CN116224308A - Ultrasonic sensor chip, signal processing method, and ultrasonic radar device - Google Patents

Abstract

The present invention relates to the field of ultrasonic technology, and more particularly, to an ultrasonic sensor chip, a signal processing method, and an ultrasonic radar apparatus. The ultrasonic sensor chip includes: the driving module is used for outputting excitation signals with different amplitudes, and the excitation signals are used for driving the emitting part to emit characteristic ultrasonic waves with identification properties; the comparator is used for comparing the echo signal with a threshold value to obtain an output signal containing the amplitude characteristic of the echo signal; and the judging module is used for judging whether the output signal contains relevant information indicating the characteristic ultrasonic wave, and if so, outputting a judging signal that the echo signal is a specified echo. In the embodiment of the invention, the amplitude of the excitation signal is regulated to generate the ultrasonic wave with the identification attribute, and the echo of the ultrasonic wave emitted by the system can be identified more accurately according to the identification attribute.

Description

Ultrasonic sensor chip, signal processing method, and ultrasonic radar device

Technical Field

The present invention relates to the field of ultrasonic technology, and more particularly, to an ultrasonic sensor chip, a signal processing method, and an ultrasonic radar apparatus.

Background

Ultrasonic sensors are a common type of distance measuring sensor. The ultrasonic sensor measures and calculates the distance according to the time of transmitting ultrasonic waves and receiving echoes of the ultrasonic waves. In short-range measurement, the ultrasonic sensor has great advantages and is widely applied to reversing radars. However, the reversing radar has the following problems: when two vehicles approach each other and go backward simultaneously, if the frequencies of the ultrasonic waves emitted by the two vehicles are relatively consistent, it may be difficult for the two vehicles to distinguish which is the echo of the ultrasonic wave of the system, and thus the distance and the position may be erroneously detected. And ultrasonic interference with the same frequency as that of an automotive radar may also exist in nature. Therefore, how to make the ultrasonic sensor recognize the echo of the ultrasonic wave emitted by the present system more accurately is a problem to be solved.

Disclosure of Invention

The embodiment of the invention provides an ultrasonic sensor chip, a signal processing method and an ultrasonic radar device, wherein the ultrasonic sensor chip, the signal processing method and the ultrasonic radar device are capable of more accurately identifying the echo of ultrasonic waves sent by the system according to identification attribute by adjusting the amplitude of an excitation signal to generate the ultrasonic waves with the identification attribute.

In a first aspect, an embodiment of the present invention provides an ultrasonic sensor chip, including:

The driving module is used for outputting excitation signals with different amplitudes, and the excitation signals are used for driving the emitting part to emit characteristic ultrasonic waves with identification properties;

the comparator is used for comparing the echo signal with a threshold value to obtain an output signal containing the amplitude characteristic of the echo signal;

and the judging module is used for judging whether the output signal contains relevant information indicating the characteristic ultrasonic wave, and if so, outputting a judging signal that the echo signal is a specified echo.

Optionally, the excitation signals include a first excitation signal and a second excitation signal, the first excitation signal has an amplitude greater than that of the second excitation signal, and at least one second excitation signal is included between the first excitation signals.

Optionally, if the amplitude of the echo signal is greater than the threshold value, the comparator outputs a first signal; and if the amplitude of the echo signal is smaller than the threshold value, the comparator outputs a second signal.

Optionally, the excitation signal includes a first excitation signal and a second excitation signal, the first excitation signal having an amplitude greater than the second excitation signal, the second excitation signal being located before or after the first excitation signal.

Optionally, the threshold value includes a first threshold value and a second threshold value, the first threshold value is greater than the second threshold value, the comparator includes a first comparator and a second comparator, the first comparator inputs the first threshold value, and the second comparator inputs the second threshold value; if the amplitude of the echo signal is smaller than the second threshold value, the first comparator and the second comparator both output a second signal; if the amplitude of the echo signal is greater than the second threshold value and less than the first threshold value, the first comparator outputs a second signal, and the second comparator outputs a first signal; and if the amplitude of the echo signal is larger than the first threshold value, the first comparator and the second comparator both output a first signal.

Optionally, the judging module receives the first signal and the second signal, and judges whether the output signal contains relevant information indicating the characteristic ultrasonic wave according to a distribution rule of the first signal and the second signal.

Optionally, the chip further includes a first storage module, configured to store characteristic information that represents the characteristic ultrasonic wave; the judging module reads the characteristic information of the first storage module and is used for judging whether the output signal contains relevant information indicating the characteristic ultrasonic wave.

Optionally, the driving module is further configured to change the characteristic ultrasonic wave according to different received trigger signals, or the driving module is further configured to change the characteristic ultrasonic wave after receiving the trigger signals for several times.

Optionally, the chip further includes a second storage module, configured to store the threshold value, and the driving module updates the threshold value stored in the second storage module after changing the amplitude of the excitation signal; or,

the chip also comprises an adjusting module, wherein the adjusting module adjusts the threshold value according to the amplitude related information of the excitation signal which is changed by the driving module.

In a second aspect, an embodiment of the present invention provides a signal processing method of an ultrasonic sensor, including:

outputting excitation signals with different amplitudes, wherein the excitation signals are used for driving the emitting component to emit characteristic ultrasonic waves with identification properties;

comparing the echo signal with a threshold value to obtain an output signal containing the amplitude characteristic of the echo signal;

and judging whether the output signal contains relevant information indicating the characteristic ultrasonic wave, and if so, outputting a judging signal that the echo signal is a specified echo.

Optionally, the excitation signals include a first excitation signal and a second excitation signal, the first excitation signal has an amplitude greater than that of the second excitation signal, and at least one second excitation signal is included between the first excitation signals.

Optionally, the comparing the echo signal with a threshold value to obtain an output signal including an amplitude characteristic of the echo signal includes:

outputting a first signal if the amplitude of the echo signal is greater than the threshold value; and outputting a second signal if the amplitude of the echo signal is smaller than the threshold value.

Optionally, the excitation signal includes a first excitation signal and a second excitation signal, the first excitation signal having an amplitude greater than the second excitation signal, the second excitation signal being located before or after the first excitation signal.

Optionally, the threshold includes a first threshold and a second threshold, the first threshold being greater than the second threshold; outputting a second signal if the amplitude of the echo signal is less than the second threshold; outputting a second signal and a first signal if the amplitude of the echo signal is greater than the second threshold and less than the first threshold; and outputting a first signal if the amplitude of the echo signal is greater than the first threshold value.

Optionally, the determining whether the output signal includes relevant information indicating the characteristic ultrasonic wave includes: and receiving the first signal and the second signal, and judging whether the output signal contains relevant information indicating the characteristic ultrasonic wave according to the distribution rule of the first signal and the second signal.

Optionally, the method further comprises: storing characteristic information representing the characteristic ultrasonic waves; and reading the characteristic information, and judging whether the output signal contains relevant information indicating the characteristic ultrasonic wave or not according to the characteristic information.

Optionally, the method further comprises: and changing the characteristic ultrasonic wave according to the received different trigger signals, or changing the characteristic ultrasonic wave after receiving the trigger signals for a plurality of times.

Optionally, the method further comprises: storing the threshold value, and updating the threshold value after changing the amplitude of the excitation signal; alternatively, the threshold is adjusted based on information related to changing the amplitude of the excitation signal.

In a third aspect, an embodiment of the present invention provides an ultrasonic radar apparatus for an automobile, including: an ultrasonic transducer and the ultrasonic sensor chip of any one of the first aspect, the ultrasonic transducer comprising:

A transmitting section for transmitting an ultrasonic wave having an identification property based on the excitation signal;

and the receiving device is used for receiving the echo and transmitting the echo to the ultrasonic sensor chip.

Optionally, the device further comprises a man-machine interaction interface, the man-machine interaction interface outputs relevant configuration data, and the ultrasonic sensor chip changes the amplitude of the excitation signal according to the configuration data

In the embodiment of the invention, the ultrasonic wave generated by the system has the identification property through changing the amplitude characteristic of the excitation signal. By determining whether the echo signal contains information about the ultrasonic wave, it is possible to confirm whether the received echo is an echo of the ultrasonic wave emitted by the present system. According to the embodiment of the invention, under the condition of other ultrasonic interference, the echo of the ultrasonic wave sent by the system can be still identified, and the problem of mutual interference of the ultrasonic systems is solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of an ultrasonic radar device for an automobile according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of another ultrasonic radar device for an automobile according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of another ultrasonic radar device for an automobile according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an excitation signal according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an output signal of a comparator according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of an output signal of another comparator according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of an envelope curve according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of an output signal of another comparator according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of another excitation signal according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of an output signal of another comparator according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of another ultrasonic radar device for a vehicle according to an embodiment of the present invention;

FIG. 12 is a schematic diagram of a driving module connected to a plurality of charge pumps according to an embodiment of the present invention;

FIG. 13 is a schematic diagram of a driving module connected to an adjustable charge pump according to an embodiment of the present invention;

Fig. 14 is a schematic structural diagram of an ultrasonic radar device for an automobile according to an embodiment of the present invention;

fig. 15 is a flowchart of a signal processing method of an ultrasonic sensor according to an embodiment of the present invention.

Detailed Description

For a better understanding of the technical solutions of the embodiments of the present invention, the following describes the embodiments of the present invention in detail with reference to the accompanying drawings.

It should be understood that the described embodiments are merely some, but not all embodiments of the present invention. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the invention, are intended to be within the scope of the embodiments of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of embodiments of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

Referring to fig. 1, a schematic structural diagram of an ultrasonic radar device for an automobile according to an embodiment of the present invention is provided. As shown in fig. 1, the automotive ultrasonic radar apparatus includes: a main controller, an ultrasonic sensor chip 2 and an ultrasonic transducer 3. Alternatively, the main controller may be the microprocessor chip 1, for example, a micro central control chip, a system on chip, or the like capable of processing digital signals, analog signals, or performing functions such as signal control, instruction processing, and computation, such as MCU, DSP, MPU, micro CPU, and the like. The following describes an embodiment of the present invention using a main controller as an example of the microprocessor chip 1.

In the embodiment of the invention, the microprocessor chip 1 can start or shut down the ultrasonic sensor chip 2. The microprocessor chip 1 may also be configured with relevant parameters of the ultrasonic sensor chip 2. For example, an amplitude parameter of the excitation signal generated by the ultrasonic sensor chip 2 is configured. As shown in fig. 1, a microprocessor chip 1 transmits a trigger signal to an ultrasonic sensor chip 2. After the ultrasonic sensor chip 2 receives the trigger signal sent by the microprocessor chip 1, the ultrasonic sensor chip 2 generates an excitation signal, and the excitation signal can drive the ultrasonic transducer 3 to emit ultrasonic waves.

As shown in fig. 1, the ultrasonic transducer 3 includes an ultrasonic wave transmitting sensor 31 and an ultrasonic wave receiving sensor 32. The ultrasonic wave emitting sensor 31 is an emitting means for emitting ultrasonic waves under the drive of an excitation signal. The ultrasonic wave receiving sensor 32 is a receiving member for receiving echoes reflected by ultrasonic waves.

As shown in fig. 1, the ultrasonic waves emitted from the ultrasonic wave emitting sensor 31 are reflected back after encountering an obstacle. The ultrasonic wave receiving sensor 32 receives an echo reflected back from an obstacle. The ultrasonic wave receiving sensor 32 transmits the received echo to the ultrasonic wave sensor chip 2. The ultrasonic sensor chip 2 is configured to determine whether the echo signal is an echo of an ultrasonic wave emitted from the ultrasonic radar device (also referred to as the present system) of the present vehicle, and to transmit the determination result to the microprocessor chip 1. The microprocessor chip 1 can generate corresponding actions according to the judging result, for example, trigger a buzzer to send out prompt tones and the like.

In some embodiments, the center frequency of the ultrasonic sensor chip 2 is substantially fixed, with typical frequencies being 40KHz, 48KHz and 58KHz, among others. In order to enable the ultrasonic sensor chip 2 to accurately recognize the echo of the ultrasonic wave emitted by the present system, the related art generally employs a frequency-adjusting manner for echo recognition. Specifically, the ultrasonic sensor chip 2 may increase or decrease the frequency of the excitation signal on the basis of a fixed frequency. The frequency values that the different ultrasonic sensor chips 2 increase or decrease on the basis of the fixed frequency may be different. Thereby making the ultrasonic frequencies generated by different ultrasonic sensor chips 2 different. The ultrasonic sensor chip 2 can determine whether it is an echo of the ultrasonic wave emitted by the system according to the received echo frequency.

There are problems with using frequency adjustment to identify the ultrasound echoes of the system. For example, changing the excitation frequency of the excitation signal reduces the amplitude of the ultrasonic wave emitted from the ultrasonic wave emission sensor 31, and the reduction in the amplitude of the ultrasonic wave affects the accurate detection of the ultrasonic echo. Moreover, the excitation frequency of the excitation signal generated by the ultrasonic sensor chip 2 theoretically coincides with the vibration frequency of the ultrasonic emission sensor 31. In a practical state, however, there is a certain error between the excitation frequency and the vibration frequency. If the frequency of the excitation signal before adjustment is not greatly different from the frequency after adjustment, it cannot be accurately determined whether the received echo is the echo of the system, and erroneous determination is easily caused. If the frequency before adjustment is larger than the frequency after adjustment, the radar may not start vibrating or the amplitude is too weak, and the technical standard of the reversing radar is not met.

In view of the above, embodiments of the present invention provide an implementation of the ultrasonic sensor chip 2. The scheme makes the ultrasonic wave generated by the system have identification property through changing the amplitude of the ultrasonic wave, so that the ultrasonic wave generated by the system is distinguished from the ultrasonic waves of other systems. In the embodiment of the invention, whether the received ultrasonic echo is the ultrasonic echo of the system is confirmed by judging whether the echo signal contains relevant information indicating the amplitude characteristic of the ultrasonic wave. The following will describe embodiments of the present invention in detail with reference to specific examples.

Referring to fig. 2, a schematic structural diagram of another ultrasonic radar device for an automobile according to an embodiment of the present invention is provided. As shown in fig. 2, the automotive ultrasonic radar apparatus includes a microprocessor chip 1, an ultrasonic sensor chip 2, and an ultrasonic transducer 3. The structure and function of the microprocessor chip 1 and the ultrasonic transducer 3 are described with reference to fig. 1, and will not be described herein. As shown in fig. 2, the ultrasonic sensor chip 2 in the embodiment of the present invention includes: a driving module 21, a comparator 22 and a judging module 23. Wherein the driving module 21 is electrically connected with the microprocessor chip 1 and the ultrasonic wave emitting sensor 31 in the ultrasonic transducer 3. The judgment module 23 is electrically connected to the microprocessor chip 1 and the comparator 22. The comparator 22 is also electrically connected to the ultrasonic receiving sensor 32 in the ultrasonic transducer 3.

As shown in fig. 2, the microprocessor chip 1 transmits a trigger signal to the driving module 21. The driving module 21 outputs excitation signals with different amplitudes after receiving the trigger signals sent by the microprocessor chip 1. The excitation signal is used to drive the ultrasonic wave emitting sensor 31 to emit characteristic ultrasonic waves having an identification property. Alternatively, the driving module 21 outputting the excitation signals having different amplitudes may include: the driving module 21 generates the excitation signals with different amplitudes by adjusting the amplitudes of the original excitation signals while maintaining the natural frequency of the excitation signals unchanged. Wherein, the driving module 21 adjusts the amplitude of the excitation signal on the basis of keeping the natural frequency of the original excitation signal unchanged, and may include adjusting one or more combinations of parameters such as the distribution position of the ultrasonic wave with different amplitudes, the amplitude of the ultrasonic wave with different amplitudes, the duration of the ultrasonic wave with different amplitudes, and the like. In some examples, the drive module 21 may output excitation signals having different amplitudes by adjusting the position and amplitude of the ultrasonic distribution of different amplitudes, the number of ultrasonic waves of different amplitudes. In some examples, the drive module 21 may output excitation signals having different amplitudes by adjusting the ultrasound distribution position and amplitude of the different amplitudes, the ultrasound duration of the different amplitudes. In the embodiment of the invention, the excitation signal of the ultrasonic sensor chip 2 is distinguished from other ultrasonic sensor chips by changing the amplitude characteristics of the excitation signal, so that the excitation signal generated by the ultrasonic sensor chip 2 has identification properties.

As shown in fig. 2, the ultrasonic wave emitting sensor 31 generates a characteristic ultrasonic wave having an identification property under the control of the above-described excitation signal. As shown in fig. 2, the characteristic ultrasonic waves emitted from the ultrasonic wave emitting sensor 31 are reflected back when encountering an obstacle. The ultrasonic wave receiving sensor 32 receives echoes of the characteristic ultrasonic wave reflections and transmits the echoes to the comparator 22. A comparator 22 for comparing the echo signal with a threshold value to obtain an output signal comprising an amplitude characteristic of the echo signal. The judging module 23 is configured to judge whether the output signal includes relevant information indicating the characteristic ultrasonic wave, and if so, output a judging signal that the echo signal is a specified echo. And if the output signal does not contain relevant information indicating the characteristic ultrasonic wave, outputting a judgment signal that the echo signal is not the specified echo. The microprocessor chip 1 can determine that the currently received echo is not the echo of the ultrasonic wave transmitted by the system according to the judging signal.

In the embodiment of the present invention, by changing the amplitude characteristics of the excitation signal, the system is enabled to generate excitation signals with different amplitudes, and the excitation signals can drive the ultrasonic wave emitting sensor 31 to emit characteristic ultrasonic waves with identification properties. The determination module 23 determines whether the received echo is an echo of an ultrasonic wave emitted by the system by determining whether the echo signal contains relevant information indicating the characteristic ultrasonic wave. According to the embodiment of the invention, under the condition of other ultrasonic interference, the echo of the ultrasonic wave sent by the system can be still identified, and the problem of mutual interference of the ultrasonic systems is solved. In addition, the ultrasonic wave of the system has identification property through the adjustment of the amplitude, so that the problem of frequency adjustment in the traditional solution can be avoided.

Referring to fig. 3, a schematic structural diagram of another ultrasonic radar device for an automobile according to an embodiment of the present invention is provided. In conjunction with the automotive ultrasonic radar apparatus shown in fig. 2, the ultrasonic sensor chip 2 according to the embodiment of the present invention further includes, on the basis of including the driving module 21, the comparator 22 and the judging module 23: a first memory module 25, a second memory module 26 and a preamble signal processing module 24. Wherein the first storage module 25 is used for storing characteristic information representing characteristic ultrasonic waves. The feature information for representing the feature ultrasonic wave may include, for example: the distribution of the ultrasonic waves with different amplitudes is regular. For example, it may include: the distribution position of the ultrasonic waves with different amplitudes, the amplitude of the ultrasonic waves with different amplitudes, the number of the ultrasonic waves with different amplitudes, the duration of the ultrasonic waves with different amplitudes, and the like. In the embodiment of the invention, the amplitude characteristic of the excitation signal corresponds to the amplitude characteristic of the characteristic ultrasonic wave. The characteristic information may be characteristic information of the excitation signal. In the embodiment of the invention, the characteristic information for representing the characteristic ultrasonic wave can be stored in a digital signal mode so as to judge whether the echo signals are matched.

Optionally, a second storage module 26 is used for storing the threshold value. Optionally, the threshold is determined according to the amplitude of each ultrasonic wave included in the excitation signal, so as to distinguish ultrasonic waves with different amplitudes.

In some examples, the excitation signals include a first excitation signal and a second excitation signal, the first excitation signal having an amplitude greater than the second excitation signal, the first excitation signal including at least one second excitation signal therebetween. The threshold value may be determined from the amplitude magnitudes of the first excitation signal and the second excitation signal to distinguish between the first excitation signal and the second excitation signal.

In some examples, the excitation signal comprises a first excitation signal and a second excitation signal, the first excitation signal having an amplitude greater than the second excitation signal, the second excitation signal being either before or after the first excitation signal. Correspondingly, the threshold includes a first threshold and a second threshold, the first threshold is greater than the second threshold, and the value of the first threshold is between the amplitude magnitudes of the first excitation signal and the second excitation signal (i.e., the first threshold is greater than the maximum value of the second excitation signal and less than the minimum value of the first excitation signal) so as to distinguish the first excitation signal from the second excitation signal. The second threshold is between the second excitation signal and the other lower amplitude waves (i.e., the second threshold is less than the maximum value of the second excitation signal) to distinguish the second excitation signal from the other lower amplitude waves. Alternatively, the other lower amplitude waves may be, for example, interfering waves and waves of lower amplitude generated by clutter.

In some embodiments, after the amplitude parameters of the excitation signal are configured, the amplitude of the characteristic ultrasonic wave generated by the driving of the excitation signal may gradually decrease with time. In order to be able to accurately acquire the amplitude characteristics of the echo signals, the threshold value in the second memory module 26 is also correspondingly reduced as the amplitude of the ultrasound waves is reduced. Alternatively, the threshold values stored in the second storage module 26 may include an initial threshold value, and a changing relationship that gradually becomes smaller with time on the basis of the initial threshold value. Alternatively, the threshold values stored in the second storage module 26 include an initial threshold value and a curve in which the initial threshold value becomes smaller with time. From this curve, the threshold value corresponding to each time point can be determined.

As shown in fig. 3, the ultrasonic waves emitted from the ultrasonic wave emitting sensor 31 are reflected back against an obstacle. The ultrasonic wave receiving sensor 32 receives the echo. The ultrasonic wave receiving sensor 32 transmits the received echo to the pre-signal processing module 24. The pre-signal processing module 24 is configured to filter out an interference signal in the echo received by the ultrasonic receiving sensor 32, and obtain an echo signal or generate an envelope curve according to the echo signal after interference filtering. The pre-signal processing module 24 provides the filtered echo signal or the envelope curve of the echo signal to the comparator 22.

The comparator 22 is configured to compare the echo signal or the envelope curve of the echo signal with a threshold value to obtain an output signal comprising the amplitude characteristic of the echo signal. The comparator 22 transmits the output signal to the judgment module 23. The judgment module 23 determines the sampling frequency according to the frequency of the excitation signal. The judgment module 23 samples the output signal output from the comparator 22 according to the sampling frequency. The judgment module 23 judges whether the output signal contains relevant information for indicating the characteristic ultrasonic wave or not according to the sampling result. Alternatively, the output signal of the comparator 22 may be a digital signal. The judging module 23 judges whether the output signal contains relevant information for indicating the characteristic ultrasonic wave according to the amplitude characteristic of each digital waveform in the output signal.

The following will explain the scheme of the ultrasonic sensor chip 2 according to the embodiment of the present invention with reference to a specific example.

Example one: the driving module 21 outputs excitation signals having different amplitudes by adjusting the distribution positions of the ultrasonic waves of different amplitudes and the amplitude amplitudes of the excitation signals, the number of ultrasonic waves of different amplitudes, on the premise of keeping the natural frequency f of the excitation signals unchanged. As shown in fig. 4, the driving module 21 adjusts the amplitude of the excitation signal to generate n first excitation signals and m second excitation signals, wherein the first excitation signals have an amplitude greater than the second excitation signals, and the m second excitation signals are sandwiched between the n first excitation signals. In the example given in fig. 4, n has a value of 6 and m has a value of 2. Alternatively, the values of n and m are random. In the embodiment of the invention, the values of n and m of different ultrasonic sensor chips 2 are different, so that different ultrasonic signals can be generated by different ultrasonic sensor chips 2, which is equivalent to having identification properties. In this example, the generated characteristic information of the above-described first excitation signal and second excitation signal may be stored in the first storage module 25. In addition, the threshold value may be stored in the second storage module 26. The threshold stored in the second memory module 26 may be an average of the amplitudes of the first excitation signal and the second excitation signal for distinguishing the first excitation signal from the second excitation signal.

In an example one, it may be determined whether the current echo is the echo of the present system according to the related information included in the echo signal and used for indicating the first excitation signal and the second excitation signal. Specifically, the pre-signal processing module 24 filters out the interference signals in the echo received by the ultrasonic receiving sensor 32 to obtain echo signals. The pre-signal processing module 24 sends the echo signals with the interference filtered to the comparator 22.

As shown in fig. 5, the comparator 22 compares the echo signal with a threshold Vth. If the amplitude of the echo signal is equal to or greater than the threshold Vth, a first signal is output. And outputting a second signal if the amplitude of the echo signal is smaller than the threshold value Vth. Alternatively, the first signal and the second signal may be digital signals. For example, the first signal is a high level signal 1 and the second signal is a low level 0. The first signal and the second signal output by the comparator 22 constitute an output signal. The judging module 23 can judge whether the output signal contains the relevant information indicating the characteristic ultrasonic wave according to the distribution rule of the first signal and the second signal.

Optionally, the natural frequency f of the excitation signal is not adjusted when the excitation signal is generated, so that the frequencies of the excitation signal and the emitted ultrasonic wave remain unchanged. The period t=1/f also remains unchanged. The sampling frequency can be determined from the frequency f. Or the sampling clock CLK may be determined based on the period T. Each cycle may be equally divided into a plurality of clocks CLK, each of which is sampled once by one CLK determination module 23. If the sampling result is the first signal, outputting 1; and outputting 0 if the sampling result is the second signal. In the embodiment of the present invention, according to the characteristic information of the first excitation signal and the second excitation signal stored in the first storage module 25, it is determined whether the distribution rule of 1 and 0 in the comparison result is consistent with the stored characteristic information. If the distribution rule of 1 and 0 included in the output signal matches the information of the characteristic ultrasonic wave stored in the first storage module 25, the judgment module 23 outputs a judgment signal that the echo signal is the specified echo. The microprocessor chip 1 can determine that the current echo is the echo of the ultrasonic wave sent by the system according to the judging signal. Otherwise, it is determined that the current echo is not the echo of the ultrasonic wave emitted by the system.

In a specific example, where each 1 cycle may be divided into 8 CLK's, one possible sampling result is 01100000, 01100000, 01100000, 00000000, 00000000, 01100000, 01100000, 01100000. After 1 appears in three periods, only 0 appears in two periods, and 1 appears in three periods. The number and distribution rules of 1 and 0 are consistent with those of 3 first excitation signals in fig. 4, and then 2 second excitation signals are generated, and 3 first excitation signals are generated again. Description the echo received in fig. 5 is the echo of the ultrasonic wave transmitted by the present system.

In some embodiments, the digital signals that may be sampled may be further predicted according to the first excitation signal and the second excitation signal distribution rule, and the predicted digital signals may be stored in the first storage module 25. When the digital signal sampled by the judging module 23 is consistent with the digital signal stored in the first storing module 25, the current echo is determined to be the echo of the ultrasonic wave of the system.

In some embodiments, the sampling frequency of the determination module 23 may be set higher. The higher the sampling frequency is, the closer the sampling frequency is to the real waveform of the echo, and the judgment result is more accurate. In one example, one cycle may be divided into 16 CLK's, each cycle producing 16 sampling points. One possible sampling result is: 0011110000000000, 0011110000000000, 0011110000000000, 0000000000000000, 0000000000000000, 0011110000000000, 0011110000000000, 0011110000000000. After the sampling result is consistent with 3 first excitation signals in fig. 4, 2 second excitation signals are generated, and 3 first excitation signals are generated again. Description the echo received in fig. 5 is the echo of the ultrasonic wave transmitted by the present system.

Example two: the driving module 21 outputs excitation signals with different amplitudes by adjusting the distribution position of the ultrasonic waves with different amplitudes and the amplitude and the ultrasonic duration of the different amplitudes of the excitation signals on the premise of keeping the natural frequency f of the excitation signals unchanged. As shown in fig. 4, the driving module 21 generates a first excitation signal and a second excitation signal with different amplitudes by adjusting the amplitude, the first excitation signal having an amplitude greater than the second excitation signal, the second excitation signal being located between the first excitation signals, the first excitation signals having a duration of t1 and t2, respectively, and the second excitation signal having a duration of t.

In the second example, whether the current echo is the present system echo may be determined according to the duration of the first excitation signal and the second excitation signal included in the echo signal and the positional relationship between the first excitation signal and the second excitation signal. Alternatively, the first memory module 25 may store the durations of the first excitation signal and the second excitation signal and the positional relationship of the first excitation signal and the second excitation signal. The second memory module 26 may have stored therein a threshold Vth for distinguishing the first firing signal from the second firing signal.

Specifically, the pre-signal processing module 24 filters out the interference signals in the echo received by the ultrasonic receiving sensor 32 to obtain echo signals. The pre-signal processing module 24 sends the echo signals with the interference filtered to the comparator 22. The comparator 22 compares the echo signal with a threshold Vth. And if the amplitude peak value of the current period of the echo signal is larger than or equal to the threshold value Vth, outputting a first signal in the current period. And if the amplitude peak value of the current period of the echo signal is smaller than the threshold value Vth, outputting a second signal in the current period. As shown in fig. 6, the first signal in the output signal has a duration t1', followed by the second signal and a duration t ', followed by the first signal and a duration t2'. If t1' =t1, t ' =t, t2' =t2, the echo received in fig. 6 is the echo of the ultrasonic wave transmitted by the system.

In some embodiments, it is contemplated that there may be some frequency error between the excitation signal and the ultrasonic signal, and that there may also be attenuation of the echo signal. There will be some deviation between the output signal of the comparator 22 and the excitation signal, but the deviation will be relatively small. Thus in example two, the time offset Δt may be set. If t1' ±Δt=t1, t ' ±Δt=t, and t2' ±Δt=t2, the echo received in fig. 6 is the echo of the ultrasonic wave transmitted by the system.

In example three, the excitation signals having different amplitudes may be generated in the manner of example one and example two, and then the envelope curve of the generated excitation signals may be determined. Optionally, the envelope curve of the excitation signal comprises a first band and a second band. The first wave band comprises a plurality of first excitation signals, the second wave band comprises a plurality of second excitation signals, the amplitude of the first excitation signals is larger than that of the second excitation signals, and the second wave band is sandwiched between the two first wave bands. The duration of the two first bands is c1 and c2, respectively, and the duration of the second band is c. Alternatively, the first storage module 25 may store the duration of the first band of the envelope curve as c1 and c2, the duration of the second band as c, and the distribution positional relationship of the first band and the second band. The second memory module 26 may store a threshold value Vt for distinguishing the first band from the second band.

The pre-signal processing module 24 filters the interference in the echoes received from the ultrasonic receiving sensor 32. As shown in fig. 7, the pre-signal processing module 24 samples the echo peaks after the interference is filtered to generate an envelope curve of the echo signal. The pre-signal processing module 24 sends the envelope curve of the echo signal to the comparator 22. The comparator 22 compares the envelope curve of the echo signal with a threshold Vt. And outputting a first signal if the amplitude of the envelope curve is greater than or equal to the threshold Vt. If the amplitude of the envelope curve is smaller than the threshold Vt, a second signal is output. As shown in fig. 8, the first signal in the output signal has a duration c1', followed by the second signal and a duration c ', followed by the first signal and a duration c2'. If c1' =c1, c ' =c, c2' =c2, the echo received in fig. 8 is the echo of the ultrasonic wave transmitted by the system. Of course, in this example, the time deviation Δt may be set with reference to example two. If c1' ±Δt=c1, c ' ±Δt=c, and c2' ±Δt=c2, it is indicated that the echo received in fig. 8 is the echo of the ultrasonic wave transmitted by the present system.

In the embodiment of the invention, the adoption of the envelope signal can enable the signal comparison process to be more efficient. Specifically, the comparator 22 is mainly configured to compare the amplitude values of the echo signals, and the envelope curve is adopted to make the comparison to obtain the same conclusion. And when the waves with higher amplitude are more, the envelope curve is adopted for comparison, so that the problem of judgment error caused by the up-down flip delay of the comparator 22 can be reduced.

Example four: in the first to third examples, the excitation signal generated by the driving module includes a first excitation signal and a second excitation signal, the first excitation signal having an amplitude greater than the second excitation signal, the second excitation signal being located between the first excitation signals. In this example four, the excitation signal generated by the drive module still includes the first excitation signal and the second excitation signal, but the second excitation signal is located before or after the first excitation signal.

As shown in fig. 9, the excitation signals generated by the driving module 21 include n first excitation signals and m second excitation signals, wherein the first excitation signals have an amplitude greater than the second excitation signals, and the m second excitation signals precede the n first excitation signals. In the example given in fig. 9, n has a value of 6 and m has a value of 2. Alternatively, the values of n and m are random. In this example, the values of m and n described above, and the positional relationship of the first excitation signal and the second excitation signal may be stored in the first storage module 25. Additionally, the second memory module 26 may have stored therein a first threshold and a second threshold, the first threshold being greater than the second threshold. The value of the first threshold is between the amplitude magnitudes of the first excitation signal and the second excitation signal (i.e., the first threshold is greater than the maximum value of the second excitation signal and less than the minimum value of the first excitation signal), so as to distinguish the first excitation signal from the second excitation signal. The second threshold value is valued between the second excitation signal and the other lower amplitude waves (i.e. smaller than the maximum value of the second excitation signal) for distinguishing the second excitation signal from the other lower amplitude waves. Alternatively, the other lower amplitude waves may be, for example, interfering waves and waves of lower amplitude generated by clutter. The waveform of the second excitation signal before or after the first excitation signal can be judged by adding a threshold value, so that the distribution positions of ultrasonic waves with different amplitudes are more flexible, the ultrasonic wave detection device can be suitable for various different occasions, and the diversity of different combinations of the ultrasonic waves is increased.

The excitation signal shown in fig. 9 is used to drive the ultrasonic emission sensor 31 to generate characteristic ultrasonic waves having a corresponding amplitude distribution rule. The characteristic ultrasonic waves emitted by the ultrasonic wave emitting sensor 31 are reflected back against an obstacle. The ultrasonic wave receiving sensor 32 is configured to receive the echo and transmit the received echo to the pre-signal processing module 24. After the pre-signal processing module 24 filters out the interference in the received echo, the echo signal is sent to the comparator 22, and for a specific process, reference is made to the description of examples one to three above.

As shown in fig. 10, the comparator 22 in the present example includes a first comparator and a second comparator. The first comparator inputs a first threshold value and an echo signal, and the second comparator inputs a second threshold value and an echo signal. And if the amplitude of the echo signal is smaller than a second threshold value, the first comparator and the second comparator both output a second signal. That is, when the echo signal contains waves of lower amplitude generated by the onset of the ultrasonic wave and the aftershock, both the first comparator and the second comparator output the second signal. If the amplitude of the echo signal is larger than the second threshold value and smaller than the first threshold value, the first comparator outputs a second signal, and the second comparator outputs a first signal. That is, when the echo signal contains the amplitude characteristic of the second excitation signal, the first comparator outputs the second signal, and the second comparator outputs the first signal. If the amplitude of the echo signal is greater than the first threshold value, the first comparator and the second comparator both output a first signal. I.e. when the echo signal comprises the amplitude characteristic of the first excitation signal, both the first comparator and the second comparator output the second signal. Alternatively, the first signal may be high and the second signal may be low.

Assuming that the echo signal has the amplitude characteristic of the excitation signal shown in fig. 9, the output signal of the first comparator may be: 00000000 00000000, 01100000, 01100000, 01100000, 01100000, 01100000, 01100000; the output signal of the second comparator may be: 01100000, 01100000, 01100000, 01100000, 01100000, 01100000, 01100000, 01100000. According to the distribution rule of the first signal and the second signal in the output signals of the first comparator and the second comparator, whether the echo signal contains relevant information for indicating the characteristic ultrasonic wave can be judged.

In the examples given in fig. 9 and 10, the envelope curve may also be used to determine whether the echo signal includes relevant information for indicating the characteristic ultrasonic wave, and the description of the third example may be referred to specifically, which is not repeated here.

Further, the characteristic ultrasound in the embodiments of the present invention supports multiple adjustments. Alternatively, embodiments of the present invention alter the amplitude characteristics of the characteristic ultrasonic wave by altering the amplitude characteristics of the excitation signal. In some examples, the drive module 21 alters the amplitude characteristics of the characteristic ultrasonic waves according to the instructions of the microprocessor chip 1. Specifically, the method comprises the following steps: the driving module 21 receives different trigger signals sent by the microprocessor chip 1. The driving module 21 alters the characteristic ultrasonic wave according to the different trigger signals received. In other examples, the drive module 21 may actively alter the amplitude characteristics of the characteristic ultrasonic waves. Specifically, the method comprises the following steps: the driving module 21 changes the characteristic ultrasonic wave after receiving the trigger signal several times. In the above example, the driving module 21 may change the characteristic ultrasonic wave generated by the system by changing the excitation signal.

In the embodiment of the invention, the excitation signal supports adjustment, so that the flexibility and the adaptability of the system can be improved. In the embodiment of the invention, the excitation signals support adjustment, so that different ultrasonic sensor chips 2 can generate different excitation signals, and therefore, different ultrasonic systems can generate different characteristic ultrasonic waves, which is equivalent to different ultrasonic systems with different recognition attributes, and the probability of similarity of the ultrasonic waves generated by two vehicles is further reduced.

In some embodiments, the drive module 21 further updates the threshold stored in the second storage module 26 after the drive module 21 changes the amplitude of the firing signal. Optionally, after the driving module 21 changes the amplitude of the excitation signal, the driving module 21 further alters the information about the characteristic ultrasonic wave stored in the first storage module 25.

In other embodiments, the ultrasonic sensor chip 2 further comprises an adjustment module 27. As shown in fig. 11, the adjustment module 27 is connected to the first storage module 25 and the second storage module 26, respectively. When the driving module 21 changes the amplitude of the excitation signal, the adjusting module 27 generates a new threshold value according to the amplitude related information of the excitation signal after the driving module 21 changes and provides the new threshold value to the comparator 22. Specifically, after the driving module 21 changes the amplitude of the excitation signal, the driving module 21 may update the information in the first storage module 25, and not update the initial threshold in the second storage module 26. The adjustment module 27 calculates an updated threshold value based on the updated amplitude information in the first storage module 25 and the initial threshold value not updated in the second storage module 26, and supplies the updated threshold value to the comparator 22 for generating an output signal. In this way, the threshold value is reasonably changed along with the change of the excitation signal, which corresponds to the generation of the dynamic threshold value by the adjustment module 27, so that the accuracy of the system is improved. Moreover, the ultrasonic sensor chip 2 does not need to be repeatedly refreshed in the mode, so that the cost for modifying the threshold value is saved.

Referring to fig. 12, a schematic diagram of adjusting the amplitude of an excitation signal according to an embodiment of the present invention is provided. As shown in fig. 12, the driving circuit may be connected to a plurality of charge pumps. The microprocessor chip 1 can make the voltage input to the driving module 21 different through controlling the charge pump switch, so that the driving module 21 generates excitation signals with different amplitudes.

In addition to using multiple charge pumps to cause the drive module 21 to output firing signals having different amplitudes, the charge pump may be adjustable by controlling an adjustable switch on the charge pump to cause the drive module 21 to output firing signals having different amplitudes. As shown in fig. 13, one charge pump may output different magnitudes by means of series resistance voltage division. The amplitude adjustment may be performed by a decoder or the like that outputs different control signals according to different input signals.

Multiple charge pumps or a charge pump adjustable case may produce a combination of multiple magnitudes. The method can prevent the problem that the ultrasonic sensor chip cannot be corrected after misjudgment is generated, enables one ultrasonic sensor chip to adapt to various scenes, can be applied to a plurality of systems, and can greatly reduce the repetition probability of identification waves between vehicles.

In some embodiments, the ultrasonic amplitude may also be adjusted through a human-machine interface. As shown in fig. 14, the microprocessor chip 1 is connected with a display device capable of displaying a man-machine interaction interface. The microprocessor chip 1 can periodically inquire whether misjudgment occurs through the man-machine interaction interface, and a user can select whether to adjust or not, or find that the misjudgment actively adjusts the excitation signal amplitude parameter through the man-machine interaction interface. The relevant configuration data of the excitation signal can be output through the man-machine interaction interface. The microprocessor chip 1 transmits the relevant configuration data to the ultrasonic sensor chip 2, and the ultrasonic sensor chip 2 configures the amplitude of the excitation signal to be changed according to the correlation. In this way, the ultrasonic sensor can generate different characteristic ultrasonic waves, which corresponds to giving a new ID to the ultrasonic sensor. By the method, the reliability and the adaptability of the ultrasonic system are enhanced, and the customizable function is added to play a role in double protection.

Referring to fig. 15, a flowchart of a signal processing method of an ultrasonic sensor according to an embodiment of the present invention is provided. The execution main body of the method is the ultrasonic sensor chip. As shown in fig. 13, the method includes:

401, output excitation signals with different amplitudes, the excitation signals being used to drive the emitting means to emit characteristic ultrasonic waves with identifying properties.

402, comparing the echo signal with a threshold value, obtaining an output signal comprising an amplitude characteristic of the echo signal.

403, determining whether the output signal includes relevant information indicating the characteristic ultrasonic wave, and if so, outputting a determination signal that the echo signal is a specified echo.

Optionally, the excitation signals include a first excitation signal and a second excitation signal, the first excitation signal has an amplitude greater than that of the second excitation signal, and at least one second excitation signal is included between the first excitation signals.

Optionally, the comparing the echo signal with a threshold value to obtain an output signal including an amplitude characteristic of the echo signal includes:

outputting a first signal if the amplitude of the echo signal is greater than the threshold value; and outputting a second signal if the amplitude of the echo signal is smaller than the threshold value.

Optionally, the excitation signal includes a first excitation signal and a second excitation signal, the first excitation signal having an amplitude greater than the second excitation signal, the second excitation signal being located before or after the first excitation signal.

Optionally, the threshold includes a first threshold and a second threshold, the first threshold being greater than the second threshold; outputting a second signal if the amplitude of the echo signal is less than the second threshold; outputting a second signal and a first signal if the amplitude of the echo signal is greater than the second threshold and less than the first threshold; and outputting a first signal if the amplitude of the echo signal is greater than the first threshold value.

Optionally, the determining whether the output signal includes relevant information indicating the characteristic ultrasonic wave includes: and receiving the first signal and the second signal, and judging whether the output signal contains relevant information indicating the characteristic ultrasonic wave according to the distribution rule of the first signal and the second signal.

Optionally, the method further comprises: storing characteristic information representing the characteristic ultrasonic waves; and reading the characteristic information, and judging whether the output signal contains relevant information indicating the characteristic ultrasonic wave or not according to the characteristic information.

Optionally, the method further comprises: and changing the characteristic ultrasonic wave according to the received different trigger signals, or changing the characteristic ultrasonic wave after receiving the trigger signals for a plurality of times.

Optionally, the method further comprises: storing the threshold value, and updating the threshold value after changing the amplitude of the excitation signal; alternatively, the threshold is adjusted based on information related to changing the amplitude of the excitation signal.

The embodiment of the invention also provides an automobile ultrasonic radar device. The ultrasonic radar device for an automobile comprises: ultrasonic transducer and above-mentioned ultrasonic sensor chip. The ultrasonic transducer includes: a transmitting section for transmitting an ultrasonic wave having an identification property based on the excitation signal; and the receiving device is used for receiving the echo and transmitting the echo to the ultrasonic sensor chip.

Optionally, the apparatus further includes: and the main controller is used for starting the ultrasonic sensor chip and receiving data returned by the ultrasonic sensor chip.

Optionally, the device further comprises a man-machine interaction interface, the man-machine interaction interface outputs relevant configuration data, and the ultrasonic sensor chip changes the amplitude of the excitation signal according to the configuration data. The ultrasonic radar device for an automobile according to the embodiments of the present invention may be specifically described with reference to fig. 1 to 3 and fig. 11 to 14, and will not be described herein.

The foregoing is merely exemplary embodiments of the present invention, and any person skilled in the art may easily conceive of changes or substitutions within the technical scope of the present invention, which should be covered by the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (20)

1. An ultrasonic sensor chip, comprising:

the driving module is used for outputting excitation signals with different amplitudes, and the excitation signals are used for driving the emitting part to emit characteristic ultrasonic waves with identification properties;

the comparator is used for comparing the echo signal with a threshold value to obtain an output signal containing the amplitude characteristic of the echo signal;

and the judging module is used for judging whether the output signal contains relevant information indicating the characteristic ultrasonic wave, and if so, outputting a judging signal that the echo signal is a specified echo.

2. The chip of claim 1, wherein the excitation signals comprise a first excitation signal and a second excitation signal, the first excitation signal having a greater amplitude than the second excitation signal, the first excitation signal including at least one of the second excitation signals therebetween.

3. The chip of claim 2, wherein the comparator outputs a first signal if the amplitude of the echo signal is greater than the threshold value; and if the amplitude of the echo signal is smaller than the threshold value, the comparator outputs a second signal.

4. The chip of claim 1, wherein the excitation signal comprises a first excitation signal and a second excitation signal, the first excitation signal having a greater amplitude than the second excitation signal, the second excitation signal being either before or after the first excitation signal.

5. The chip of claim 4, wherein the threshold comprises a first threshold and a second threshold, the first threshold being greater than the second threshold, the comparator comprising a first comparator and a second comparator, the first comparator inputting the first threshold and the second comparator inputting the second threshold; if the amplitude of the echo signal is smaller than the second threshold value, the first comparator and the second comparator both output a second signal; if the amplitude of the echo signal is greater than the second threshold value and less than the first threshold value, the first comparator outputs a second signal, and the second comparator outputs a first signal; and if the amplitude of the echo signal is larger than the first threshold value, the first comparator and the second comparator both output a first signal.

6. The chip of claim 3 or 5, wherein the judging module receives the first signal and the second signal, and judges whether the output signal contains relevant information indicating the characteristic ultrasonic wave according to a distribution rule of the first signal and the second signal.

7. The chip of any one of claims 1-5, further comprising a first memory module for storing characteristic information representative of the characteristic ultrasonic waves; the judging module reads the characteristic information of the first storage module and is used for judging whether the output signal contains relevant information indicating the characteristic ultrasonic wave.

8. The chip of any one of claims 1-5, wherein the driver module is further configured to alter the characteristic ultrasonic wave according to different trigger signals received, or wherein the driver module is further configured to alter the characteristic ultrasonic wave after receiving several trigger signals.

9. The chip of claim 8, further comprising a second memory module for storing the threshold value, the drive module updating the threshold value stored in the second memory module after changing the amplitude of the excitation signal; or,

The chip also comprises an adjusting module, wherein the adjusting module adjusts the threshold value according to the amplitude related information of the excitation signal which is changed by the driving module.

10. A signal processing method of an ultrasonic sensor, comprising:

outputting excitation signals with different amplitudes, wherein the excitation signals are used for driving the emitting component to emit characteristic ultrasonic waves with identification properties;

comparing the echo signal with a threshold value to obtain an output signal containing the amplitude characteristic of the echo signal;

and judging whether the output signal contains relevant information indicating the characteristic ultrasonic wave, and if so, outputting a judging signal that the echo signal is a specified echo.

11. The method of claim 10, wherein the excitation signals comprise a first excitation signal and a second excitation signal, the first excitation signal having a greater amplitude than the second excitation signal, the first excitation signal including at least one of the second excitation signals therebetween.

12. The method of claim 11, wherein comparing the echo signal to a threshold value results in an output signal comprising an amplitude characteristic of the echo signal, comprising:

Outputting a first signal if the amplitude of the echo signal is greater than the threshold value; and outputting a second signal if the amplitude of the echo signal is smaller than the threshold value.

13. The method of claim 10, wherein the excitation signal comprises a first excitation signal and a second excitation signal, the first excitation signal having a greater amplitude than the second excitation signal, the second excitation signal being either before or after the first excitation signal.

14. The method of claim 13, wherein the threshold comprises a first threshold and a second threshold, the first threshold being greater than the second threshold; outputting a second signal if the amplitude of the echo signal is less than the second threshold; outputting a second signal and a first signal if the amplitude of the echo signal is greater than the second threshold and less than the first threshold; and outputting a first signal if the amplitude of the echo signal is greater than the first threshold value.

15. The method of claim 12 or 14, wherein said determining whether the output signal contains relevant information indicative of the characteristic ultrasound wave comprises: and receiving the first signal and the second signal, and judging whether the output signal contains relevant information indicating the characteristic ultrasonic wave according to the distribution rule of the first signal and the second signal.

16. The method according to any one of claims 10-14, further comprising: storing characteristic information representing the characteristic ultrasonic waves; and reading the characteristic information, and judging whether the output signal contains relevant information indicating the characteristic ultrasonic wave or not according to the characteristic information.

17. The method according to any one of claims 10-14, further comprising:

and changing the characteristic ultrasonic wave according to the received different trigger signals, or changing the characteristic ultrasonic wave after receiving the trigger signals for a plurality of times.

18. The method of claim 17, wherein the method further comprises:

storing the threshold value, and updating the threshold value after changing the amplitude of the excitation signal; alternatively, the threshold is adjusted based on information related to changing the amplitude of the excitation signal.

19. An automotive ultrasonic radar apparatus, comprising: an ultrasonic transducer and an ultrasonic sensor chip according to any one of claims 1 to 9, the ultrasonic transducer comprising:

a transmitting section for transmitting an ultrasonic wave having an identification property based on the excitation signal;

And the receiving device is used for receiving the echo and transmitting the echo to the ultrasonic sensor chip.

20. The automotive ultrasonic radar apparatus of claim 19, further comprising a human-machine interface that outputs relevant configuration data, the ultrasonic sensor chip altering the amplitude of the excitation signal in accordance with the configuration data.

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