CN118330617A - Method, device, vehicle and medium for eliminating same-frequency interference of ultrasonic radar - Google Patents
Method, device, vehicle and medium for eliminating same-frequency interference of ultrasonic radar Download PDFInfo
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Abstract
The invention discloses a method, a device, a vehicle and a medium for eliminating same-frequency interference of an ultrasonic radar, belonging to the technical field of intelligent driving, wherein the method comprises the following steps: controlling an ultrasonic radar to perform first wave transmitting and receiving; after the first wave transmitting and receiving is finished, the second wave transmitting and receiving is carried out after a first preset time interval; after the second wave transmitting and receiving is finished, the third wave transmitting and receiving is carried out after a second preset time interval; if the difference value of the first obstacle detection distance and the second obstacle detection distance is within a first threshold value and the difference value of the first obstacle detection distance and the third obstacle detection distance is within a second threshold value, judging that the obstacle is effective; if the difference between the first obstacle detection distance and the second obstacle detection distance is not within the first threshold value or the difference between the first obstacle detection distance and the third obstacle detection distance is not within the second threshold value, judging that the obstacle is invalid. The invention can reduce the possibility of false alarm of co-channel interference, realize accurate detection of the obstacle and improve the positioning accuracy of the obstacle.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a method, a device, a vehicle and a medium for eliminating co-channel interference of an ultrasonic radar.
Background
An ultrasonic radar, also called a reversing radar, is a sensor developed by utilizing the characteristics of ultrasonic waves. The working principle is that an ultrasonic wave transmitting device is utilized to transmit ultrasonic waves (mechanical waves) outwards, then the reflected ultrasonic waves are received through a receiver, and the distance is calculated by utilizing the time difference between the transmitted ultrasonic waves and the received ultrasonic waves. Ultrasonic radars are widely used in automobiles, and conventionally there are two modes of application: one is a UPA radar (ultra-sonic PARKING ASSISTANT RADAR), also called a short-range Ultrasonic radar, installed on front and rear bumpers for front and rear obstacle warning, whose basic principle is to implement distance measurement of the surrounding environment by emitting Ultrasonic waves and measuring the reflection time. The detection range of the UPA radar is relatively short, approximately between 0.20m and 2.5m, and is usually installed on front and rear bumpers of a vehicle to assist reversing and sensing a close range environment; the other is that the APA radar (Automatic PARKING ASSIST RADAR) for parking space detection is also called a remote ultrasonic sensor and is mainly used for the side of a vehicle body, the detection range of the APA radar is usually wider and is 0.30m to 5m, the range of one parking space can be covered, the detection distance of the APA radar is far, and the APA radar is generally arranged on the side of the vehicle and has stronger directivity and is used for detecting obstacles on two sides of the vehicle.
In the field of vehicle ultrasonic radar detection in the current industry, waves are only transmitted and received once in the same radar primary wave transmission period, as shown in fig. 3, the waves are compared with a set threshold value according to the echo intensity and the flight time, whether the obstacle is effective or not is judged, and the obstacle distance is calculated.
When two vehicles provided with the same-frequency radars are close to each other and work at the same time, the ultrasonic radars can receive waves emitted by other same-frequency radars when receiving the waves, and the obstacle is effectively misjudged, so that the position of the identified obstacle is inaccurate, and the system is wrongly warned and the obstacle is wrongly positioned.
Disclosure of Invention
In view of the above, the present invention aims to provide a method, a device, a vehicle and a medium for eliminating co-frequency interference of an ultrasonic radar, so as to solve the problems of incorrect recognition of an obstacle position, system false early warning and obstacle positioning error caused by the fact that the ultrasonic radar receives waves emitted by other co-frequency radars when receiving the waves, and the obstacle is judged to be effective by mistake.
According to a first aspect of the present invention, there is provided an ultrasonic radar co-channel interference cancellation method, including:
controlling an ultrasonic radar to perform first wave transmission and wave reception to obtain a first obstacle detection distance;
After the first wave sending and receiving are finished and a first preset time is reserved, controlling the ultrasonic radar to send and receive waves for the second time, and obtaining a second obstacle detection distance;
After the second wave sending and receiving are finished and a second preset time is spaced, controlling the ultrasonic radar to send and receive waves for the third time, and obtaining a third obstacle detection distance;
Judging whether the difference value of the first obstacle detection distance and the second obstacle detection distance is within a first threshold value or not, and judging whether the difference value of the first obstacle detection distance and the third obstacle detection distance is within a second threshold value or not;
If the difference value between the first obstacle detection distance and the second obstacle detection distance is within a first threshold value and the difference value between the first obstacle detection distance and the third obstacle detection distance is within a second threshold value, judging that the obstacle is effective, outputting the minimum value among the first obstacle detection distance, the second obstacle detection distance and the third obstacle detection distance as the obstacle position, and ending the detection;
If the difference between the first obstacle detection distance and the second obstacle detection distance is not within the first threshold value or the difference between the first obstacle detection distance and the third obstacle detection distance is not within the second threshold value, judging that the obstacle is invalid, and outputting no obstacle distance, and ending the detection.
Preferably, the first preset time is configured to be any value of 0-10 ms.
Preferably, the second preset time is configured to be any value of 0-10 ms.
Preferably, the first preset time and the second preset time are both configured to be any value of 0-10ms, and the first preset time is the same as the second preset time.
Preferably, before the step of controlling the ultrasonic radar to perform the first wave transmitting and receiving, the method further comprises:
acquiring environmental information of the ultrasonic radar;
Determining a scene where the ultrasonic radar is located according to the environmental information;
and adjusting the first preset time or the second preset time according to the scene.
Preferably, adjusting the first preset time or the second preset time according to the scene includes:
determining scene complexity of a scene in which the ultrasonic radar is located;
When the scene complexity is larger than a third threshold value, the first preset time or the second preset time is shortened;
and when the scene complexity is smaller than a third threshold value, increasing the first preset time or the second preset time.
In a second aspect of the present invention, there is provided an ultrasonic radar co-channel interference cancellation device, comprising:
The acquisition module is used for controlling the ultrasonic radar to emit and receive waves for the first time to obtain a first obstacle detection distance, controlling the ultrasonic radar to emit and receive waves for the second time after a first preset time is spaced after the first emission and the reception of waves are finished to obtain a second obstacle detection distance, and controlling the ultrasonic radar to emit and receive waves for the third time after a second preset time is spaced after the second emission and the reception of waves are finished to obtain a third obstacle detection distance;
The judging module is used for judging whether the difference value of the first obstacle detection distance and the second obstacle detection distance is within a first threshold value, judging whether the difference value of the first obstacle detection distance and the third obstacle detection distance is within a second threshold value, judging that the obstacle is effective if the difference value of the first obstacle detection distance and the second obstacle detection distance is within the first threshold value and the difference value of the first obstacle detection distance and the third obstacle detection distance is within the second threshold value, outputting the minimum value of the first obstacle detection distance, the second obstacle detection distance and the third obstacle detection distance as the obstacle position, ending the detection, and judging that the obstacle is ineffective if the difference value of the first obstacle detection distance and the second obstacle detection distance is not within the first threshold value or the difference value of the first obstacle detection distance and the third obstacle detection distance is not within the second threshold value, and not outputting the obstacle distance.
In a third aspect of the present invention, a vehicle is provided, which includes a plurality of ultrasonic radars, and the above-mentioned ultrasonic radar co-channel interference cancellation device.
Preferably, the number of the ultrasonic radars is 12, wherein 4 ultrasonic radars are installed at the head position of the vehicle, 4 ultrasonic radars are installed at the tail position of the vehicle, and 1 ultrasonic radar is installed at the front right side, the front left side, the rear right side and the rear left side of the vehicle respectively.
In a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described method of eliminating co-channel interference of an ultrasonic radar.
According to the method, the device, the vehicle and the medium for eliminating the same-frequency interference of the ultrasonic radar, the ultrasonic radar adopts continuous three wave generation in one wave generation period, the wave generation interval is a random value between 0ms and 10ms, whether the first wave generation detection obstacle distance and the second wave generation detection obstacle distance and the third wave generation detection obstacle distance are within a set threshold value is judged, and if the first wave generation detection obstacle distance and the second wave generation detection obstacle distance are within the set threshold value range, the effective obstacle is judged. On the other hand, the scene where the ultrasonic radar is located is determined according to the environmental information of the ultrasonic radar, the first preset time or the second preset time is adjusted according to the scene, the frequency of ultrasonic radar receiving and transmitting waves can be set according to the environment where the vehicle is located, and the adaptability and the detection precision of ultrasonic radar detection are improved. The method can greatly reduce the possibility of false alarm of co-channel interference, realize accurate detection of the obstacle, improve the positioning precision of the obstacle, improve the accuracy of ultrasonic radar early warning and the accuracy of parking space detection, and improve the satisfaction degree of users.
Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a flowchart of an ultrasonic radar co-channel interference cancellation method according to an embodiment of the present invention;
Fig. 2 is a schematic diagram of a transceiver in the method for eliminating co-channel interference of an ultrasonic radar according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a transceiver wave in ultrasonic radar detection in the prior art.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
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 invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
The invention provides an embodiment of an ultrasonic radar co-channel interference elimination method, specifically, as shown in fig. 1, the method comprises the following steps:
controlling an ultrasonic radar to emit and receive waves for the first time to obtain a first obstacle detection distance L1; the number of the ultrasonic radars is multiple, and multiple redundancies exist in the coverage area of each ultrasonic radar;
In one embodiment of the invention, 12 ultrasonic radars are configured, and each ultrasonic radar consists of an ultrasonic transmitting circuit and an ultrasonic receiving circuit; the vehicle comprises a vehicle head, 4 ultrasonic radars, and 1 ultrasonic radar respectively arranged on the front right side, the front left side, the rear right side and the rear left side of the vehicle; the horizontal beam angle of the ultrasonic radar at the front and the rear of the vehicle is 120 degrees, the coverage area of the ultrasonic radar is 0.2m-2.5m, and the coverage area of 2 ultrasonic radars can be overlapped in any area within the range of 2m of the front and the rear of the vehicle.
In an embodiment of the present invention, the coverage area of each ultrasonic radar is determined according to the operating frequency, the transmitting power, the receiving sensitivity, the beam angle, the environmental factors, and the like of each ultrasonic radar, and the overlapping condition of the coverage areas of each ultrasonic radar is determined according to the installation position and the installation angle of each ultrasonic radar.
After the first wave sending and receiving are finished and a first preset time is reserved, controlling the ultrasonic radar to send and receive waves for the second time, and obtaining a second obstacle detection distance L2;
After the second wave sending and receiving are finished and a second preset time is reserved, controlling the ultrasonic radar to send and receive waves for the third time, and obtaining a third obstacle detection distance L3;
Judging whether the difference value between the first obstacle detection distance L1 and the second obstacle detection distance L2 is within a first threshold value T1 or not, and judging whether the difference value between the first obstacle detection distance L1 and the third obstacle detection distance L3 is within a second threshold value T2 or not;
If the difference between the first obstacle detection distance L1 and the second obstacle detection distance L2 is within a first threshold T1, namely |L1-L2| is less than or equal to T1, and the difference between the first obstacle detection distance L1 and the third obstacle detection distance L3 is within a second threshold T2, namely |L1-L3| is less than or equal to T2, judging that the obstacle is effective, and outputting the minimum value among the first obstacle detection distance L1, the second obstacle detection distance L2 and the third obstacle detection distance L3 as the obstacle position, wherein the detection is finished;
If the difference between the first obstacle detection distance L1 and the second obstacle detection distance L2 is not within the first threshold T1 or the difference between the first obstacle detection distance L1 and the third obstacle detection distance L3 is not within the second threshold T2, the obstacle is determined to be invalid, the obstacle distance is not output, and the detection is ended.
According to the embodiment of the invention, the ultrasonic radar continuously emits waves for three times, as shown in fig. 2, and the wave emitting interval is random in 0-10ms, so that the probability that the calculated obstacle distance is kept consistent after three times of wave emitting is very low even in the same-frequency environment, the possibility of false alarm of the same-frequency interference can be greatly reduced, the accuracy of ultrasonic radar early warning and the accuracy of parking space detection are improved, and the user satisfaction is improved.
Specifically, the first preset time is configured to be any value of 0-10ms, wherein the first preset time can also be configured to be any value of 0-20 ms.
Specifically, the second preset time is configured to be any value of 0-10ms, wherein the second preset time can also be configured to be any value of 0-20 ms.
In an embodiment of the present invention, the first preset time and the second preset time are both configured to be any value of 0-10ms, and the first preset time is the same as the second preset time.
Specifically, the first preset time and the second preset time are both configured to be any value of 0-10ms, so that even in the same-frequency environment, the probability that the calculated obstacle distance is kept consistent after three times of transmission is very low, and the possibility of false alarm of the same-frequency interference can be greatly reduced.
In an embodiment of the present invention, before the step of controlling the ultrasonic radar to perform the first wave sending and receiving, the method further includes: acquiring environmental information of an ultrasonic radar; determining a scene where the ultrasonic radar is located according to the environmental information; and adjusting the first preset time or the second preset time according to the scene.
Specifically, after the ultrasonic radar obtains the obstacle detection distance, the complexity of the scene where the ultrasonic radar is located can be determined according to the number of obstacles identified by the obstacle detection distance, the positions of the obstacles, the speed information of the obstacles and the like, and the detection interval time of the ultrasonic radar is adjusted according to the complexity of the scene. Therefore, the adaptability of obstacle detection can be improved, and the real-time performance and the accuracy of obstacle detection are further ensured.
In an embodiment of the present invention, adjusting the first preset time or the second preset time according to the scene includes:
Determining scene complexity of a scene where the ultrasonic radar is located;
when the scene complexity is larger than a third threshold value, reducing the first preset time or the second preset time;
And when the scene complexity is smaller than the third threshold value, increasing the first preset time or the second preset time. The higher the scene complexity is, the higher the real-time requirement on detection is, the more frequent the ultrasonic radar is detected, and the shorter the detection interval time is. When the scene complexity is smaller than the third threshold, the current driving environment is simpler, the current driving environment can be particularly represented by fewer pedestrians, fewer vehicles and the like, and under the condition, the detection interval time of each detection is increased, so that the power consumption of the ultrasonic radar can be reduced, and the use experience of a user can be improved.
The method and the device can reduce the possibility of false alarm of co-channel interference, realize accurate detection of the obstacle, improve the positioning precision of the obstacle, improve the accuracy of ultrasonic radar early warning and the accuracy of parking space detection, and improve the satisfaction degree of users.
Another embodiment of the present invention provides an apparatus for canceling co-channel interference of an ultrasonic radar, including:
The acquisition module is used for controlling the ultrasonic radar to perform first wave sending and wave receiving to obtain a first obstacle detection distance L1, controlling the ultrasonic radar to perform second wave sending and wave receiving after a first preset time interval after the first wave sending and wave receiving is finished to obtain a second obstacle detection distance L2, and controlling the ultrasonic radar to perform third wave sending and wave receiving after a second preset time interval after the second wave sending and wave receiving is finished to obtain a third obstacle detection distance L3;
The judging module is configured to judge whether a difference between the first obstacle detection distance L1 and the second obstacle detection distance L2 is within a first threshold T1, judge whether a difference between the first obstacle detection distance L1 and the third obstacle detection distance L3 is within a second threshold T2, judge that the obstacle is valid if the difference between the first obstacle detection distance L1 and the second obstacle detection distance L2 is within the first threshold T1 and the difference between the first obstacle detection distance L1 and the third obstacle detection distance L3 is within the second threshold T2, output a minimum value of the first obstacle detection distance L1, the second obstacle detection distance L2 and the third obstacle detection distance L3 as an obstacle position, and end detection if the difference between the first obstacle detection distance L1 and the second obstacle detection distance L2 is not within the first threshold T1 or the difference between the first obstacle detection distance L1 and the third obstacle detection distance L3 is not within the second threshold T2, judge that the obstacle is invalid and output no obstacle distance.
In some embodiments, the ultrasonic radar co-channel interference cancellation device further comprises:
a calculation module for calculating an obstacle detection distance from a time difference between transmission of ultrasonic waves from the ultrasonic radar and reception of the reflected waves;
And the output module is used for outputting the minimum value among the first obstacle detection distance L1, the second obstacle detection distance L2 and the third obstacle detection distance L3 as the obstacle position when the obstacle is judged to be effective, and displaying the obstacle position on the vehicle-mounted terminal.
According to the invention, three continuous wave generation is adopted in one wave generation period of the ultrasonic radar, the wave generation interval is random within 0-10ms, the distance measurement of a single probe can confirm whether the first wave generation detection obstacle distance and the second and third wave generation detection obstacle distances are within a set threshold value, and if the first wave generation detection obstacle distance and the second and third wave generation detection obstacle distances are within the set threshold value range, the effective obstacle is judged.
Another embodiment of the present invention provides a vehicle, including a plurality of ultrasonic radars, and an apparatus for eliminating co-channel interference of the ultrasonic radars.
As the improvement of the scheme, the ultrasonic radar same-frequency interference elimination device is integrated in an electronic control system in the vehicle and is integrated with the ultrasonic radar and a camera system, so that more comprehensive data collection and processing are realized, and the safety and the intelligent level of the vehicle are improved.
Another embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described method of co-channel interference cancellation for an ultrasonic radar. The above-mentioned constituent modules of the ultrasonic radar co-channel interference cancellation device may be stored in the computer-readable storage medium if implemented in the form of software functional units and sold or used as independent products.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted across a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (Digital Subscriber Line, DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital versatile disk (Digital Video Disc, DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
Those skilled in the art will appreciate that implementing all or part of the above-described embodiment methods may be accomplished by way of a computer program, which may be stored in a computer-readable storage medium, instructing relevant hardware, and which, when executed, may comprise the embodiment methods as described above. And the aforementioned storage medium includes: read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic or optical disk, and the like. The technical features in the present examples and embodiments may be arbitrarily combined without conflict.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. The method for eliminating the co-channel interference of the ultrasonic radar is characterized by comprising the following steps of:
controlling an ultrasonic radar to perform first wave transmission and wave reception to obtain a first obstacle detection distance;
After the first wave sending and receiving are finished and a first preset time is reserved, controlling the ultrasonic radar to send and receive waves for the second time, and obtaining a second obstacle detection distance;
After the second wave sending and receiving are finished and a second preset time is spaced, controlling the ultrasonic radar to send and receive waves for the third time, and obtaining a third obstacle detection distance;
Judging whether the difference value of the first obstacle detection distance and the second obstacle detection distance is within a first threshold value or not, and judging whether the difference value of the first obstacle detection distance and the third obstacle detection distance is within a second threshold value or not;
If the difference value between the first obstacle detection distance and the second obstacle detection distance is within a first threshold value and the difference value between the first obstacle detection distance and the third obstacle detection distance is within a second threshold value, judging that the obstacle is effective, outputting the minimum value among the first obstacle detection distance, the second obstacle detection distance and the third obstacle detection distance as the obstacle position, and ending the detection;
If the difference between the first obstacle detection distance and the second obstacle detection distance is not within the first threshold value or the difference between the first obstacle detection distance and the third obstacle detection distance is not within the second threshold value, judging that the obstacle is invalid, and outputting no obstacle distance, and ending the detection.
2. The method for eliminating co-channel interference of an ultrasonic radar according to claim 1, wherein the first preset time is configured to be any one value of 0-10 ms.
3. The method for eliminating co-channel interference of an ultrasonic radar according to claim 1, wherein the second preset time is configured to be any one value of 0-10 ms.
4. The method for eliminating co-channel interference of an ultrasonic radar according to any one of claims 2 or 3, wherein the first preset time and the second preset time are each configured to be any one of 0 to 10ms, and the first preset time is the same as the second preset time.
5. The method of claim 1, further comprising, before the step of controlling the ultrasonic radar to perform the first wave transmitting and receiving:
acquiring environmental information of the ultrasonic radar;
determining a scene where the ultrasonic radar is located according to the environmental information;
and adjusting the first preset time or the second preset time according to the scene.
6. The method of claim 5, wherein adjusting the first preset time or the second preset time according to the scene comprises:
determining scene complexity of a scene in which the ultrasonic radar is located;
When the scene complexity is larger than a third threshold value, the first preset time or the second preset time is shortened;
and when the scene complexity is smaller than a third threshold value, increasing the first preset time or the second preset time.
7. An ultrasonic radar co-channel interference cancellation device, comprising:
The acquisition module is used for controlling the ultrasonic radar to emit and receive waves for the first time to obtain a first obstacle detection distance, controlling the ultrasonic radar to emit and receive waves for the second time after a first preset time is spaced after the first emission and the reception of waves are finished to obtain a second obstacle detection distance, and controlling the ultrasonic radar to emit and receive waves for the third time after a second preset time is spaced after the second emission and the reception of waves are finished to obtain a third obstacle detection distance;
The judging module is used for judging whether the difference value of the first obstacle detection distance and the second obstacle detection distance is within a first threshold value, judging whether the difference value of the first obstacle detection distance and the third obstacle detection distance is within a second threshold value, judging that the obstacle is effective if the difference value of the first obstacle detection distance and the second obstacle detection distance is within the first threshold value and the difference value of the first obstacle detection distance and the third obstacle detection distance is within the second threshold value, outputting the minimum value of the first obstacle detection distance, the second obstacle detection distance and the third obstacle detection distance as the obstacle position, ending the detection, and judging that the obstacle is ineffective if the difference value of the first obstacle detection distance and the second obstacle detection distance is not within the first threshold value or the difference value of the first obstacle detection distance and the third obstacle detection distance is not within the second threshold value, and not outputting the obstacle distance.
8. A vehicle comprising a plurality of ultrasonic radars and the ultrasonic radar co-channel interference cancellation device according to claim 7.
9. The vehicle according to claim 8, wherein the number of the ultrasonic radars is 12, wherein 4 ultrasonic radars are installed at a head position of the vehicle, 4 ultrasonic radars are installed at a tail position of the vehicle, and 1 ultrasonic radar is installed at a front right side, a front left side, a rear right side, and a rear left side of the vehicle, respectively.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method of co-channel interference cancellation for an ultrasonic radar according to any one of claims 1-6.
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| CN202410653699.5A CN118330617A (en) | 2024-05-24 | 2024-05-24 | Method, device, vehicle and medium for eliminating same-frequency interference of ultrasonic radar |
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| CN202410653699.5A CN118330617A (en) | 2024-05-24 | 2024-05-24 | Method, device, vehicle and medium for eliminating same-frequency interference of ultrasonic radar |
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