultrasonic sensor 304, a vehicle speed sensor 306, an ambient temperature determination module 308, and an ultrasonic sensor calibration module 310.
The onboard temperature sensor 302 may be mounted on the exterior of the vehicle body (e.g., on a bumper of the vehicle), which may be configured to sense temperature data (also referred to herein as first temperature data) of the environment in which the vehicle is located (i.e., outside of the cabin).
The ultrasonic sensor 304 can be configured to output temperature data internal to the ultrasonic sensor, which can characterize the temperature on a chip internal to the ultrasonic sensor (also referred to herein as second temperature data).
The ambient temperature determination module 308 may receive first temperature data from the vehicle temperature sensor 302, second temperature data from the ultrasonic sensor 304, and vehicle speed data from the vehicle speed sensor 306. The ambient temperature determination module 308 may use the received above data to determine the ambient temperature of the ultrasonic sensor.
In an aspect, the ambient temperature determination module 308 may determine whether the first temperature data and the second temperature data are valid. If the first temperature data is valid and the second temperature data is invalid, the first temperature data may be selected as the ambient temperature. If the first temperature data is invalid and the second temperature data is valid, the second temperature data may be selected as the ambient temperature. If both the first temperature data and the second temperature data are invalid, default temperature data (e.g., 20 ℃) may be used as the ambient temperature.
On the other hand, if both the first temperature data and the second temperature data are valid, the temperature determination module 308 may determine the ambient temperature further based on the vehicle speed.
Specifically, the ambient temperature determination module 308 may select one of the first temperature data and the second temperature data as the ambient temperature based on the vehicle speed. If the vehicle speed is greater than a vehicle speed threshold (e.g., 30 kilometers per hour), the first temperature data may be selected as the ambient temperature of the ultrasonic sensor. If the vehicle speed is less than the vehicle speed threshold, a temperature difference between the first temperature data and the second temperature data may be determined; if the temperature difference between the first temperature data and the second temperature data is less than a temperature difference threshold (e.g., 10 ℃), then the first temperature value may be selected as the ambient temperature; the second temperature data may be selected as the ambient temperature if a temperature difference between the first temperature data and the second temperature data is greater than the temperature difference threshold.
The ultrasonic sensor calibration module 310 may perform a calibration operation on the ultrasonic sensor based on the ambient temperature from the ambient temperature determination module 308.
For example, the ambient temperature may be used to adaptively adjust the detection threshold of the ultrasonic sensor, thereby achieving stable detection of the ultrasonic sensor.
Adjusting the detection threshold of the ultrasonic sensor is illustrated herein as an example, but those skilled in the art will appreciate that other calibration operations performed on the ultrasonic sensor using ambient temperature are also contemplated by the present application.
FIG. 4 is a diagram of an electronic device for determining an ambient temperature of a vehicle ultrasonic sensor, according to aspects of the present application.
As shown in fig. 4, the electronic device 400 may include a memory 402 and a processor 404. The memory 402 has stored therein program instructions, and the processor 404 is coupled to and in communication with the memory 402 via the bus 406, the processor 404 being capable of calling the program instructions in the memory 402 to perform the steps of: acquiring first temperature data from a vehicle-mounted temperature sensor; acquiring second temperature data from the ultrasonic sensor; acquiring vehicle speed data of a vehicle; selecting one of the first temperature data and the second temperature data as an ambient temperature according to the vehicle speed data; and performing a calibration operation on the ultrasonic sensor using the ambient temperature.
Optionally, the processor 404 may also call program instructions in the memory 402 to perform the following steps: determining whether the first temperature data and the second temperature data are valid; if the first temperature data is valid and the second temperature data is invalid, selecting the first temperature data as the ambient temperature; if the second temperature data is valid and the first temperature data is invalid, selecting the second temperature data as the ambient temperature; if the first temperature data is invalid and the second temperature data is invalid, then a default temperature is selected as the ambient temperature.
Optionally, the processor 404 may also call program instructions in the memory 402 to perform the following steps: comparing the vehicle speed with a vehicle speed threshold; if the vehicle speed is greater than the vehicle speed threshold, selecting the first temperature as the ambient temperature; and determining the ambient temperature from a temperature difference between the first temperature data and the second temperature data if the vehicle speed is less than or equal to the vehicle speed threshold.
Optionally, the processor 404 may also call program instructions in the memory 402 to perform the following steps: comparing the temperature difference with a temperature difference threshold; selecting a first temperature as the ambient temperature if the temperature difference is less than or equal to the temperature difference threshold; and selecting a second temperature as the ambient temperature if the temperature difference is greater than the temperature difference threshold.
The scheme of obtaining the ambient temperature of vehicle ultrasonic sensor that this application provided has still introduced the temperature data of ultrasonic sensor output in addition to the temperature data that uses on-vehicle temperature sensor sensing of current scheme. Further, the present application uses the vehicle speed to select the temperature data sensed by the onboard temperature sensor or the temperature data output by the ultrasonic sensor as the ambient temperature of the ultrasonic sensor for subsequent calibration operations of the ultrasonic sensor. The temperature data output by the vehicle-mounted temperature sensor can better represent the ambient temperature of the ultrasonic sensor under the condition that the vehicle speed is high, and the temperature data output by the ultrasonic sensor can better represent the ambient temperature of the ultrasonic sensor under the condition that the vehicle speed is low. Thus, when the difference between the temperature output by the in-vehicle temperature sensor and the temperature output by the ultrasonic sensor is large, the temperature data output by the ultrasonic sensor is used as the ambient temperature of the ultrasonic sensor. The applicant proves through a large number of experiments that the accuracy of the calibration of the ultrasonic sensor by using the environmental temperature obtained by the scheme of the application is higher.
The protection scope of the method for obtaining the ambient temperature in the smart driving according to the present invention is not limited to the execution sequence of the steps listed in the embodiment, and all the solutions implemented by adding, subtracting, and replacing the steps according to the principles of the present invention are included in the protection scope of the present invention.
The illustrations set forth herein in connection with the figures describe example configurations and are not intended to represent all examples that may be implemented or fall within the scope of the claims. The term "exemplary" as used herein means "serving as an example, instance, or illustration," and does not mean "preferred" or "advantageous over other examples. The detailed description includes specific details to provide an understanding of the described technology. However, the techniques may be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form in order to avoid obscuring the concepts of the described examples.
The various illustrative blocks and modules described in connection with the disclosure herein may be implemented or performed with a general purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices (e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration).
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope of the disclosure and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard-wired, or any combination thereof. Features that implement functions may also be physically located at various locations, including being distributed such that portions of functions are implemented at different physical locations. In addition, as used herein, including in the claims, "or" as used in a list of items (e.g., a list of items accompanied by a phrase such as "at least one of" or "one or more of") indicates an inclusive list, such that, for example, a list of at least one of A, B or C means a or B or C or AB or AC or BC or ABC (i.e., a and B and C). Also, as used herein, the phrase "based on" should not be read as referring to a closed condition set. For example, an exemplary step described as "based on condition a" may be based on both condition a and condition B without departing from the scope of the present disclosure. In other words, the phrase "based on," as used herein, should be interpreted in the same manner as the phrase "based, at least in part, on.
Computer-readable media includes both non-transitory computer storage media and communication media, including any medium that facilitates transfer of a computer program from one place to another. Non-transitory storage media may be any available media that can be accessed by a general purpose or special purpose computer. By way of example, and not limitation, non-transitory computer-readable media can comprise RAM, ROM, electrically erasable programmable read-only memory (EEPROM), Compact Disk (CD) ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to carry or store desired program code means in the form of instructions or data structures and that can be accessed by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes CD, laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above are also included within the scope of computer-readable media.
The description herein is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. A method for smart driving, comprising:
acquiring first temperature data from a vehicle-mounted temperature sensor;
acquiring second temperature data from the ultrasonic sensor;
acquiring vehicle speed data of a vehicle;
selecting one of the first temperature data and the second temperature data as the ambient temperature of the ultrasonic sensor according to the vehicle speed data; and
and performing calibration operation on the ultrasonic sensor by using the ambient temperature.
2. The method of claim 1, further comprising:
determining whether the first temperature data and the second temperature data are valid;
selecting the first temperature data as the ambient temperature if the first temperature data is valid and the second temperature data is invalid;
selecting the second temperature data as the ambient temperature if the second temperature data is valid and the first temperature data is invalid; and
selecting a default temperature as the ambient temperature if the first temperature data is invalid and the second temperature data is invalid.
3. The method of claim 1 or 2, further comprising:
comparing the vehicle speed to a vehicle speed threshold;
selecting the first temperature as the ambient temperature if the vehicle speed is greater than the vehicle speed threshold; and
determining the ambient temperature from a temperature difference between the first temperature data and the second temperature data if the vehicle speed is less than or equal to the vehicle speed threshold.
4. The method of claim 3, further comprising:
comparing the temperature difference to a temperature difference threshold;
selecting the first temperature as the ambient temperature if the temperature difference is less than or equal to the temperature difference threshold; and
and if the temperature difference is larger than the temperature difference threshold value, selecting the second temperature as the environment temperature.
5. The method of claim 3, wherein the vehicle speed threshold is 30 kilometers per hour.
6. An apparatus for smart driving, comprising:
means for obtaining first temperature data from an onboard temperature sensor;
means for obtaining second temperature data from the ultrasonic sensor;
a module for obtaining vehicle speed data of a vehicle;
means for selecting one of the first temperature data and the second temperature data as an ambient temperature of the ultrasonic sensor based on the vehicle speed data; and
means for performing a calibration operation on the ultrasonic sensor using the ambient temperature.
7. The apparatus of claim 6, further comprising:
means for determining whether the first temperature data and the second temperature data are valid;
means for selecting the first temperature data as the ambient temperature if the first temperature data is valid and the second temperature data is invalid;
means for selecting the second temperature data as the ambient temperature if the second temperature data is valid and the first temperature data is invalid; and
means for selecting a default temperature as the ambient temperature if the first temperature data is invalid and the second temperature data is invalid.
8. The apparatus of claim 6 or 7, further comprising:
means for comparing the vehicle speed to a vehicle speed threshold;
means for selecting the first temperature as the ambient temperature if the vehicle speed is greater than the vehicle speed threshold; and
means for determining the ambient temperature from a temperature difference between the first temperature data and the second temperature data if the vehicle speed is less than or equal to the vehicle speed threshold.
9. The apparatus of claim 8, further comprising:
means for comparing the temperature difference to a temperature difference threshold;
means for selecting the first temperature as the ambient temperature if the temperature difference is less than or equal to the temperature difference threshold; and
means for selecting the second temperature as the ambient temperature if the temperature difference is greater than the temperature difference threshold.
10. The apparatus of claim 8, wherein the vehicle speed threshold is 30 kilometers per hour.
11. An electronic device for smart driving comprising a processor and a memory, the memory having stored program instructions; the processor executes program instructions to implement the method for intelligent driving of any one of claims 1 to 5.
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