CN115236609B - Anti-interference detection method and system based on ultrasonic radar - Google Patents
Anti-interference detection method and system based on ultrasonic radar 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
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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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/406—Means for monitoring or calibrating by simulation of echoes using internally generated reference signals, e.g. via delay line, via RF or IF signal injection or via integrated reference reflector or transponder
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Abstract
The invention discloses an anti-interference detection method and system based on an ultrasonic radar. The method comprises the following steps: in each detection period, the ultrasonic radar transmitting probe transmits detection waves, and the ultrasonic radar on the same side monitors the receiving echo of the probe and records echo data; judging the echo data received by all interception probes in the current detection period, and determining the echo type of the received echo; when the same-frequency interference echo exists in the current detection period, determining the interference level of the same-frequency interference echo, and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current time stamp information; and (5) comprehensively judging, determining whether the detection area has an obstacle or not, and carrying out corresponding alarm processing. By implementing the method, the same-frequency interference can be avoided, false alarm and missing alarm are reduced, and the stability of reversing radar detection in a strong interference environment is improved.
Description
Technical Field
The invention relates to the technical field of ultrasonic radars, in particular to an anti-interference detection method and system based on an ultrasonic radar.
Background
Ultrasonic radar is often provided in a vehicle to assist in monitoring the presence of an obstacle behind the vehicle when reversing the vehicle. The current ultrasonic radar schemes can be divided into two main categories: a scheme for acquiring echo signals of analog quantity and a scheme for acquiring echo signals of digital quantity. The controller needs to perform AD acquisition, and echo signals are judged through the fluctuation range of voltage; the latter mostly adopts digital chip schemes such as elmos, and filters small-amplitude background noise by configuring parameters of an ultrasonic radar and receives echo signals of digital quantity; but both of these two types of schemes cannot filter co-channel interference and other environmental interference; there are false alarms and anomalies of detection.
In order to detect the co-channel interference in the prior art, the common method adopted is as follows: detecting the detected obstacle twice, adding pseudo random numbers at intervals of the two times for delaying, and considering that the obstacle exists when the echoes detected twice are in an error range; and the two echoes are discarded if the time difference between the two echoes is too large. However, the conventional method generates random numbers for a long time to generate certain regularity, so that the possibility of failure exists, and the risks of false alarm and missing report exist.
Disclosure of Invention
The invention aims to solve the technical problem of providing an anti-interference detection method and system based on an ultrasonic radar, which can avoid the same-frequency interference and reduce false alarm and missing report, thereby ensuring the detection stability of a reversing radar in a strong interference environment.
In order to solve the above technical problem, as one aspect of the present invention, an anti-interference detection method based on an ultrasonic radar is provided, for detecting a fault object in a detection area in a plurality of detection periods, and the method at least includes the following steps:
in each detection period, the ultrasonic radar transmitting probe transmits detection waves, and the ultrasonic radar on the same side monitors the receiving echo of the probe and records echo data;
judging echo data received by all interception probes in the current detection period, and determining echo types of echoes received by all interception probes, wherein the echo types comprise effective echoes and co-channel interference echoes;
when the same-frequency interference echo exists in the current detection period, determining the interference level of the same-frequency interference echo, and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current time stamp information;
filtering according to echo data in the recent detection period of each interception probe, determining whether an obstacle exists in a detection area, and performing corresponding alarm processing.
The step of determining the echo type of the echo received by each interception probe further comprises the steps of:
in the current detection period, judging that echo signals received by all probes are effective echoes according to the fact that the detection distance obtained by the echo signals received by the interception probes and the detection distance of the sending probes meet the triangular position relation;
in the current detection period, two or more interception probes receive echo signals at the same moment, and the detection distance of the interception probes and the detection distance of a sending probe do not meet the triangle position relation, and the echo signals received by the probes are judged to be the same-frequency interference echo.
The step of determining the interference level of the same-frequency interference echo and adjusting the time interval of the next detection period according to the interference level, the aftershock detected at this time and the current timestamp information comprises the following steps:
in the detection period, if two probes receive the same-frequency interference echo at the same time, determining the same-frequency interference echo as a first interference level; if three or more probes receive the same-frequency interference echo at the same time, determining the same-frequency interference echo as a second interference level;
obtaining a difference value between the current aftershock and the standard aftershock of the transmitting probe, substituting a product of the difference value and a current timestamp into a preset random number generation formula corresponding to each interference level to perform calculation to obtain a current random number, and determining a time interval of next detection according to the current random number, wherein the random number range calculated by the first interference level is different from the random number range calculated by the second interference level.
The step of determining the interference level of the same-frequency interference echo and adjusting the time interval of the next detection according to the interference level, the aftershock of the current detection and the current timestamp information further comprises the following steps:
after the current random number is obtained, judging whether the historical random number exists in the detection process, if so, accumulating the current random number and the historical random number, and taking the millisecond corresponding to the accumulated random number as the time interval of the next detection period;
and if the accumulated random number is larger than the threshold corresponding to the preset current interference level, subtracting a preset back-off value from the accumulated random number to obtain the back-off accumulated random number, and taking the millisecond corresponding to the back-off accumulated random number as the time interval of the next detection period.
The method comprises the steps of filtering echo data in a recent detection period of each interception probe to determine whether an obstacle exists in a detection area, wherein the steps comprise:
when judging that the echo types of the echoes received by all interception probes in the two last detection periods are effective echoes, determining that an obstacle exists in a detection area;
when judging that the same-frequency interference echo exists in the echoes received by all the interception probes, determining that an obstacle exists in a detection area if two effective echo signals exist in the last three detection data for a first interference level; for the second interference level, if there are two valid echo signals in the last four detection data, it is determined that an obstacle exists in the detection area.
In another aspect of the present invention, there is also provided an anti-interference detection system based on an ultrasonic radar, for detecting a fault object in a detection area in a plurality of detection periods, including at least:
the sending and receiving control unit is used for sending detection waves by the ultrasonic radar sending probe in each detection period, and receiving echoes by the ultrasonic radar interception probes on the same side and recording echo data;
the echo type determining unit is used for judging echo data received by all interception probes in the current detection period and determining echo types of echoes received by all interception probes, wherein the echo types comprise effective echoes and co-channel interference echoes;
the time interval adjusting unit is used for determining the interference level of the same-frequency interference echo when the echo type determining unit judges that the same-frequency interference echo exists in the current detection period, and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current time stamp information;
the obstacle judging and processing unit is used for filtering according to echo data in the recent detection period of each interception probe, determining whether an obstacle exists in a detection area, and carrying out corresponding alarm processing.
Wherein the echo type determining unit further comprises:
the effective echo determining unit is used for judging that echo signals received by all probes are effective echoes when the detection distance obtained according to echo signals received by the interception probes and the detection distance of the sending probe meet the triangular position relation in the current detection period;
and the same-frequency interference echo determining unit is used for judging that echo signals received by all probes are same-frequency interference echoes when two or more interception probes receive echo signals at the same moment in the current detection period and the detection distance of the interception probes and the detection distance of the sending probes do not meet the triangle position relation.
Wherein the time interval adjustment unit includes:
the interference level determining unit is used for determining the same-frequency interference echo as a first interference level if two probes receive the same-frequency interference echo at the same time in the current detection period; if three or more probes receive the same-frequency interference echo at the same time, determining the same-frequency interference echo as a second interference level;
the random number calculation unit is used for obtaining the difference value between the current aftershock of the transmitting probe and the standard aftershock, taking the product of the difference value and the current timestamp as a coefficient, substituting the coefficient into a preset random number generation formula corresponding to each interference level for calculation, and obtaining the current random number; wherein the random number range calculated by the first interference level differs from the random number range calculated by the second interference level
And the interval determining unit is used for determining the time interval of the next detection according to the current random number.
Wherein the time interval adjustment unit further comprises:
the accumulation processing unit is used for judging whether the historical random number exists in the detection process after the current random number is obtained, if so, the current random number and the historical random number are subjected to accumulation processing, and the millisecond corresponding to the accumulated random number is used as the time interval of the next detection period;
and the back-off processing unit is used for subtracting a preset back-off value from the accumulated random number when the accumulated random number is larger than a threshold value corresponding to the preset current interference level, so as to obtain the accumulated random number after back-off, and taking the millisecond corresponding to the accumulated random number after back-off as the time interval of the next detection period.
Wherein the obstacle determination processing unit determines whether an obstacle exists in the detection area in the following manner:
when judging that the echo types of the echoes received by all interception probes in the two last detection periods are effective echoes, determining that an obstacle exists in a detection area;
when judging that the same-frequency interference echo exists in the echoes received by all the interception probes, determining that an obstacle exists in a detection area if two effective echo signals exist in the last three detection data for a first interference level; for the second interference level, if there are two valid echo signals in the last four detection data, it is determined that an obstacle exists in the detection area.
The embodiment of the invention has the following beneficial effects:
the invention provides an anti-interference detection method and system based on an ultrasonic radar, which can identify the same-frequency interference, can effectively distinguish the interference level of the same-frequency interference and can be suitable for different application scenes;
according to the invention, the factors of environmental noise and sensor difference are adopted as the seeds for generating the random numbers, so that the failure caused by the regularity of long-time generation of the random numbers is avoided;
in the invention, after the same-frequency interference is identified, the influence caused by an interference source can be effectively avoided by adopting a detection back-off strategy; therefore, the system can still keep working in a strong interference environment, such as multi-vehicle simultaneous working and environment interference, and eliminate false alarm and enhance the detection stability;
for processing of detection result data, the method can be combined with data analysis of the latest buffer, and effective obstacles can be identified from interference signals, so that false detection and missing detection are avoided.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that it is within the scope of the invention to one skilled in the art to obtain other drawings from these drawings without inventive faculty.
FIG. 1 is a schematic diagram of an application environment in which co-frequency interference waves exist according to the present invention;
FIG. 2 is a schematic diagram of a main flow of an embodiment of an anti-interference detection method based on an ultrasonic radar according to the present invention;
FIG. 3 is a more detailed flow chart of an embodiment of an anti-interference detection method based on an ultrasonic radar according to the present invention;
FIG. 4 is a schematic structural diagram of an embodiment of an anti-interference detection system based on an ultrasonic radar according to the present invention;
FIG. 5 is a schematic diagram of the echo type determining unit in FIG. 4;
fig. 6 is a schematic diagram of a structure of the time interval adjusting unit in fig. 4.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, for the purpose of making the objects, technical solutions and advantages of the present invention more apparent.
As shown in fig. 2, a schematic main flow chart of an embodiment of an anti-interference detection method based on an ultrasonic radar provided by the present invention is shown, and in conjunction with fig. 1 and fig. 3, in this embodiment, the method may be applied to an environment as shown in fig. 1, where when a reversing radar of a host vehicle detects a fault object in a detection area by using ultrasonic waves, it is possible to receive detected ultrasonic waves from other vehicles, so as to form co-channel interference waves.
More specifically, in this embodiment, the anti-interference detection method based on the ultrasonic radar may be used to detect a fault object in a detection area in a plurality of detection periods, and at least includes the following steps:
step S10, in each detection period, an ultrasonic radar transmitting probe transmits detection waves, and an ultrasonic radar interception probe on the same side receives echoes and records echo data; it will be appreciated that in this embodiment, the same-side radar must start to operate simultaneously during the probing process, the primary probe transmits probe waves, and the other listening probes listen synchronously. The controller needs to synchronize time, so that the abnormality caused by time asynchronization is avoided. Echo data in the complete recording process is needed when the monitoring probe receives the echo, and the echo data is discarded when the cache record is full.
Step S11, judging echo data received by all interception probes in a current detection period, and determining echo types of echoes received by all interception probes, wherein the echo types comprise effective echoes and co-channel interference echoes;
in a specific example, the step S11 further includes:
the step of determining the echo type of the echo received by each interception probe further comprises the steps of:
in the current detection period, judging that echo signals received by all probes are effective echoes according to the fact that the detection distance obtained by the echo signals received by the interception probes and the detection distance of the sending probes meet the triangular position relation;
in the current detection period, two or more interception probes receive echo signals at the same moment, and the detection distance of the interception probes and the detection distance of a sending probe do not meet the triangle position relation, and the echo signals received by the probes are judged to be the same-frequency interference echo. More specifically, the echo start time judgment of the plurality of probes can be selected, and if the echo start time of the plurality of probes is within +/-200 us, the same-frequency interference is considered to exist.
Step S12, when the same-frequency interference echo exists in the current detection period, determining the interference level of the same-frequency interference echo, and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current time stamp information;
in a specific example, the step S12 further includes:
in the detection period, if two probes receive the same-frequency interference echo at the same time, determining the same-frequency interference echo as a first interference level; if three or more probes receive the same-frequency interference echo at the same time, determining the same-frequency interference echo as a second interference level; the first interference level may be understood as that co-channel interference exists near the host vehicle, and the second interference level may be understood as that co-channel interference exists in a large range near the host vehicle.
Obtaining a difference value between the current aftershock and the standard aftershock of the transmitting probe, substituting a product of the difference value and a current timestamp as a coefficient into a preset random number generation formula corresponding to each interference level to calculate, obtaining a current random number, and determining a time interval of next detection according to the current random number, wherein the random number generation formula can be realized by adopting algorithms such as linear congruence, inverse congruence, linear feedback displacement and the like; wherein the range of random numbers calculated by the first interference level differs from the range of random numbers calculated by the second interference level. In a specific example, the generated random number ranges from 5 to 10 for the first interference level; and for a second interference level, the range of random numbers generated is 5-15;
after the current random number is obtained, judging whether the historical random number exists in the detection process, if so, accumulating the current random number and the historical random number, and taking the millisecond corresponding to the accumulated random number as the time interval of the next detection period;
if the accumulated random number is larger than a threshold corresponding to a preset current interference level, subtracting a preset back-off value from the accumulated random number to obtain a back-off accumulated random number, and taking a millisecond corresponding to the back-off accumulated random number as a time interval of a next detection period;
specifically, in one example, for a first interference level, the threshold value corresponding to it is 50. For the second interference level, the corresponding threshold is 100; the backoff value may be chosen to be 10. For example, when the same-frequency interference level is continuously determined to be the first interference level, the detection result of this time is continuously stored in the buffer queue, the aftershock of this time detection and the current timestamp are taken to update the random value, and accumulation and backoff are performed with the time interval of the last detection, the maximum accumulation value is 50, if the maximum accumulation value exceeds 50, the value of the overflow part is continuously accumulated again from 40, for example, the obtained accumulated random number after backoff is 45, and 45ms is taken as the time interval of the next detection period. When the same-frequency interference level is continuously judged to be the first interference level, the detection result of the time is continuously stored into a buffer queue, the aftershock of the detection of the time and the current time stamp update random values are taken, accumulation and backoff are carried out with the time interval of the last detection, the maximum accumulation value is 100, the value of the overflow part is continuously accumulated again from 90 to 100, for example, the obtained accumulated random number after backoff is 92, and 92ms is taken as the time interval of the next detection period.
And S13, filtering according to echo data in the recent detection period of each interception probe, determining whether an obstacle exists in a detection area, and performing corresponding alarm processing.
In a specific example, the step S13 further includes:
it can be appreciated that in this embodiment, the comparison and judgment can be performed by the last six times of probe data stored in the cache. Specifically:
when judging that the echo types of the echoes received by all interception probes in the two last detection periods are effective echoes, determining that an obstacle exists in a detection area;
when judging that the same-frequency interference echo exists in the echoes received by all the interception probes, determining that an obstacle exists in a detection area if two effective echo signals exist in the last three detection data for a first interference level; for the second interference level, if there are two valid echo signals in the last four detection data, it is determined that an obstacle exists in the detection area. With this determination method, a missing report due to interference or environmental influence in the middle can be avoided.
And the alarm processing mode can adopt the existing mature scheme, for example, the distance between the alarm processing mode and the obstacle is indicated by the stated jerkiness degree.
It can be appreciated that in the embodiment of the invention, the influence range of the same-frequency interference can be effectively distinguished by distinguishing the interference level, and the classification of the mutual interference caused when a plurality of vehicles are in the detection range can be effectively performed.
The setting of the detection backoff is based on the following reasons, wherein residual shock data (comprising the difference of the sensor and the difference of the environmental noise) is introduced in the detection to reduce the regularity of random numbers, and the cumulative random backoff reduces the coupling in the detection process and avoids the influence of interference sources for many times; and (5) laying a cushion for ensuring the detection stability of the subsequent analysis data.
Fig. 4 is a schematic structural diagram of an embodiment of an anti-interference detection system based on an ultrasonic radar according to the present invention. Referring to fig. 5 and fig. 6 together, in this embodiment, the anti-interference detection system 1 based on an ultrasonic radar may be used to detect a fault object in a detection area in a plurality of detection periods, and at least includes:
a transmission/reception control unit 10 for transmitting probe waves by the ultrasonic radar transmitting probe and receiving echo waves by the ultrasonic radar sensing probe on the same side and recording echo data in each probe period;
the echo type determining unit 11 is configured to determine echo types of echoes received by each interception probe according to echo data received by all interception probes in a current detection period, where the echo types include an effective echo and an co-channel interference echo;
the time interval adjusting unit 12 is configured to determine an interference level of the co-frequency interference echo when the echo type determining unit determines that the co-frequency interference echo exists in the current detection period, and adjust a time interval of a next detection period according to the interference level, the aftershock detected at this time, and current timestamp information;
the obstacle judging and processing unit 13 is configured to perform filtering processing according to echo data in a recent detection period of each interception probe, determine whether an obstacle exists in a detection area, and perform corresponding alarm processing.
As shown in fig. 5, in a specific example, the echo type determining unit 11 further includes:
the effective echo determining unit 110 is configured to determine, in a current detection period, that echo signals received by each probe are effective echoes, if a detection distance obtained by listening to echo signals received by the probe and a detection distance of a transmitting probe satisfy a triangle position relationship;
and the co-channel interference echo determining unit 111 is configured to determine that, in a current detection period, two or more listening probes receive echo signals at the same time, and a detection distance of the listening probes and a detection distance of a transmitting probe do not satisfy a triangle positional relationship, where the echo signals received by the probes are co-channel interference echoes.
As shown in fig. 6, in a specific example, the time interval adjustment unit 12 includes:
the interference level determining unit 120 is configured to determine, in the current detection period, if two probes receive the same-frequency interference echo at the same time, the same-frequency interference echo as a first interference level; if three or more probes receive the same-frequency interference echo at the same time, determining the same-frequency interference echo as a second interference level;
a random number calculation unit 121, configured to obtain a difference value between the current aftershock of the transmitting probe and the standard aftershock, and substitute a product of the difference value and the current timestamp as a coefficient into a preset random number generation formula corresponding to each interference level for calculation, so as to obtain a current random number; wherein the range of random numbers calculated by the first interference level differs from the range of random numbers calculated by the second interference level;
the accumulation processing unit 122 is configured to determine whether a historical random number exists in the current detection process after the current random number is obtained, and if so, perform accumulation processing on the current random number and the historical random number, and take a millisecond corresponding to the accumulated random number as a time interval of a next detection period;
and the back-off processing unit 123 is configured to subtract a predetermined back-off value from the accumulated random number when the accumulated random number is greater than a threshold corresponding to a preset current interference level, to obtain a back-off accumulated random number, and take a millisecond corresponding to the back-off accumulated random number as a time interval of a next detection period.
An interval determining unit 124, configured to determine a time interval of the next detection according to the current random number.
In a specific example, the obstacle determination processing unit 13 determines whether or not an obstacle exists in the detection area in the following manner:
when judging that the echo types of the echoes received by all interception probes in the two last detection periods are effective echoes, determining that an obstacle exists in a detection area;
when judging that the same-frequency interference echo exists in the echoes received by all the interception probes, determining that an obstacle exists in a detection area if two effective echo signals exist in the last three detection data for a first interference level; for the second interference level, if there are two valid echo signals in the last four detection data, it is determined that an obstacle exists in the detection area.
For more details, reference is made to the foregoing descriptions of fig. 1 to 3, and details are not repeated.
The embodiment of the invention has the following beneficial effects:
the invention provides an anti-interference detection method and system based on an ultrasonic radar, which can identify the same-frequency interference, can effectively distinguish the interference level of the same-frequency interference and can be suitable for different application scenes;
according to the invention, the factors of environmental noise and sensor difference are adopted as the seeds for generating the random numbers, so that the failure caused by the regularity of long-time generation of the random numbers is avoided;
in the invention, after the same-frequency interference is identified, the influence caused by an interference source can be effectively avoided by adopting a detection back-off strategy; therefore, the system can still keep working in a strong interference environment, such as multi-vehicle simultaneous working and environment interference, and eliminate false alarm and enhance the detection stability;
for processing of detection result data, the method can be combined with data analysis of the latest buffer, and effective obstacles can be identified from interference signals, so that false detection and missing detection are avoided.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above disclosure is only a preferred embodiment of the present invention, and it is needless to say that the scope of the invention is not limited thereto, and therefore, the equivalent changes according to the claims of the present invention still fall within the scope of the present invention.
Claims (10)
1. An anti-interference detection method based on an ultrasonic radar is characterized by at least comprising the following steps:
in each detection period, the ultrasonic radar transmitting probe transmits detection waves, and the ultrasonic radar on the same side monitors the receiving echo of the probe and records echo data;
judging echo data received by all interception probes in the current detection period, and determining echo types of echoes received by all interception probes according to whether detection distances obtained by echo signals received by the interception probes and detection distances of a sending probe meet a triangle position relation, wherein the echo types comprise effective echoes and co-channel interference echoes;
when the same-frequency interference echo exists in the current detection period, determining the interference level of the same-frequency interference echo, and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current time stamp information;
filtering according to echo data in the recent detection period of each interception probe, determining whether an obstacle exists in a detection area, and performing corresponding alarm processing.
2. The method of claim 1, wherein the step of determining the echo type of the echo received by each listening probe further comprises determining whether the detection distance obtained by the echo signals received by the listening probe and the detection distance of the transmitting probe satisfy a triangle positional relationship by judging the echo data received by all the listening probes in the current detection period:
in the current detection period, judging that echo signals received by all probes are effective echoes according to the fact that the detection distance obtained by the echo signals received by the interception probes and the detection distance of the sending probes meet the triangular position relation;
in the current detection period, two or more interception probes receive echo signals at the same moment, and the detection distance of the interception probes and the detection distance of a sending probe do not meet the triangle position relation, and the echo signals received by the probes are judged to be the same-frequency interference echo.
3. The method of claim 2, wherein the step of determining the interference level of the co-channel interfering echo and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current timestamp information comprises:
in the detection period, if two probes receive the same-frequency interference echo at the same time, determining the same-frequency interference echo as a first interference level; if three or more probes receive the same-frequency interference echo at the same time, determining the same-frequency interference echo as a second interference level;
obtaining a difference value between the current aftershock and the standard aftershock of the transmitting probe, substituting a product of the difference value and a current timestamp into a preset random number generation formula corresponding to each interference level to perform calculation to obtain a current random number, and determining a time interval of next detection according to the current random number, wherein the random number range calculated by the first interference level is different from the random number range calculated by the second interference level.
4. The method of claim 3, wherein the step of determining the interference level of the co-channel interfering echo and adjusting the time interval of the next detection according to the interference level, the aftershock of the current detection and the current timestamp information further comprises:
after the current random number is obtained, judging whether the historical random number exists in the detection process, if so, accumulating the current random number and the historical random number, and taking the millisecond corresponding to the accumulated random number as the time interval of the next detection period;
and if the accumulated random number is larger than the threshold corresponding to the preset current interference level, subtracting a preset back-off value from the accumulated random number to obtain the back-off accumulated random number, and taking the millisecond corresponding to the back-off accumulated random number as the time interval of the next detection period.
5. The method according to any one of claims 1 to 4, wherein the step of determining whether an obstacle exists in the detection area by filtering echo data in a recent detection period of each listening probe comprises:
when judging that the echo types of the echoes received by all interception probes in the two last detection periods are effective echoes, determining that an obstacle exists in a detection area;
when judging that the same-frequency interference echo exists in the echoes received by all the interception probes, determining that an obstacle exists in a detection area if two effective echo signals exist in the last three detection data for a first interference level; for the second interference level, if there are two valid echo signals in the last four detection data, it is determined that an obstacle exists in the detection area.
6. An anti-interference detection system based on ultrasonic radar is characterized by at least comprising:
the sending and receiving control unit is used for sending detection waves by the ultrasonic radar sending probe in each detection period, and receiving echoes by the ultrasonic radar interception probes on the same side and recording echo data;
the echo type determining unit is used for judging echo data received by all interception probes in the current detection period, and determining echo types of echoes received by all interception probes according to whether detection distances obtained by echo signals received by the interception probes and detection distances of a sending probe meet a triangle position relation or not, wherein the echo types comprise effective echoes and co-channel interference echoes;
the time interval adjusting unit is used for determining the interference level of the same-frequency interference echo when the echo type determining unit judges that the same-frequency interference echo exists in the current detection period, and adjusting the time interval of the next detection period according to the interference level, the aftershock of the current detection and the current time stamp information;
the obstacle judging and processing unit is used for filtering according to echo data in the recent detection period of each interception probe, determining whether an obstacle exists in a detection area, and carrying out corresponding alarm processing.
7. The system of claim 6, wherein the echo type determination unit further comprises:
the effective echo determining unit is used for judging that echo signals received by all probes are effective echoes when the detection distance obtained according to echo signals received by the interception probes and the detection distance of the sending probe meet the triangular position relation in the current detection period;
and the same-frequency interference echo determining unit is used for judging that echo signals received by all probes are same-frequency interference echoes when two or more interception probes receive echo signals at the same moment in the current detection period and the detection distance of the interception probes and the detection distance of the sending probes do not meet the triangle position relation.
8. The system of claim 7, wherein the time interval adjustment unit comprises:
the interference level determining unit is used for determining the same-frequency interference echo as a first interference level if two probes receive the same-frequency interference echo at the same time in the current detection period; if three or more probes receive the same-frequency interference echo at the same time, determining the same-frequency interference echo as a second interference level;
the random number calculation unit is used for obtaining the difference value between the current aftershock and the standard aftershock of the transmitting probe, substituting the product of the difference value and the current timestamp into a preset random number generation formula corresponding to each interference level for calculation, and obtaining the current random number, wherein the random number range calculated by the first interference level is different from the random number range calculated by the second interference level;
and the interval determining unit is used for determining the time interval of the next detection according to the current random number.
9. The system of claim 8, wherein the time interval adjustment unit further comprises:
the accumulation processing unit is used for judging whether the historical random number exists in the detection process after the current random number is obtained, if so, the current random number and the historical random number are subjected to accumulation processing, and the millisecond corresponding to the accumulated random number is used as the time interval of the next detection period;
and the back-off processing unit is used for subtracting a preset back-off value from the accumulated random number when the accumulated random number is larger than a threshold value corresponding to the preset current interference level, so as to obtain the accumulated random number after back-off, and taking the millisecond corresponding to the accumulated random number after back-off as the time interval of the next detection period.
10. The system according to any one of claims 6 to 9, wherein the obstacle determination processing unit determines whether an obstacle exists in the detection area in the following manner:
when judging that the echo types of the echoes received by all interception probes in the two last detection periods are effective echoes, determining that an obstacle exists in a detection area;
when judging that the same-frequency interference echo exists in the echoes received by all the interception probes, determining that an obstacle exists in a detection area if two effective echo signals exist in the last three detection data for a first interference level; for the second interference level, if there are two valid echo signals in the last four detection data, it is determined that an obstacle exists in the detection area.
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