CN116946010A - Mute whistle method based on ultrasonic signal - Google Patents

Mute whistle method based on ultrasonic signal Download PDF

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Publication number
CN116946010A
CN116946010A CN202311203449.3A CN202311203449A CN116946010A CN 116946010 A CN116946010 A CN 116946010A CN 202311203449 A CN202311203449 A CN 202311203449A CN 116946010 A CN116946010 A CN 116946010A
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CN
China
Prior art keywords
vehicle
ultrasonic
ultrasonic sensor
whistle
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202311203449.3A
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Chinese (zh)
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CN116946010B (en
Inventor
胡德恩
凡启虎
陈勇
余超
史琦
郑海申
何锋
闫耀伟
吕源
时美杰
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Zhejiang Geely Holding Group Co Ltd
Ningbo Geely Automobile Research and Development Co Ltd
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Zhejiang Geely Holding Group Co Ltd
Ningbo Geely Automobile Research and Development Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Zhejiang Geely Holding Group Co Ltd, Ningbo Geely Automobile Research and Development Co Ltd filed Critical Zhejiang Geely Holding Group Co Ltd
Priority to CN202311203449.3A priority Critical patent/CN116946010B/en
Publication of CN116946010A publication Critical patent/CN116946010A/en
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Publication of CN116946010B publication Critical patent/CN116946010B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling

Abstract

The embodiment of the application provides a mute whistle method based on an ultrasonic signal, which is applied to a first vehicle, wherein a first ultrasonic sensor is arranged on the first vehicle; the whistling signal is converted by the first ultrasonic sensor after receiving the ultrasonic signal; the whistle signal comprises the installation azimuth information of the second ultrasonic sensor; the ultrasonic signal is generated by the second vehicle, and then the second ultrasonic sensor arranged on the second vehicle is controlled to convert and send the whistle signal; the method comprises the steps that a first vehicle obtains installation azimuth information of a first ultrasonic sensor; the first vehicle determines a position of the second vehicle relative to the first vehicle based on the mounting orientation information of the first ultrasonic sensor and the mounting orientation information of the second ultrasonic sensor. The method can solve the problem of violation and noise pollution caused by whistling sounds and improve the accuracy of determining the vehicle position.

Description

Mute whistle method based on ultrasonic signal
Technical Field
The application relates to the technical field of vehicles, in particular to a mute whistle method based on ultrasonic signals.
Background
As urban vehicles increase, urban traffic congestion becomes more severe.
In the prior art, when other vehicles influence the running of the vehicle driven by a driver, the driver can remind the other vehicles to avoid by controlling the whistling device to send out the whistling sound. Accordingly, drivers of other vehicles need to determine the position of the other vehicle relative to the driving vehicle based on the whistling sound to avoid.
However, on the one hand, the whistling sound may cause a violation, and the whistling sound may cause noise pollution to the surrounding environment. On the other hand, the driver needs to manually determine the position of the other vehicle with respect to the driving vehicle based on the whistling sound, and there is a problem in that the accuracy of determining the vehicle position is low.
Disclosure of Invention
The embodiment of the application provides a mute whistle method based on an ultrasonic signal, which can solve the problem of violation and noise pollution caused by whistle sound and improve the accuracy of determining the position of a vehicle.
In a first aspect, an embodiment of the present application provides a mute whistle method based on an ultrasonic signal, which is applied to a first vehicle, and a plurality of first ultrasonic sensors are installed on the first vehicle, and the method includes:
Acquiring a whistling signal sent by the first ultrasonic sensor; the whistling signal is converted by the first ultrasonic sensor after receiving an ultrasonic signal; the whistle signal comprises the installation azimuth information of the second ultrasonic sensor; the ultrasonic signal is generated by a second vehicle, and then the second ultrasonic sensor arranged on the second vehicle is controlled to convert and send the whistle signal;
acquiring installation azimuth information of the first ultrasonic sensor;
and determining the position of the second vehicle relative to the first vehicle according to the installation position information of the first ultrasonic sensor and the installation position information of the second ultrasonic sensor.
In one implementation, the whistle signal further includes transmission time information of the second ultrasonic sensor transmitting the ultrasonic signal, and the method further includes:
acquiring receiving time information of the ultrasonic signal received by the first ultrasonic sensor;
determining propagation duration information of the ultrasonic signal according to the receiving time information and the sending time information;
determining the relative distance between the first vehicle and the second vehicle according to the propagation duration information of the ultrasonic signals;
And adjusting the position of the second vehicle relative to the first vehicle according to the relative distance so as to acquire the adjusted position of the second vehicle relative to the first vehicle.
In one implementation, the whistle signal further includes processing time information of the second ultrasonic sensor; the method further comprises the steps of:
acquiring processing time information of the first ultrasonic sensor;
adjusting the receiving time information according to the processing time information of the first ultrasonic sensor;
and adjusting the sending time information according to the processing time information of the second ultrasonic sensor.
In one implementation, the method further comprises:
a control display device displays a position of the second vehicle relative to the first vehicle.
In a second aspect, an embodiment of the present application provides a mute whistle method based on an ultrasonic signal, which is applied to a second vehicle, and a plurality of second ultrasonic sensors are installed on the second vehicle, and the method includes:
when receiving the whistle trigger information, acquiring current time information, and determining the current time information as sending time information;
generating a whistle signal corresponding to each second ultrasonic sensor according to the sending time information and the installation azimuth information of the second ultrasonic sensor;
And sending the whistle signal corresponding to the second ultrasonic sensor so that the second ultrasonic sensor can convert the whistle signal corresponding to the second ultrasonic sensor into an ultrasonic signal and send the ultrasonic signal.
In one implementation manner, the acquiring the current time information when the whistle trigger information is received, and determining the current time information as the sending time information of each second ultrasonic sensor sending the ultrasonic signal includes:
when the whistle triggering information is received, acquiring an area where the second vehicle is located;
judging whether the area where the second vehicle is located is a whistle forbidden area;
and when the area where the second vehicle is located is judged to be the whistle prohibiting area, acquiring the current time information, and determining the current time information as the sending time information.
In one implementation, the method further comprises:
and when the area where the vehicle is located is judged not to be the whistle inhibition area, controlling the whistle device to carry out whistle processing.
In a third aspect, an embodiment of the present application provides a first vehicle on which a plurality of first ultrasonic sensors are mounted, the first vehicle further including:
The receiving and transmitting module is used for acquiring a whistling signal sent by the first ultrasonic sensor; the whistling signal is converted by the first ultrasonic sensor after receiving an ultrasonic signal; the whistle signal comprises the installation azimuth information of the second ultrasonic sensor; the ultrasonic signal is generated by a second vehicle, and then the second ultrasonic sensor arranged on the second vehicle is controlled to convert and send the whistle signal;
the transceiver module is also used for acquiring the installation azimuth information of the first ultrasonic sensor;
and the processing module is used for determining the position of the second vehicle relative to the first vehicle according to the installation azimuth information of the first ultrasonic sensor and the installation azimuth information of the second ultrasonic sensor.
In one implementation, the whistle signal further includes transmission time information of the second ultrasonic sensor transmitting the ultrasonic signal;
the receiving and transmitting module is further used for acquiring receiving time information of the ultrasonic signals received by the first ultrasonic sensor;
the processing module is further used for determining the propagation duration information of the ultrasonic signal according to the receiving time information and the sending time information;
The processing module is further used for determining the relative distance between the first vehicle and the second vehicle according to the propagation duration information of the ultrasonic signals;
the processing module is further configured to adjust a position of the second vehicle relative to the first vehicle according to the relative distance, so as to obtain an adjusted position of the second vehicle relative to the first vehicle.
In one implementation, the whistle signal further includes processing time information of the second ultrasonic sensor;
the transceiver module is further used for acquiring the processing time information of the first ultrasonic sensor;
the processing module is further used for adjusting the receiving time information according to the processing time information of the first ultrasonic sensor;
the processing module is further configured to adjust the sending time information according to the processing time information of the second ultrasonic sensor.
In one implementation of the method, in one implementation,
the processing module is also used for controlling a display device to display the position of the second vehicle relative to the first vehicle.
In a fourth aspect, an embodiment of the present application provides a second vehicle on which a plurality of second ultrasonic sensors are mounted, the second vehicle further comprising:
The receiving and transmitting module is used for acquiring current time information when receiving the whistle trigger information and determining the current time information as sending time information;
the processing module is used for generating a whistle signal corresponding to each second ultrasonic sensor according to the sending time information and the installation azimuth information of the second ultrasonic sensor;
the transceiver module is further configured to send a whistle signal corresponding to the second ultrasonic sensor, so that the second ultrasonic sensor converts the whistle signal corresponding to the second ultrasonic sensor into an ultrasonic signal, and sends the ultrasonic signal.
In one implementation, the transceiver module is specifically configured to:
when the whistle triggering information is received, acquiring an area where the second vehicle is located;
judging whether the area where the second vehicle is located is a whistle forbidden area;
and when the area where the second vehicle is located is judged to be the whistle prohibiting area, acquiring the current time information, and determining the current time information as the sending time information.
In one implementation, the transceiver module is further configured to:
And when the area where the vehicle is located is judged not to be the whistle inhibition area, controlling the whistle device to carry out whistle processing.
In a fifth aspect, an embodiment of the present application provides a first vehicle on which a plurality of first ultrasonic sensors are mounted, the first vehicle further comprising:
a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes the computer-executable instructions stored in the memory to implement the ultrasonic signal-based mute whistle method of the first aspect.
In a sixth aspect, an embodiment of the present application provides a second vehicle on which a plurality of second ultrasonic sensors are mounted, the second vehicle further comprising:
a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes the computer-executable instructions stored in the memory to implement the ultrasonic signal-based mute whistle method of the second aspect.
In a seventh aspect, an embodiment of the present application provides a computer readable storage medium, where computer executable instructions are stored, where the computer executable instructions are used to implement the method for silencing whistle based on an ultrasonic signal according to the first aspect or the second aspect when executed by a processor.
In an eighth aspect, embodiments of the present application provide a computer program product comprising a computer program for implementing the ultrasound signal-based whistle method of the first or second aspect when executed by a processor.
The embodiment of the application provides a mute whistle method based on an ultrasonic signal. In the method, a first ultrasonic sensor arranged on a first vehicle can acquire an ultrasonic signal sent by a second ultrasonic sensor on a second vehicle and convert the ultrasonic signal into a whistle signal; the ultrasonic signal is generated by the second vehicle, and then the second ultrasonic sensor arranged on the second vehicle is controlled to convert and send the whistle signal. The first vehicle can acquire a whistle signal sent by a first ultrasonic sensor arranged on the first vehicle; the blast signal includes mounting orientation information of the second ultrasonic sensor. The first vehicle may also acquire mounting location information of the first ultrasonic sensor, and determine a position of the second vehicle relative to the first vehicle based on the mounting location information of the first ultrasonic sensor and the mounting location information of the second ultrasonic sensor. Through the silent whistle mode based on the ultrasonic signal, on one hand, the violation and noise pollution caused by the whistle sound can be avoided, on the other hand, the driver does not need to manually determine the position of the second vehicle relative to the driven vehicle based on the sound source of the whistle sound under the condition of driving the first vehicle, but can directly determine the position of the second vehicle relative to the first vehicle based on the whistle signal converted by the ultrasonic signal, and the accuracy of determining the position of the vehicle is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic view of a mute whistle method based on an ultrasonic signal according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a silence whistling method embodiment based on an ultrasonic signal according to an embodiment of the present application;
fig. 3 is a schematic diagram of an ultrasonic signal demodulation process according to an embodiment of the present application;
fig. 4 is a schematic view of a mute whistle method based on an ultrasonic signal according to an embodiment of the present application;
fig. 5 is a schematic flow chart of a second embodiment of a mute whistle method based on an ultrasonic signal according to an embodiment of the present application;
fig. 6 is a schematic flow chart of a mute whistle method embodiment three based on an ultrasonic signal according to an embodiment of the present application;
fig. 7 is a schematic diagram of an ultrasonic signal modulation process according to an embodiment of the present application;
fig. 8 is a schematic flow chart of a fourth embodiment of a mute whistle method based on an ultrasonic signal according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a first vehicle according to an embodiment of the present application;
Fig. 10 is a schematic structural diagram of a second vehicle according to an embodiment of the present application;
FIG. 11 is a schematic view of another first vehicle according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of another second vehicle according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments will be clearly and completely described below with reference to the accompanying drawings in the embodiments, and the described embodiments are some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, other embodiments made by a person skilled in the art in light of the present embodiment are all within the scope of the present application.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As urban vehicles increase, urban traffic congestion becomes more severe. In the prior art, when other vehicles influence the running of the vehicle driven by a driver, the driver can remind the other vehicles to avoid by controlling the whistling device to send out the whistling sound. Accordingly, drivers of other vehicles need to determine the position of the other vehicle relative to the driving vehicle based on the whistling sound to avoid. However, on the one hand, the whistling sound may cause a violation, and the whistling sound may cause noise pollution to the surrounding environment. On the other hand, the driver needs to manually determine the position of the other vehicle with respect to the driving vehicle based on the whistling sound, and there is a problem in that the accuracy of determining the vehicle position is low.
Based on the technical problems, the technical conception of the application is as follows: how to accurately determine the vehicle position without depending on the driver and without whistling sounds.
Fig. 1 is a schematic view of a mute whistle method based on an ultrasonic signal according to an embodiment of the present application. As shown in fig. 1, the scenario illustratively includes a first vehicle 10 and a second vehicle 20. A plurality of first ultrasonic sensors are mounted on the first vehicle 10, and six first ultrasonic sensors are illustrated in fig. 1, namely, a first ultrasonic sensor 0, a first ultrasonic sensor 1, a first ultrasonic sensor 2, a first ultrasonic sensor 3, a first ultrasonic sensor 4, and a first ultrasonic sensor 5, respectively, by way of example.
A plurality of second ultrasonic sensors are mounted on the second vehicle 20, and six second ultrasonic sensors are illustrated in fig. 1, namely, a second ultrasonic sensor 0, a second ultrasonic sensor 1, a second ultrasonic sensor 2, a second ultrasonic sensor 3, a second ultrasonic sensor 4, and a second ultrasonic sensor 5, respectively.
It should be noted that fig. 1 is only a schematic view of a scenario of a mute whistle method based on an ultrasonic signal according to an embodiment of the present application, and the present application is not limited to the actual form and interaction manner of the various devices included in fig. 1.
The method for silent whistling based on an ultrasonic signal according to the present application will be described in detail. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 2 is a schematic flow chart of a silence whistling method embodiment based on an ultrasonic signal according to an embodiment of the present application. Referring to fig. 2, the method specifically includes the steps of:
s201: the first vehicle acquires a whistle signal sent by the first ultrasonic sensor.
In this embodiment, the first vehicle may acquire the whistle signal transmitted by the first ultrasonic sensor.
The whistle signal is converted by the first ultrasonic sensor after receiving the ultrasonic signal. The blast signal includes mounting orientation information of the second ultrasonic sensor. The ultrasonic signal is generated by the second vehicle, and then the second ultrasonic sensor arranged on the second vehicle is controlled to convert and send the whistle signal.
In one implementation, the mounting orientation information of the second ultrasonic sensor is directly presented in the form of an "X-square", and the mounting orientation information of the second ultrasonic sensor may be "front", for example. In one implementation, the installation orientation information of the second ultrasonic sensor is expressed in the form of a number of emission orientations of the whistle signal, and the installation orientation of the second ultrasonic sensor may be "0x02" and "0x02" indicate a front whistle signal, that is, the installation orientation information of the second ultrasonic sensor is front, for example. In one implementation, the mounting orientation information of the second ultrasonic sensor is in the form of an identification of the second ultrasonic sensor. For example, the second ultrasonic sensor mounting orientation information may be "second ultrasonic sensor 1", and "second ultrasonic sensor 1" indicates that the second ultrasonic sensor mounting orientation information is right.
Specifically, a first ultrasonic sensor may be mounted on the first vehicle. When the first ultrasonic sensor receives the ultrasonic signal, the first ultrasonic sensor can demodulate the ultrasonic signal to convert the ultrasonic signal into a whistle signal.
In one implementation, the first ultrasonic sensor may employ a shunt filtering envelope detection method, and the envelope detector is used to demodulate the ultrasonic signal. Frequency Shift Keying (FSK) is a modulation scheme in which a digital signal is used to control the variation of the carrier Frequency. 2FSK is binary frequency shift keying. For the ultrasonic signal received by the ultrasonic signal receiver, the ultrasonic signal may be regarded as a superposition of two frequency shift keying signals. Fig. 3 is a schematic diagram of an ultrasonic signal demodulation process according to an embodiment of the present application. As shown in fig. 3, two band-pass filters with different powers, namely a band-pass filter w1 and a band-pass filter w2, may be used to separate two ultrasonic signals respectively representing 1 code and 0 code, and output envelope signals after passing through an envelope detector. The sampling decision device can sample and decide the two paths of envelope signals at a specified moment (controlled by the timing pulse) to recover the whistle signal (digital signal). Illustratively, if the sampling values of the upper branch and the lower branch are y1 and y2 respectively, when y1 is larger than or equal to y2, judging to output 1 code; when y1 < y2, the decision outputs a 0 code.
S202: the first vehicle obtains mounting orientation information of the first ultrasonic sensor.
In the present embodiment, the first ultrasonic sensor may be mounted in any orientation of the first vehicle. For example, the first ultrasonic sensor may be mounted in the left front, right front, left side, right side, left rear, or right rear of the first vehicle.
The first vehicle may acquire the installation azimuth information of the second ultrasonic sensor transmitting the ultrasonic signal when acquiring the blast signal transmitted by the first ultrasonic sensor. For example, the mounting orientation information of the second ultrasonic sensor may be the rear left.
S203: the first vehicle determines a position of the second vehicle relative to the first vehicle based on the mounting orientation information of the first ultrasonic sensor and the mounting orientation information of the second ultrasonic sensor.
In the present embodiment, the first vehicle may determine the position of the second vehicle with respect to the first vehicle based on the mounting orientation information of the first ultrasonic sensor and the mounting orientation information of the second ultrasonic sensor. For example, in the case where the mounting orientation information of the first ultrasonic sensor is left rear and the mounting orientation information of the second ultrasonic sensor is right rear, the first vehicle may determine that the position of the second vehicle with respect to the first vehicle is right rear.
In one implementation, the first vehicle may control the display device to display the position of the second vehicle relative to the first vehicle after determining the position of the second vehicle relative to the first vehicle. In one implementation, the first vehicle may control the playing device to play the position of the second vehicle relative to the first vehicle after determining the position of the second vehicle relative to the first vehicle.
In one implementation, when the plurality of first ultrasonic sensors of the first vehicle each receive the ultrasonic signals sent by the second ultrasonic sensor of the second vehicle, and each of the first ultrasonic sensors receives the ultrasonic signals sent by the plurality of second ultrasonic sensors, the first vehicle may determine the positions of the plurality of second vehicles relative to the first vehicle, and comprehensively determine the positions of the second vehicles relative to the first vehicle according to the positions of the plurality of second vehicles relative to the first vehicle.
Fig. 4 is a schematic view of a mute whistle method based on an ultrasonic signal according to an embodiment of the present application. As shown in fig. 4, the first ultrasonic sensor 2 of the first vehicle 10 may acquire an ultrasonic signal transmitted by the second ultrasonic sensor 1 of the second vehicle 20; the first ultrasonic sensor 3 of the first vehicle 10 can acquire an ultrasonic signal transmitted by the second ultrasonic sensor 1 of the second vehicle 20; the first ultrasonic sensor 4 of the first vehicle 10 may acquire an ultrasonic signal transmitted by the second ultrasonic sensor 0 of the second vehicle 20; the first ultrasonic sensor 4 of the first vehicle 10 may acquire an ultrasonic signal transmitted by the second ultrasonic sensor 5 of the second vehicle 20.
Taking the example that the first ultrasonic sensor 2 of the first vehicle 10 receives the ultrasonic signal transmitted by the second ultrasonic sensor 1 of the second vehicle 20, the ultrasonic signal is converted into a whistling signal. The first vehicle 10 may acquire the blast signal (including the installation azimuth information of the second ultrasonic sensor 1 of the second vehicle 20) transmitted by the first ultrasonic sensor 2, acquire the installation azimuth information of the first ultrasonic sensor 2, and determine the position of the second vehicle 20 with respect to the first vehicle 10 based on the installation azimuth information of the first ultrasonic sensor 2 and the installation azimuth information of the second ultrasonic sensor 1 of the second vehicle 20. The first vehicle 10 may comprehensively determine the position of the second vehicle 20 relative to the first vehicle 10 based on the positions of the plurality of second vehicles 20 relative to the first vehicle 10.
In this embodiment, the first ultrasonic sensor installed on the first vehicle may acquire an ultrasonic signal transmitted by the second ultrasonic sensor on the second vehicle, and convert the ultrasonic signal into a whistle signal; the ultrasonic signal is generated by the second vehicle, and then the second ultrasonic sensor arranged on the second vehicle is controlled to convert and send the whistle signal. The first vehicle can acquire a whistle signal sent by a first ultrasonic sensor arranged on the first vehicle; the blast signal includes mounting orientation information of the second ultrasonic sensor. The first vehicle may also acquire mounting location information of the first ultrasonic sensor, and determine a position of the second vehicle relative to the first vehicle based on the mounting location information of the first ultrasonic sensor and the mounting location information of the second ultrasonic sensor. Through the silent whistle mode based on the ultrasonic signal, on one hand, the violation and noise pollution caused by the whistle sound can be avoided, on the other hand, the driver does not need to manually determine the position of the second vehicle relative to the driven vehicle based on the sound source of the whistle sound under the condition of driving the first vehicle, but can directly determine the position of the second vehicle relative to the first vehicle based on the whistle signal converted by the ultrasonic signal, and the accuracy of determining the position of the vehicle is improved.
Fig. 5 is a schematic flow chart of a second embodiment of a mute whistle method based on an ultrasonic signal according to an embodiment of the present application. Referring to fig. 5, the method specifically includes the steps of:
s501: the first vehicle acquires a whistle signal sent by the first ultrasonic sensor.
In this embodiment, the first vehicle may acquire the whistle signal transmitted by the first ultrasonic sensor. The whistling signal is converted by the first ultrasonic sensor after receiving the ultrasonic signal; the blast signal includes mounting orientation information of the second ultrasonic sensor. The whistle signal also includes transmission time information of the ultrasonic signal transmitted by the second ultrasonic sensor. The ultrasonic signal is generated by the second vehicle, and then the second ultrasonic sensor arranged on the second vehicle is controlled to convert and send the whistle signal.
In one implementation, the whistle signal may also include processing time information of the second ultrasonic sensor. The processing time information of the second ultrasonic sensor is time information of the second ultrasonic sensor converting the whistle signal into the ultrasonic signal. Illustratively, table 1 is a whistling signal.
Table 1 whistling signal
In one implementation manner, after the first vehicle acquires the whistle signal sent by the first ultrasonic sensor, the first vehicle can identify whether the information body is 0x00, if the information body is identified as 0x00, the whistle signal is determined to be invalid, and the whistle signal is discarded; if the information body is not recognized as 0x00, the whistle signal is checked. Specifically, the first vehicle may employ a cyclic redundancy check (Cyclic Redundancy Check, abbreviated as CRC) algorithm for 8-bit data, and check the header, the body, the transmission time information, the processing time information of the ultrasonic sensor (the processing time information of the second ultrasonic sensor), and the tail of the message in the blast signal according to the information check value in the blast signal. After the first vehicle passes the verification, the subsequent steps may be performed.
S502: the first vehicle obtains mounting orientation information of the first ultrasonic sensor.
In this embodiment, the first vehicle may acquire the mounting orientation information of the first ultrasonic sensor that transmits the ultrasonic signal when acquiring the whistling signal transmitted by the first ultrasonic sensor. The specific implementation process is the same as S202, and will not be described here again.
S503: the first vehicle determines a position of the second vehicle relative to the first vehicle based on the mounting orientation information of the first ultrasonic sensor and the mounting orientation information of the second ultrasonic sensor.
In the present embodiment, the first vehicle may determine the position of the second vehicle with respect to the first vehicle based on the mounting orientation information of the first ultrasonic sensor and the mounting orientation information of the second ultrasonic sensor. The specific implementation process is the same as S203, and will not be described here again.
S504: the first vehicle acquires reception time information of the ultrasonic signal received by the first ultrasonic sensor.
In the present embodiment, the first vehicle may acquire the reception time information of the ultrasonic signal received by the first ultrasonic sensor.
In one implementation, the first vehicle may also acquire processing time information of the first ultrasonic sensor. The processing time information of the first ultrasonic sensor is time information required by the first ultrasonic sensor to convert the received ultrasonic signal into a whistle signal.
S505: the first vehicle determines propagation duration information of the ultrasonic signal according to the reception time information and the transmission time information.
In the present embodiment, the first vehicle may determine the time difference information based on the reception time information and the transmission time information. The time difference information is propagation duration information of the ultrasonic signal.
In one implementation, the first vehicle may also adjust the receive time information based on the processing time information of the first ultrasonic sensor. The first vehicle may also adjust the transmission time information based on the processing time information of the second ultrasonic sensor.
By the method, the influence of the processing process of the second ultrasonic sensor (converting the whistle signal into the ultrasonic signal) and the processing process of the first ultrasonic sensor (converting the ultrasonic signal into the whistle signal) on the propagation duration information of the ultrasonic signal can be reduced, so that the obtained ultrasonic signal propagation duration information is more accurate.
S506: the first vehicle determines the relative distance between the first vehicle and the second vehicle according to the propagation duration information of the ultrasonic signal.
In this embodiment, the first vehicle may determine the relative distance between the first vehicle and the second vehicle based on the propagation time length information of the ultrasonic signal and the propagation speed of the ultrasonic signal. The relative distance may be, for example, two meters.
S507: the first vehicle adjusts the position of the second vehicle relative to the first vehicle according to the relative distance to acquire the adjusted position of the second vehicle relative to the first vehicle.
In this embodiment, the first vehicle may adjust the position of the second vehicle with respect to the first vehicle according to the relative distance, so as to obtain the adjusted position of the second vehicle with respect to the first vehicle.
For example, in the case where the mounting orientation information of the first ultrasonic sensor is left rear and the mounting orientation information of the second ultrasonic sensor is right rear, the first vehicle may determine that the position of the second vehicle with respect to the first vehicle is right rear. When the first vehicle determines that the relative distance between the first vehicle and the second vehicle is two meters, the position of the second vehicle relative to the first vehicle can be determined as follows: (two meters in the right rear).
In one implementation, the blast signal may also include location information of the second vehicle. The location information of the second vehicle may be acquired by the global positioning system for the second vehicle. For example, the location information of the second vehicle may be latitude and longitude information of the second vehicle. The first vehicle may also obtain location information of the first vehicle, and adjust a location of the second vehicle relative to the first vehicle based on the location information of the first vehicle and the location information of the second vehicle.
In this embodiment, the first ultrasonic sensor mounted on the first vehicle may acquire an ultrasonic signal transmitted by the second ultrasonic sensor on the second vehicle and convert it into a whistle signal. The first vehicle can acquire a whistling signal sent by the first ultrasonic sensor; the whistle signal comprises installation azimuth information of the second ultrasonic sensor and sending time information of the ultrasonic signal sent by the second ultrasonic sensor. The first vehicle may also acquire mounting location information of the first ultrasonic sensor, and determine a position of the second vehicle relative to the first vehicle based on the mounting location information of the first ultrasonic sensor and the mounting location information of the second ultrasonic sensor. In addition, the first vehicle may further acquire reception time information of the received whistle signal, and determine propagation duration information of the ultrasonic signal according to the transmission time information and the reception time information, so as to determine a relative distance between the first vehicle and the second vehicle. The first vehicle may adjust the position of the second vehicle relative to the first vehicle based on the relative distance, that is, the first vehicle may determine the distance and orientation of the second vehicle relative to the first vehicle. Through the above-mentioned silence mode of whistling based on ultrasonic signal, on the one hand, can avoid whistling sound to cause violation and noise pollution, on the other hand, need not the driver under the circumstances of driving first vehicle, the manual work is based on the sound source of whistling sound, confirm the position of second vehicle for the vehicle of driving, but can directly be based on ultrasonic signal conversion's whistling signal, confirm the position (including position and distance) of second vehicle for first vehicle, improved the rate of accuracy of confirming the vehicle position.
Fig. 6 is a schematic flow chart of a mute whistle method embodiment three based on an ultrasonic signal according to an embodiment of the present application. Referring to fig. 6, the method specifically includes the steps of:
s601: and when the second vehicle receives the whistle trigger information, acquiring current time information, and determining the current time information as the sending time information.
In this embodiment, the second vehicle may acquire the current time information in response to the blast trigger information input by the driver.
In one implementation, the second vehicle may acquire current time information via a global positioning system (Global Positioning System, GPS) and determine the current time information as transmission time information for the second ultrasonic sensor to transmit the ultrasonic signal.
S602: for each second ultrasonic sensor, the second vehicle generates a whistle signal corresponding to the second ultrasonic sensor according to the transmission time information and the installation azimuth information of the second ultrasonic sensor.
In the present embodiment, for each of the second ultrasonic sensors mounted on the second vehicle, the second vehicle may generate a whistle signal corresponding to the second ultrasonic sensor based on the transmission time information and the mounting orientation information of the second ultrasonic sensor.
S603: and the second vehicle sends the whistle signal corresponding to the second ultrasonic sensor so that the second ultrasonic sensor converts the whistle signal corresponding to the second ultrasonic sensor into an ultrasonic signal and sends the ultrasonic signal.
In the present embodiment, for each second ultrasonic sensor, the second vehicle may transmit a blast signal corresponding to the second ultrasonic sensor.
The second ultrasonic sensor may convert the whistle signal corresponding to the second ultrasonic sensor into an ultrasonic signal after receiving the whistle signal, and perform transmission processing.
In one implementation, the second ultrasonic sensor may modulate the whistle signal by binary frequency shift keying to convert the whistle signal to an ultrasonic signal.
Fig. 7 is a schematic diagram of an ultrasonic signal modulation process according to an embodiment of the present application. As shown in fig. 7, frequency Shift Keying (FSK) is a modulation scheme in which a carrier Frequency variation is controlled by a digital signal. 2FSK is binary frequency shift keying. Digital frequency shift keying uses the frequency of a carrier wave to transmit a digital signal, i.e., the frequency of the carrier wave is controlled by the transmitted digital signal. When a digital signal is transferred using the frequency of a carrier wave, a digital signal low level Bit (Bit) "0" corresponds to the carrier frequency F0. The carrier frequency F1 corresponding to the high level Bit "1" of the digital signal. It should be noted that the specific values of F0 and F1 are not limited in the embodiment of the present application, and the F0 digital carrier frequency may be 18Khz and the F1 digital carrier frequency may be 38Khz, for example.
The changes in carrier frequency F0 and carrier frequency F1 are transient, with F0 frequency being transmitted at the time Bit0 is transmitted and F1 frequency being transmitted at the time Bit1 is transmitted.
The gating switch 1 acts as a multiplier to multiply the whistle signal with the carrier signal at the F0 frequency. The gating switch 2 serves as a multiplier, and multiplies the whistle signal processed by the inverter by the carrier signal of the F1 frequency. The accumulator may add the two multiplication results to obtain the ultrasonic signal converted from the whistle signal.
In this embodiment, when the second vehicle receives the blast trigger information, the second vehicle acquires the current time information, and determines the current time information as the transmission time information. For each second ultrasonic sensor mounted on the second vehicle, the second vehicle generates a whistle signal corresponding to the second ultrasonic sensor according to the transmission time information and the mounting azimuth information of the second ultrasonic sensor. And the second vehicle sends the whistle signal corresponding to the second ultrasonic sensor so that the second ultrasonic sensor converts the whistle signal corresponding to the ultrasonic sensor into an ultrasonic signal and sends the ultrasonic signal. In the embodiment of the application, the other vehicles (the first vehicle) are reminded to avoid without the mode of controlling the whistling device to send the whistling sound, and the other vehicles are reminded to avoid by the mode of sending the ultrasonic signal. On one hand, the noise pollution to the surrounding environment caused by the whistling sound can be avoided by a silent whistling mode based on the ultrasonic signal, and the whistling violation can be avoided; on the other hand, the driver does not need to manually determine the position of the second vehicle relative to the driven vehicle based on the sound source of the whistle sound under the condition of driving the first vehicle, but can directly determine the position of the second vehicle relative to the first vehicle based on the whistle signal converted by the ultrasonic signal, so that the accuracy of determining the position of the vehicle is improved.
Fig. 8 is a schematic flow chart of a mute whistle method embodiment four based on an ultrasonic signal according to an embodiment of the present application. Referring to fig. 8, the method specifically includes the steps of:
s801: and when the second vehicle receives the whistle trigger information, acquiring the area where the second vehicle is located.
In this embodiment, when the second vehicle receives the blast trigger information, the area where the second vehicle is located may be acquired.
In one implementation, the second vehicle may acquire the area in which the second vehicle is located via GPS.
S802: the second vehicle determines whether the area in which the second vehicle is located is a whistle prohibition area.
In this embodiment, after the second vehicle obtains the area where the second vehicle is located, it may be determined whether the area where the second vehicle is located is the whistle prohibition area.
When the second vehicle determines that the area where the second vehicle is located is the whistle prohibition area, S803 is executed; when it is determined that the area where the second vehicle is located is not the whistle prohibition area, S806 is executed.
S803: and secondly, acquiring current time information and determining the current time information as sending time information.
In this embodiment, when the second vehicle determines that the area where the second vehicle is located is the whistle prohibiting area, it is determined that the whistle signal (digital signal) needs to be transmitted in a manner of converting the whistle signal into the ultrasonic signal, so as to avoid noise pollution or whistle violation caused by the whistle sound to the surrounding environment.
S804: for each second ultrasonic sensor, the second vehicle generates a whistle signal corresponding to the second ultrasonic sensor according to the transmission time information and the installation azimuth information of the second ultrasonic sensor.
In this embodiment, the second vehicle may generate the whistle signal corresponding to the second ultrasonic sensor based on the transmission time information and the installation azimuth information of the second ultrasonic sensor.
S805: and the second vehicle sends the whistle signal corresponding to the second ultrasonic sensor so that the second ultrasonic sensor converts the whistle signal corresponding to the second ultrasonic sensor into an ultrasonic signal and sends the ultrasonic signal.
In this embodiment, for each second ultrasonic sensor, the second vehicle may send a whistle signal corresponding to the second ultrasonic sensor, so that the second ultrasonic sensor converts the whistle signal corresponding to the second ultrasonic sensor into an ultrasonic signal, and sends the ultrasonic signal.
S806: the second vehicle control whistle device performs whistle processing.
In this embodiment, when the second vehicle determines that the area where the second vehicle is located is not the whistle prohibiting area, the whistle device may be controlled to perform the whistle processing, so as to remind the first vehicle to avoid through the whistle sound emitted by the whistle device.
In this embodiment, when the second vehicle receives the whistle trigger information, the second vehicle may acquire the area where the second vehicle is located, and determine whether the area where the second vehicle is located is the whistle prohibiting area, so as to determine whether to adopt an ultrasonic signal (without whistle sound) mode, so as to remind the first vehicle to avoid.
The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.
Fig. 9 is a schematic structural diagram of a first vehicle according to an embodiment of the present application; the first vehicle 90 includes: a plurality of first ultrasonic sensors (not shown in fig. 9). The first vehicle 90 further comprises a transceiver module 91 and a processing module 92. Wherein, the liquid crystal display device comprises a liquid crystal display device,
a transceiver module 91, configured to obtain a whistle signal sent by the first ultrasonic sensor; the whistling signal is converted by the first ultrasonic sensor after receiving the ultrasonic signal; the whistle signal comprises the installation azimuth information of the second ultrasonic sensor; the ultrasonic signal is generated by the second vehicle, and then the second ultrasonic sensor arranged on the second vehicle is controlled to convert and send the whistle signal; the transceiver module 91 is further configured to obtain installation azimuth information of the first ultrasonic sensor; and a processing module 92 for determining a position of the second vehicle relative to the first vehicle based on the mounting orientation information of the first ultrasonic sensor and the mounting orientation information of the second ultrasonic sensor.
The technical scheme of the first vehicle in the embodiment of the method can be implemented by the first vehicle provided by the embodiment of the application, and the implementation principle and the beneficial effects are similar, and are not repeated here.
In one implementation, the whistle signal further includes transmission time information of the ultrasonic signal transmitted by the second ultrasonic sensor; the transceiver module 91 is further configured to obtain receiving time information of the ultrasonic signal received by the first ultrasonic sensor; the processing module 92 is further configured to determine propagation duration information of the ultrasonic signal according to the receiving time information and the sending time information; the processing module 92 is further configured to determine a relative distance between the first vehicle and the second vehicle according to the propagation duration information of the ultrasonic signal; the processing module 92 is further configured to adjust a position of the second vehicle relative to the first vehicle according to the relative distance, so as to obtain the adjusted position of the second vehicle relative to the first vehicle.
The technical scheme of the first vehicle in the embodiment of the method can be implemented by the first vehicle provided by the embodiment of the application, and the implementation principle and the beneficial effects are similar, and are not repeated here.
In one implementation, the whistle signal further includes processing time information of the second ultrasonic sensor; the transceiver module 91 is further configured to acquire processing time information of the first ultrasonic sensor; the processing module 92 is further configured to adjust the reception time information according to the processing time information of the first ultrasonic sensor; the processing module 92 is further configured to adjust the transmission time information according to the processing time information of the second ultrasonic sensor.
The technical scheme of the first vehicle in the embodiment of the method can be implemented by the first vehicle provided by the embodiment of the application, and the implementation principle and the beneficial effects are similar, and are not repeated here.
In one implementation, the processing module 92 is further configured to control the display device to display a position of the second vehicle relative to the first vehicle.
The technical scheme of the first vehicle in the embodiment of the method can be implemented by the first vehicle provided by the embodiment of the application, and the implementation principle and the beneficial effects are similar, and are not repeated here.
Fig. 10 is a schematic structural diagram of a second vehicle according to an embodiment of the present application; the second vehicle 100 includes: a plurality of second ultrasonic sensors (not shown in fig. 10). The second vehicle 100 further includes a transceiver module 110 and a processing module 120. The transceiver module 110 is configured to obtain current time information when receiving the whistle trigger information, and determine the current time information as sending time information; the processing module 120 is configured to generate, for each second ultrasonic sensor, a whistle signal corresponding to the second ultrasonic sensor according to the transmission time information and the installation azimuth information of the second ultrasonic sensor; the transceiver module 110 is further configured to send a whistle signal corresponding to the second ultrasonic sensor, so that the second ultrasonic sensor converts the whistle signal corresponding to the second ultrasonic sensor into an ultrasonic signal, and sends the ultrasonic signal.
The second vehicle provided in the embodiment of the present application may implement the technical solution of the second vehicle in the embodiment of the method, and its implementation principle and beneficial effects are similar, and will not be described herein again.
In one implementation, the transceiver module 110 is specifically configured to: when the whistle triggering information is received, acquiring an area where the second vehicle is located; judging whether the area where the second vehicle is located is a whistle prohibition area; and when the area where the second vehicle is located is judged to be the whistle prohibition area, acquiring current time information, and determining the current time information as the sending time information.
The second vehicle provided in the embodiment of the present application may implement the technical solution of the second vehicle in the embodiment of the method, and its implementation principle and beneficial effects are similar, and will not be described herein again.
In one implementation, the transceiver module 110 is further configured to: and when the area where the vehicle is located is judged not to be the whistle prohibition area, controlling the whistle device to perform whistle processing.
The second vehicle provided in the embodiment of the present application may implement the technical solution of the second vehicle in the embodiment of the method, and its implementation principle and beneficial effects are similar, and will not be described herein again.
Fig. 11 is a schematic structural diagram of another first vehicle according to an embodiment of the present application. As shown in fig. 11, the first vehicle 200 includes: an ultrasonic sensor (not shown in fig. 11), a processor 210, and a memory 220; wherein the processor 210 is communicatively coupled to the memory 220, the memory 220 for storing computer-executable instructions; the processor 210 is configured to execute the technical solutions of any of the method embodiments described above via computer-executable instructions stored in the execution memory 220.
Alternatively, the memory 220 may be separate or integrated with the processor 210. Optionally, when the memory 220 is a device separate from the processor 210, the first vehicle 200 may further include: and a bus for connecting the devices.
The technical solution of the first vehicle for executing the first vehicle in any of the foregoing method embodiments is similar to the implementation principle and technical effect, and will not be described herein again.
Fig. 12 is a schematic structural diagram of another second vehicle according to an embodiment of the present application. As shown in fig. 12, the second vehicle 300 includes: an ultrasonic sensor (not shown in fig. 12), a processor 310, and a memory 320; wherein the processor 310 is communicatively coupled to the memory 320, the memory 320 for storing computer-executable instructions; the processor 310 is configured to execute the technical solutions of any of the method embodiments described above via executing computer-executable instructions stored in the memory 320.
Alternatively, the memory 320 may be separate or integrated with the processor 310. Optionally, when the memory 320 is a device separate from the processor 310, the second vehicle 300 may further include: and a bus for connecting the devices.
The technical solution of the second vehicle for executing the second vehicle in any of the foregoing method embodiments is similar to the implementation principle and technical effect, and will not be described herein again.
The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores computer execution instructions, and the computer execution instructions are used for realizing the technical scheme provided by any one of the method embodiments when being executed by a processor.
The embodiment of the application also provides a computer program product, which comprises a computer program, and the computer program is used for realizing the technical scheme provided by any one of the method embodiments when being executed by a processor.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features can be replaced equivalently; such modifications and substitutions do not depart from the spirit of the application.

Claims (12)

1. A method of silent whistling based on ultrasonic signals, applied to a first vehicle on which a plurality of first ultrasonic sensors are mounted, the method comprising:
acquiring a whistling signal sent by the first ultrasonic sensor; the whistling signal is converted by the first ultrasonic sensor after receiving an ultrasonic signal; the whistle signal comprises the installation azimuth information of the second ultrasonic sensor; the ultrasonic signal is generated by a second vehicle, and then the second ultrasonic sensor arranged on the second vehicle is controlled to convert and send the whistle signal;
Acquiring installation azimuth information of the first ultrasonic sensor;
and determining the position of the second vehicle relative to the first vehicle according to the installation position information of the first ultrasonic sensor and the installation position information of the second ultrasonic sensor.
2. The ultrasonic signal-based mute whistle method according to claim 1, wherein said whistle signal further comprises transmission time information of said second ultrasonic sensor transmitting said ultrasonic signal, said method further comprising:
acquiring receiving time information of the ultrasonic signal received by the first ultrasonic sensor;
determining propagation duration information of the ultrasonic signal according to the receiving time information and the sending time information;
determining the relative distance between the first vehicle and the second vehicle according to the propagation duration information of the ultrasonic signals;
and adjusting the position of the second vehicle relative to the first vehicle according to the relative distance so as to acquire the adjusted position of the second vehicle relative to the first vehicle.
3. The ultrasonic signal-based mute whistle method according to claim 2, wherein said whistle signal further comprises processing time information of a second ultrasonic sensor; the method further comprises the steps of:
Acquiring processing time information of the first ultrasonic sensor;
adjusting the receiving time information according to the processing time information of the first ultrasonic sensor;
and adjusting the sending time information according to the processing time information of the second ultrasonic sensor.
4. The ultrasonic signal-based mute whistle method according to claim 1, further comprising:
a control display device displays a position of the second vehicle relative to the first vehicle.
5. A method of silent whistling based on ultrasonic signals, applied to a second vehicle on which a plurality of second ultrasonic sensors are mounted, the method comprising:
when receiving the whistle trigger information, acquiring current time information, and determining the current time information as sending time information;
generating a whistle signal corresponding to each second ultrasonic sensor according to the sending time information and the installation azimuth information of the second ultrasonic sensor;
and sending the whistle signal corresponding to the second ultrasonic sensor so that the second ultrasonic sensor can convert the whistle signal corresponding to the second ultrasonic sensor into an ultrasonic signal and send the ultrasonic signal.
6. The ultrasonic signal-based mute whistle method according to claim 5, wherein said obtaining current time information and determining the current time information as transmission time information of each second ultrasonic sensor to transmit an ultrasonic signal when the whistle trigger information is received comprises:
when the whistle triggering information is received, acquiring an area where the second vehicle is located;
judging whether the area where the second vehicle is located is a whistle forbidden area;
and when the area where the second vehicle is located is judged to be the whistle prohibiting area, acquiring the current time information, and determining the current time information as the sending time information.
7. The ultrasonic signal-based mute whistle method according to claim 6, further comprising:
and when the area where the vehicle is located is judged not to be the whistle inhibition area, controlling the whistle device to carry out whistle processing.
8. A first vehicle on which a plurality of first ultrasonic sensors are mounted, the first vehicle further comprising:
the receiving and transmitting module is used for acquiring a whistling signal sent by the first ultrasonic sensor; the whistling signal is converted by the first ultrasonic sensor after receiving an ultrasonic signal; the whistle signal comprises the installation azimuth information of the second ultrasonic sensor; the ultrasonic signal is generated by a second vehicle, and then the second ultrasonic sensor arranged on the second vehicle is controlled to convert and send the whistle signal;
The transceiver module is also used for acquiring the installation azimuth information of the first ultrasonic sensor;
and the processing module is used for determining the position of the second vehicle relative to the first vehicle according to the installation azimuth information of the first ultrasonic sensor and the installation azimuth information of the second ultrasonic sensor.
9. A second vehicle on which a plurality of second ultrasonic sensors are mounted, the second vehicle further comprising:
the receiving and transmitting module is used for acquiring current time information when receiving the whistle trigger information and determining the current time information as sending time information;
the processing module is used for generating a whistle signal corresponding to each second ultrasonic sensor according to the sending time information and the installation azimuth information of the second ultrasonic sensor;
the transceiver module is further configured to send a whistle signal corresponding to the second ultrasonic sensor, so that the second ultrasonic sensor converts the whistle signal corresponding to the second ultrasonic sensor into an ultrasonic signal, and sends the ultrasonic signal.
10. A first vehicle on which a plurality of first ultrasonic sensors are mounted, the first vehicle further comprising:
a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the ultrasonic signal-based mute whistle method of any of claims 1-4.
11. A second vehicle on which a plurality of second ultrasonic sensors are mounted, the second vehicle further comprising:
a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the ultrasonic signal-based mute whistle method of any of claims 5-7.
12. A computer readable storage medium having stored therein computer executable instructions for implementing the ultrasonic signal based mute whistle method according to any of claims 1 to 7 when executed by a processor.
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