WO2020087958A1 - 基于超声波雷达的异物覆盖处理方法及装置 - Google Patents

基于超声波雷达的异物覆盖处理方法及装置 Download PDF

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Publication number
WO2020087958A1
WO2020087958A1 PCT/CN2019/093429 CN2019093429W WO2020087958A1 WO 2020087958 A1 WO2020087958 A1 WO 2020087958A1 CN 2019093429 W CN2019093429 W CN 2019093429W WO 2020087958 A1 WO2020087958 A1 WO 2020087958A1
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WIPO (PCT)
Prior art keywords
ultrasonic radar
foreign object
covered
aftershock
prompt
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PCT/CN2019/093429
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English (en)
French (fr)
Inventor
张朝鑫
管勋
李文新
Original Assignee
广州小鹏汽车科技有限公司
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 广州小鹏汽车科技有限公司 filed Critical 广州小鹏汽车科技有限公司
Priority to EP19878678.2A priority Critical patent/EP3809158B1/en
Publication of WO2020087958A1 publication Critical patent/WO2020087958A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating
    • G01S2007/52009—Means for monitoring or calibrating of sensor obstruction, e.g. dirt- or ice-coating

Definitions

  • the invention relates to the technical field of automobiles, and in particular to a method and device for covering processing of foreign objects based on ultrasonic radar.
  • the ultrasonic radar can be installed on the outside of the car (such as the front and rear bumpers of the car or the external side of the car, etc.) to detect the obstacles around the car.
  • the obstacle situation can generate a corresponding automatic driving strategy for avoiding obstacles.
  • the phenomenon that the ultrasonic radar is covered by foreign objects often occurs.
  • the ultrasonic radar is covered with ice slag on the ice, covered with mud on the dirt road, or covered by the bumper due to deformation and extrusion of the bumper.
  • the ultrasonic radar is covered by a foreign object, the situation of the obstacle cannot be accurately detected, resulting in a low accuracy of the automatic driving strategy generated according to the situation of the obstacle, which in turn leads to a problem of low driving safety.
  • the embodiment of the invention discloses a method and a device for processing foreign objects based on ultrasonic radar, which can reduce the situation that the ultrasonic radar is covered by foreign objects and causes low driving safety, thereby improving driving safety.
  • a first aspect of the embodiments of the present invention discloses a method for covering foreign objects based on ultrasonic radar, including:
  • the detecting whether the ultrasonic radar is covered by a foreign object includes:
  • the detecting whether the ultrasonic radar is covered by a foreign object according to the aftershock change curve includes:
  • the preset aftershock value is the corresponding aftershock value when the ultrasonic radar is not covered by a foreign object
  • the absolute value is greater than a preset absolute value; if it is, it is determined that the ultrasonic radar is covered by a foreign object; if not, it is determined that the ultrasonic radar is not covered by a foreign object.
  • the prompt information includes at least a prompt icon and a prompt character.
  • the output is used to prompt the ultrasonic radar that the prompt information that the foreign object is covered includes:
  • a second aspect of an embodiment of the present invention discloses a foreign object coverage processing device based on ultrasonic radar, including:
  • a detection unit configured to detect whether the ultrasonic radar is covered by foreign objects
  • the output unit is configured to output prompt information for prompting the ultrasonic radar to be covered by a foreign object when the detection unit detects that the ultrasonic radar is covered by a foreign object.
  • the detection unit includes:
  • a first acquiring subunit configured to acquire the aftershock variation curve of the ultrasonic radar
  • the detection subunit is configured to detect whether the ultrasonic radar is covered by a foreign object according to the aftershock change curve acquired by the first acquisition subunit.
  • the detection subunit includes:
  • a calculation module used to calculate the absolute value of the difference between the aftershock value matching the aftershock change curve and a preset aftershock value; the preset aftershock value is the corresponding aftershock value when the ultrasonic radar is not covered by a foreign object;
  • the detection module is configured to detect whether the absolute value is greater than a preset absolute value; if it is, determine that the ultrasonic radar is covered by foreign objects; if not, determine that the ultrasonic radar is not covered by foreign objects.
  • the prompt information includes at least a prompt icon and a prompt character.
  • the output unit includes:
  • a second obtaining subunit configured to obtain the corresponding target position of the ultrasonic radar on the preset vehicle simulation image displayed on the display terminal;
  • An output subunit for outputting the prompt icon for prompting the ultrasonic radar to be covered by a foreign object at the target position, and controlling the display terminal to output in a preset prompt area for prompting the ultrasonic radar to be covered by a foreign object The prompt character.
  • a third aspect of an embodiment of the present invention discloses a foreign object coverage processing device based on ultrasonic radar, including:
  • a processor coupled to the memory
  • the processor calls the executable program code stored in the memory to execute a method for covering a foreign object based on ultrasonic radar disclosed in the first aspect of the embodiments of the present invention.
  • a fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium that stores a computer program, wherein the computer program causes the computer to execute a method for covering a foreign object based on ultrasonic radar disclosed in the first aspect of the embodiments of the present invention.
  • a fifth aspect of an embodiment of the present invention discloses a computer program product that, when the computer program product runs on a computer, causes the computer to perform part or all of the steps of any one of the methods of the first aspect.
  • a sixth aspect of the embodiments of the present invention discloses an application publishing platform for publishing a computer program product, wherein, when the computer program product runs on a computer, the computer is allowed to execute any of the first aspect Part or all steps of a method.
  • the ultrasonic radar it is detected whether the ultrasonic radar is covered by a foreign object, and if so, the prompt information for prompting the ultrasonic radar to be covered by the foreign object is output.
  • This process can output corresponding prompt information when the ultrasonic radar is covered by foreign objects, so that the user can timely understand the inaccurate problems of driving based on the automatic driving strategy generated by the ultrasonic radar, thereby reducing the number of cars and driving caused by the automatic driving strategy.
  • the probability of the collision of obstacles increases the safety of driving.
  • FIG. 1 is a schematic flowchart of a method for covering a foreign object based on ultrasonic radar disclosed in an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of another method for covering a foreign object based on ultrasonic radar disclosed in an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of another method for covering a foreign object based on ultrasonic radar disclosed in an embodiment of the present invention
  • FIG. 4 is a schematic structural diagram of a foreign object covering processing device based on ultrasonic radar disclosed in an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of another foreign object covering processing device based on ultrasonic radar disclosed in an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of another foreign object covering processing device based on ultrasonic radar disclosed in an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of another foreign object covering processing device based on ultrasonic radar disclosed in an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a prompt interface output when an ultrasonic radar is covered by a foreign object disclosed in an embodiment of the present invention.
  • the embodiment of the invention discloses a method and a device for processing treatment of foreign objects based on ultrasonic radar, which can improve driving safety. The details are described below.
  • FIG. 1 is a schematic flowchart of a method for covering a foreign object based on ultrasonic radar disclosed in an embodiment of the present invention. As shown in FIG. 1, the method for processing a foreign object based on ultrasonic radar may include the following steps:
  • the foreign object covering processing device based on the ultrasonic radar detects whether the ultrasonic radar is covered by a foreign object, and if so, step 102 is executed, and if not, the process is ended.
  • the foreign objects covering the ultrasonic radar may include, but are not limited to, ice slag, mud, water droplets, and vehicle bumpers, etc., which is not limited in the embodiment of the present invention.
  • the foreign object coverage processing device based on the ultrasonic radar outputs prompt information for prompting the ultrasonic radar to be covered by the foreign object.
  • the prompt information includes at least a prompt icon and a prompt character.
  • the prompt information output by the foreign object covering processing device based on the ultrasonic radar to prompt the ultrasonic radar to be covered by the foreign object may include:
  • the foreign object covering processing device based on ultrasonic radar controls the display terminal to output a prompt interface
  • the prompt interface includes at least a preset vehicle simulation image and several light beams distributed around the preset vehicle simulation image corresponding to the location of the ultrasonic radar
  • the display terminal includes at least the vehicle Large central control screen or vehicle dashboard;
  • the foreign object covering processing device based on the ultrasonic radar determines the corresponding target beam of the ultrasonic radar covered by the foreign object around the preset vehicle simulation image;
  • a foreign object covering processing device based on ultrasonic radar controls the target beam to extinguish, and outputs a prompt icon for prompting the ultrasonic radar to be covered by the foreign object at the target position corresponding to the target beam, and a preset area in the prompt interface to output the ultrasonic radar Prompt characters covered by foreign objects.
  • a corresponding prompt interface can be output on the display terminal, so that the driver can timely know that the ultrasonic radar is covered by the foreign object according to the prompt interface
  • the situation improves the real-time performance of acquiring ultrasonic radar covered by foreign objects.
  • the prompt interface can describe the distribution of ultrasonic radar in the vehicle with intuitive images such as preset vehicle simulation images and light beams, and can intuitively show that the ultrasonic radar is covered by foreign objects by changing the display effect of the beam and combining the output prompt icons , Makes the prompt information more intuitive and vivid, more suitable for driving vehicle scenarios, and improves the driving experience.
  • the ultrasonic radar-based foreign object covering processing device controlling the display terminal to output a prompt interface may include:
  • the foreign object overlay processing device based on ultrasonic radar acquires the vehicle information of the current vehicle, and controls the display terminal to output a preset vehicle simulation image that matches the vehicle information and is distributed around the preset vehicle simulation image to match the vehicle information A prompt interface for several beams corresponding to the location of the ultrasonic radar.
  • the following steps may also be performed:
  • the foreign object covering processing device based on ultrasonic radar acquires the distance information between several obstacles detected by the ultrasonic radar and the ultrasonic radar;
  • the foreign object covering processing device based on ultrasonic radar calculates the target distance of the obstacle and the vehicle and the relative direction information of the obstacle and the vehicle based on the above distance information;
  • the foreign object covering processing device based on ultrasonic radar outputs the above target distance in an area on the prompt interface matching the relative direction information.
  • the position and direction relationship between obstacles detected by the ultrasonic radar and the vehicle can be displayed on the prompt interface, so that the driver can learn more about obstacles and assist in the generation of driving strategies To improve driving safety.
  • the foreign object coverage processing device based on ultrasonic radar controls the display terminal output prompt interface not only to output when the ultrasonic radar is covered by foreign objects, but also when the ultrasonic radar is not covered by foreign objects.
  • the specific output conditions can be set by the user. This is not limited in the embodiments of the present invention.
  • the following steps may also be performed:
  • the foreign object covering processing device based on the ultrasonic radar controls the light beam corresponding to each ultrasonic radar on the prompt interface to display in different display states according to the distance information.
  • the light beam can be controlled to be displayed in different colors according to the distance between the obstacle detected by the ultrasonic radar and the vehicle, to more intuitively display the distance detected by each ultrasonic radar.
  • FIG. 8 is a schematic diagram of a prompt interface output when an ultrasonic radar is covered by a foreign object disclosed in an embodiment of the present invention.
  • a plurality of light beams 801 distributed around the vehicle. 801 corresponds to the corresponding ultrasonic radar.
  • FIG. 8 there are six beams 801 distributed in front of the vehicle and six beams 801 distributed behind the vehicle (the beam in the lower right corner is not shown, and a prompt icon in the shape of an exclamation mark is displayed), corresponding to Six ultrasonic radars for the front bumper of the vehicle and six ultrasonic radars for the rear bumper of the vehicle.
  • FIG. 8 is only used as an example.
  • specific prompt characters may include but are not limited to the above prompt characters, and the prompt characters are not shown in the position shown in FIG. 8 Limit the position of prompt characters on the display interface in practical applications.
  • “60cm” in the upper middle part shown in FIG. 8 is used to indicate the distance from the front bumper of the vehicle to the obstacle detected by the six ultrasonic radars of the front bumper of the vehicle.
  • the distance between the obstacles detected by the six ultrasonic radars of the rear bumper of the vehicle and the rear bumper of the vehicle may also be displayed in the lower middle of the interface shown in FIG. 8.
  • FIG. 2 is a schematic flowchart of another method for covering a foreign object based on ultrasonic radar disclosed in an embodiment of the present invention.
  • the method for covering foreign objects based on ultrasonic radar may include the following steps:
  • the foreign object covering processing device based on the ultrasonic radar acquires the aftershock variation curve of the ultrasonic radar.
  • the aftershock change curve can be used to reflect the change of the aftershock value over a period of time.
  • the aftershock change curve varies with time, the aftershock change curve matching the current time is acquired every time whether the ultrasonic radar is covered by a foreign object, so as to obtain a more real-time aftershock change curve, thereby Improve the accuracy of determining whether the ultrasonic radar is covered by foreign objects.
  • the aftershock variation curve of the latest acquired ultrasonic radar can also be stored, and the aftershock variation curve of the ultrasonic radar can be acquired after a preset interval time, so as to reduce the workload.
  • the preset interval time can be determined according to the required accuracy.
  • the foreign object covering processing device based on the ultrasonic radar may acquire the aftershock variation curve of the ultrasonic radar may include:
  • the foreign object covering processing device based on the ultrasonic radar determines whether the time difference between the acquisition time corresponding to the stored aftershock change curve of the ultrasonic radar acquired last time and the current time is greater than the preset time difference;
  • the foreign object covering processing device based on the ultrasonic radar acquires the aftershock variation curve of the ultrasonic radar at the current time;
  • the foreign object covering processing device based on ultrasonic radar acquires the aftershock variation curve of the ultrasonic radar acquired last time.
  • the aftershock change curve of the ultrasonic radar at the current time is re-acquired.
  • the time difference between the aftershock change curve of the radar and the current time is small, the aftershock change curve of the ultrasonic radar obtained last time is directly obtained, so as to further reduce the workload under the premise of ensuring the accuracy of detecting foreign object coverage.
  • the foreign object covering processing device based on the ultrasonic radar detects whether the ultrasonic radar is covered by the foreign object according to the aftershock change curve. If yes, perform steps 203 to 204; if not, end the process.
  • the aftershock change curve when the ultrasonic radar is not covered by foreign objects, the aftershock change curve will tend to tend to the preset normal aftershock value; when the ultrasonic radar is covered by foreign objects, the aftershock value of the aftershock change curve will tend to be the same as the preset normal aftershock There is a large deviation between the values, so that it can be judged whether the ultrasonic radar is covered by foreign objects.
  • the foreign object covering processing device based on the ultrasonic radar acquires the corresponding target position of the ultrasonic radar on the preset vehicle simulation image displayed on the display terminal.
  • the target position is the position near the missing light beam in the lower right corner in FIG. 8.
  • the foreign object covering processing device based on the ultrasonic radar outputs a prompt icon for prompting the ultrasonic radar to be covered by the foreign object at the target position, and controls the display terminal to output a prompt character for prompting the ultrasonic radar to be covered by the foreign object in a preset prompt area.
  • the corresponding prompt information can be output when the ultrasonic radar is covered by the foreign object, so that the user can timely understand that there is inaccuracy in driving based on the automatic driving strategy generated by the ultrasonic radar Problem, which further reduces the probability of a collision between the car and an obstacle caused by driving according to the automatic driving strategy, and improves driving safety.
  • FIG. 3 is a schematic flowchart of another method for covering a foreign object based on ultrasonic radar disclosed in an embodiment of the present invention.
  • the foreign object covering processing method based on ultrasonic radar may include the following steps:
  • the foreign object covering processing device based on ultrasonic radar acquires the aftershock variation curve of the ultrasonic radar.
  • the foreign object covering processing device based on the ultrasonic radar calculates the absolute value of the difference between the aftershock value matching the aftershock change curve and the preset aftershock value.
  • the preset aftershock value is the corresponding aftershock value when the ultrasonic radar is not covered by foreign objects.
  • the aftershock value matched by the aftershock change curve is the aftershock value that the aftershock change curve tends to.
  • the aftershock value that the aftershock change curve tends to may be a rising edge aftershock value
  • the preset aftershock value at this time is a preset standard rising edge aftershock value, or may be a falling edge aftershock value, at this time the preset aftershock value
  • the preset standard falling edge aftershock value may also be the rising edge aftershock value and the falling edge aftershock value.
  • the preset aftershock value at this time is the preset standard rising edge aftershock value and the preset standard falling edge aftershock value.
  • the absolute value of the difference between the aftershock value and the preset aftershock value includes the rising edge aftershock value and the standard rising edge aftershock value.
  • the first absolute value of the difference in value and the second absolute value of the difference between the aftershock value of the falling edge and the standard falling edge also includes the preset absolute value corresponding to the first absolute value and the second absolute value Corresponding preset absolute value.
  • the present invention adopts the aftershock value that the aftershock change curve tends to be the rising edge aftershock value, and the preset aftershock value at this time is the preset standard rising edge aftershock value, so as to obtain a more reliable judgment result and a smaller Workload.
  • the foreign object coverage processing device based on ultrasonic radar detects whether the absolute value is greater than the preset absolute value; if it is, it is determined that the ultrasonic radar is covered by the foreign object, and steps 304 to 305 are performed; if not, it is determined that the ultrasonic radar is not covered by the foreign object, and End this process.
  • the following steps may also be performed:
  • the foreign object covering processing device based on ultrasonic radar judges whether the aforementioned aftershock value is greater than the preset aftershock value
  • the foreign object covering processing device based on ultrasonic radar queries the first foreign object database matching the aftershock value greater than the preset aftershock value for the target foreign object matching the above absolute value;
  • the foreign object coverage processing device based on ultrasonic radar queries the second foreign object database matching the aftershock value less than the preset aftershock value for target foreign objects matching the above absolute value;
  • the foreign object covering processing device based on ultrasonic radar starts a foreign object cleaning method matched with the target foreign object to clean the target foreign object.
  • the target foreign object can be determined according to the aftershock value and the preset aftershock value, so that the foreign object cleaning method matching the target foreign object can be used to clean the target foreign object to achieve the effect of automatically cleaning the ultrasonic radar foreign object coverage , A higher degree of automation.
  • the foreign object covering processing device based on the ultrasonic radar acquires the corresponding target position of the ultrasonic radar on the preset vehicle simulation image displayed on the display terminal.
  • the foreign object covering processing device based on the ultrasonic radar outputs a prompt icon for prompting the ultrasonic radar to be covered by the foreign object at the target position, and controls the display terminal to output a prompt character for prompting the ultrasonic radar to be covered by the foreign object in a preset prompt area.
  • Table 1 is the aftershock table of the ultrasonic parking for foreign objects covered by lateral parking
  • Table 2 is the aftershock table of the covered foreign objects of ultrasonic radar for front and rear parking
  • RT1 in Table 1 is the side parking ultrasonic radar of the vehicle.
  • RT2 is the falling edge data of the aftershock change curve of the vehicle's lateral parking ultrasonic radar under different foreign object coverage modes.
  • RT1 in Table 2 is the front and rear parking ultrasonic radar of the vehicle.
  • RT2 is the falling edge data of the aftershock change curve of the front and rear parking ultrasonic radar of the vehicle under different foreign object coverage modes
  • RT1 specification of the side parking ultrasonic radar is 1.4
  • the specifications of ms to 1.82ms and RT2 are less than 0.3ms
  • the specifications of RT1 of front and rear parking ultrasonic radar are 1.2 to 1.6ms
  • the specification of RT2 is less than 0.3ms.
  • Leaf cover pattern 1.65 0.59 Ice mode 1.3 0.11
  • a RT1 (ms) RT2 (ms) Normal mode 1.44 0.12 Water drop pattern 1.39 0.21 Finger pressure mode 0.82 0.41 Finger pressure mode 0.57 0.74 Yellow paper overlay mode 1.35 0.13 Blank paper overlay pattern 1.35 0.17 Transparency overlay mode 1.39 0.17 Mud covered mode 0.94 0.37 Leaf cover pattern 2.66 1.48 Ice mode 1.11 0.16
  • the difference between the falling edge data of the aftershock change curve of the ultrasonic radar and the standard falling edge data can also be used to determine whether the ultrasonic radar is covered by foreign objects.
  • the present invention uses only the rising edge data to judge, so as to obtain a more reliable judgment result and a smaller calculation amount.
  • the corresponding prompt information can be output when the ultrasonic radar is covered by the foreign object, so that the user can timely understand that there is inaccuracy in driving based on the automatic driving strategy generated by the ultrasonic radar Problem, which further reduces the probability of a collision between the car and an obstacle caused by driving according to the automatic driving strategy, and improves driving safety.
  • FIG. 4 is a schematic structural diagram of a foreign object covering processing device based on ultrasonic radar disclosed in an embodiment of the present invention.
  • the foreign object covering processing device 400 based on ultrasonic radar may include:
  • the detection unit 401 is used to detect whether the ultrasonic radar is covered by a foreign object.
  • the output unit 402 is configured to output prompt information for prompting the ultrasonic radar to be covered by a foreign object when the detection unit 401 detects that the ultrasonic radar is covered by a foreign object.
  • the prompt information includes at least a prompt icon and a prompt character.
  • the output information output by the output unit 402 to prompt the ultrasonic radar to be covered by a foreign object may include:
  • the output unit 402 controls the display terminal to output a prompt interface.
  • the prompt interface includes at least a preset vehicle simulation image and a plurality of light beams distributed around the preset vehicle simulation image corresponding to the location of the ultrasonic radar; the display terminal includes at least a vehicle-mounted central control screen or Vehicle dashboard
  • the output unit 402 determines the corresponding target beam of the ultrasonic radar covered by the foreign object around the preset vehicle simulation image
  • the output unit 402 controls the target beam to extinguish, and outputs a prompt icon for prompting the ultrasonic radar to be covered by a foreign object at a target position corresponding to the target beam, and a prompt for prompting the ultrasonic radar to be covered by a foreign object in a preset area of the prompt interface character.
  • a corresponding prompt interface can be output on the display terminal, so that the driver can timely know that the ultrasonic radar is covered by the foreign object according to the prompt interface
  • the situation improves the real-time performance of acquiring ultrasonic radar covered by foreign objects.
  • the prompt interface can describe the distribution of ultrasonic radar in the vehicle with intuitive images such as preset vehicle simulation images and light beams, and can intuitively show that the ultrasonic radar is covered by foreign objects by changing the display effect of the beam and combining the output prompt icons , Makes the prompt information more intuitive and vivid, more suitable for driving vehicle scenarios, and improves the driving experience.
  • the output unit 402 controlling the display terminal to output the prompt interface may include:
  • the output unit 402 acquires the vehicle information of the current vehicle, and controls the display terminal to output a preset vehicle simulation image that matches the vehicle information, and matches the vehicle information around the preset vehicle simulation image and where the ultrasonic radar is located. Prompt interface for several beams corresponding to the position.
  • the output unit 402 may also be used to:
  • the target distance is output in an area on the prompt interface that matches the relative direction information.
  • the position and direction relationship between obstacles detected by the ultrasonic radar and the vehicle can be displayed on the prompt interface, so that the driver can learn more about obstacles and assist in the generation of driving strategies To improve driving safety.
  • the foreign object coverage processing device based on ultrasonic radar controls the display terminal output prompt interface not only to output when the ultrasonic radar is covered by foreign objects, but also when the ultrasonic radar is not covered by foreign objects.
  • the specific output conditions can be set by the user. This is not limited in the embodiments of the present invention.
  • the output unit 402 may also be used to:
  • the light beam corresponding to each ultrasonic radar on the control prompt interface is displayed in different display states according to the distance information.
  • the light beam can be controlled to be displayed in different colors according to the distance between the obstacle detected by the ultrasonic radar and the vehicle, to more intuitively display the distance detected by each ultrasonic radar.
  • the corresponding prompt information can be output when the ultrasonic radar is covered by the foreign object, so that the user can timely understand that there is inaccuracy in driving based on the automatic driving strategy generated by the ultrasonic radar Problem, which further reduces the probability of a collision between the car and an obstacle caused by driving according to the automatic driving strategy, and improves driving safety.
  • FIG. 5 is a schematic structural diagram of another foreign object covering device based on ultrasonic radar disclosed in an embodiment of the present invention.
  • the ultrasonic radar-based foreign object covering device 400 shown in FIG. 5 is optimized by the ultrasonic radar-based foreign object covering device 400 shown in FIG. 4, compared with the ultrasonic radar-based foreign object covering device 400 shown in FIG. 4
  • the detection unit 401 includes:
  • the first acquisition subunit 4011 is used to acquire the aftershock variation curve of the ultrasonic radar.
  • the first acquisition subunit 4011 acquiring the aftershock variation curve of the ultrasonic radar may include:
  • the first acquisition subunit 4011 determines whether the time difference between the acquisition time corresponding to the stored aftershock change curve of the ultrasonic radar acquired last time and the current time is greater than a preset time difference;
  • the first acquisition subunit 4011 acquires the aftershock variation curve of the ultrasonic radar at the current time
  • the first acquisition subunit 4011 acquires the aftershock change curve of the ultrasonic radar acquired last time.
  • the aftershock change curve of the ultrasonic radar at the current time is re-acquired.
  • the time difference between the aftershock change curve of the radar and the current time is small, the aftershock change curve of the ultrasonic radar obtained last time is directly obtained, so as to further reduce the workload under the premise of ensuring the accuracy of detecting foreign object coverage.
  • the detection subunit 4012 is configured to detect whether the ultrasonic radar is covered by a foreign object according to the aftershock change curve acquired by the first acquisition subunit 4011.
  • the detection subunit 4012 may include:
  • the calculation module 40121 is used to calculate the absolute value of the difference between the aftershock value matching the aftershock change curve and the preset aftershock value; the preset aftershock value is the corresponding aftershock value when the ultrasonic radar is not covered by a foreign object.
  • the detection module 40122 is used to detect whether the absolute value calculated by the calculation module 40121 is greater than the preset absolute value; if it is, it is determined that the ultrasonic radar is covered by foreign objects; if not, it is determined that the ultrasonic radar is not covered by foreign objects.
  • the detection module 40122 may also be used to:
  • the target foreign object can be determined according to the aftershock value and the preset aftershock value, so as to clean the target foreign object by adopting the foreign object cleaning method that matches the target foreign object, so as to achieve the effect of automatically cleaning the ultrasonic radar foreign object coverage , A higher degree of automation.
  • the corresponding prompt information can be output when the ultrasonic radar is covered by the foreign object, so that the user can timely understand that there is inaccuracy in driving based on the automatic driving strategy generated by the ultrasonic radar Problem, which further reduces the probability of a collision between the car and an obstacle caused by driving according to the automatic driving strategy, and improves driving safety.
  • FIG. 6 is a schematic structural diagram of another foreign object covering device based on ultrasonic radar disclosed in an embodiment of the present invention.
  • the ultrasonic radar-based foreign object covering device 400 shown in FIG. 6 is optimized by the ultrasonic radar-based foreign object covering device 400 shown in FIG. 5, compared with the ultrasonic radar-based foreign object covering device 400 shown in FIG. 5
  • the output unit 402 includes:
  • the second obtaining subunit 4021 is used to obtain the corresponding target position of the ultrasonic radar on the preset vehicle simulation image displayed on the display terminal.
  • the output subunit 4022 is used to output a prompt icon for prompting the ultrasonic radar to be covered by a foreign object at the target position acquired by the second acquisition subunit 4021, and to control the display terminal to output a prompt for the ultrasonic radar to be covered by the foreign object in a preset prompt area Prompt character.
  • the corresponding prompt information can be output when the ultrasonic radar is covered by the foreign object, so that the user can timely understand that there is inaccuracy in driving based on the automatic driving strategy generated by the ultrasonic radar Problem, which further reduces the probability of a collision between the car and an obstacle caused by driving according to the automatic driving strategy, and improves driving safety.
  • FIG. 7 is a schematic structural diagram of another foreign object covering processing device based on ultrasonic radar disclosed in an embodiment of the present invention.
  • the foreign object covering processing device based on ultrasonic radar may include:
  • a memory 701 storing executable program code
  • a processor 702 coupled with the memory 701;
  • the processor 702 calls the executable program code stored in the memory 701, and executes any one of the ultrasonic radar-based foreign object covering processing methods of FIGS. 1 to 3.
  • An embodiment of the present invention discloses a computer-readable storage medium that stores a computer program, wherein the computer program causes the computer to execute any one of the ultrasonic radar-based foreign object covering processing methods of FIGS. 1 to 3.
  • An embodiment of the present invention also discloses a computer program product, wherein, when the computer program product runs on a computer, the computer is caused to perform part or all of the steps of the method in the above method embodiments.
  • An embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used to publish a computer program product, wherein, when the computer program product runs on a computer, the computer is caused to perform part of the method as in the above method embodiments Or all steps.
  • B corresponding to A means that B is associated with A, and B can be determined according to A.
  • determining B based on A does not mean determining B based on A alone, and B may also be determined based on A and / or other information.
  • the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit may be implemented in the form of hardware or software functional unit.
  • the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-accessible memory.
  • the technical solution of the present invention can be embodied in the form of a software product in essence or a part that contributes to the existing technology or all or part of the technical solution, and the computer software product is stored in a memory It includes several requests to make a computer device (which may be a personal computer, a server or a network device, etc., specifically a processor in the computer device) execute some or all of the steps of the above methods in various embodiments of the present invention.
  • the program may be stored in a computer-readable storage medium, and the storage medium includes read-only Memory (Read-Only Memory, ROM), Random Memory (Random Access, Memory, RAM), Programmable Read-only Memory (PROM), Erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), Electronically Erasable Rewriteable Read-Only Memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other media readable by a computer that can be used to carry or store data.
  • Read-Only Memory Read-Only Memory
  • RAM Random Memory
  • PROM Programmable Read-only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • OTPROM One-time Programmable Read-Only Memory
  • OTPROM One-time Programmable Read-Only Memory
  • EEPROM

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Abstract

一种基于超声波雷达的异物覆盖处理方法及装置(400)，方法包括：检测超声波雷达是否受到异物覆盖（101），若是，输出用于提示超声波雷达受到异物覆盖的提示信息（102）。能够在超声波雷达受到异物覆盖时输出相应的提示信息，从而使得用户及时了解到根据超声波雷达生成的自动驾驶策略驾驶存在不精准的问题，进而减少根据自动驾驶策略驾驶导致的汽车与障碍物碰撞的情况发生的概率，提高了驾驶的安全性。

Description

基于超声波雷达的异物覆盖处理方法及装置 技术领域
本发明涉及汽车技术领域，尤其涉及一种基于超声波雷达的异物覆盖处理方法及装置。
背景技术
目前，超声波雷达在汽车上的应用越来越广泛，在汽车外部(如汽车的前后保险杠或者汽车的外部侧方等)设置超声波雷达可以检测位于汽车周围的障碍物情况，根据超声波雷达检测到的障碍物情况可以生成相应的用于躲避障碍物的自动驾驶策略。
在实践中发现，由于汽车驾驶路况的复杂性以及汽车驾驶意外的多发性，经常会出现超声波雷达被异物覆盖的现象。例如，超声波雷达被冰面上的冰渣覆盖、被泥路上的泥泞覆盖或者由于保险杠变形挤压导致被保险杠覆盖等。当超声波雷达被异物覆盖时，无法精准检测障碍物情况，从而导致根据障碍物情况生成的自动驾驶策略精准度低，进而导致驾驶安全性低的问题。
可见，如何减少超声波雷达被异物覆盖导致驾驶安全性低的情况成为了一个亟需解决的问题。
发明内容
本发明实施例公开一种基于超声波雷达的异物覆盖处理方法及装置，能够减少超声波雷达被异物覆盖导致驾驶安全性低的情况，从而提高驾驶安全性。
本发明实施例第一方面公开一种基于超声波雷达的异物覆盖处理方法，包括：
检测所述超声波雷达是否受到异物覆盖，若是，输出用于提示所述超声波雷达受到异物覆盖的提示信息。
作为一种可选的实施方式，在本发明实施例第一方面中，所述检测所述超声波雷达是否受到异物覆盖，包括：
获取所述超声波雷达的余震变化曲线；
根据所述余震变化曲线检测所述超声波雷达是否受到异物覆盖。
作为一种可选的实施方式，在本发明实施例第一方面中，所述根据所述余震变化曲线检测所述超声波雷达是否受到异物覆盖，包括：
计算所述余震变化曲线相匹配的余震值与预设余震值之间差的绝对值；所述预设余震值为所述超声波雷达未受到异物覆盖时对应的余震值；
检测所述绝对值是否大于预设绝对值；如果是，确定所述超声波雷达受到异物覆盖；如果否，确定所述超声波雷达未受到异物覆盖。
作为一种可选的实施方式，在本发明实施例第一方面中，所述提示信息至少包括提示图标和提示字符。
作为一种可选的实施方式，在本发明实施例第一方面中，所述输出用于提示所述超声波雷达受到异物覆盖的提示信息，包括：
获取所述超声波雷达在显示终端所显示的预置车辆模拟图像上对应的目标位置；
在所述目标位置输出用于提示所述超声波雷达受到异物覆盖的所述提示图标，以及控制所述显示终端在预设提示区域输出用于提示所述超声波雷达受到异物覆盖的所述提示字符。
本发明实施例第二方面公开一种基于超声波雷达的异物覆盖处理装置，包括：
检测单元，用于检测所述超声波雷达是否受到异物覆盖；
输出单元，用于当所述检测单元检测到所述超声波雷达受到异物覆盖时，输出用于提示所述超声波雷达受到异物覆盖的提示信息。
作为一种可选的实施方式，在本发明实施例第二方面中，所述检测单元包括：
第一获取子单元，用于获取所述超声波雷达的余震变化曲线；
检测子单元，用于根据所述第一获取子单元获取的所述余震变化曲线检测所述超声波雷达是否受到异物覆盖。
作为一种可选的实施方式，在本发明实施例第二方面中，所述检测子单元包括：
计算模块，用于计算所述余震变化曲线相匹配的余震值与预设余震值之间差的绝对值；所述预设余震值为所述超声波雷达未受到异物覆盖时对应的余震值；
检测模块，用于检测所述绝对值是否大于预设绝对值；如果是，确定所述超声波雷达受到异物覆盖；如果否，确定所述超声波雷达未受到异物覆盖。
作为一种可选的实施方式，在本发明实施例第二方面中，所述提示信息至少包括提示图标和提示字符。
作为一种可选的实施方式，在本发明实施例第二方面中，所述输出单元包括：
第二获取子单元，用于获取所述超声波雷达在显示终端所显示的预置车辆模拟图像上对应的目标位置；
输出子单元，用于在所述目标位置输出用于提示所述超声波雷达受到异物覆盖的所述提示图标， 以及控制所述显示终端在预设提示区域输出用于提示所述超声波雷达受到异物覆盖的所述提示字符。
本发明实施例第三方面公开一种基于超声波雷达的异物覆盖处理装置，包括：
存储有可执行程序代码的存储器；
与所述存储器耦合的处理器；
所述处理器调用所述存储器中存储的所述可执行程序代码，执行本发明实施例第一方面公开的一种基于超声波雷达的异物覆盖处理方法。
本发明实施例第四方面公开一种计算机可读存储介质，其存储计算机程序，其中，所述计算机程序使得计算机执行本发明实施例第一方面公开的一种基于超声波雷达的异物覆盖处理方法。
本发明实施例第五方面公开一种计算机程序产品，当所述计算机程序产品在计算机上运行时，使得所述计算机执行第一方面的任意一种方法的部分或全部步骤。
本发明实施例第六方面公开一种应用发布平台，所述应用发布平台用于发布计算机程序产品，其中，当所述计算机程序产品在计算机上运行时，使得所述计算机执行第一方面的任意一种方法的部分或全部步骤。
与现有技术相比，本发明实施例具有以下有益效果：
本发明实施例中，检测超声波雷达是否受到异物覆盖，若是，输出用于提示超声波雷达受到异物覆盖的提示信息。这一过程能够在超声波雷达受到异物覆盖时输出相应的提示信息，从而使得用户及时了解到根据超声波雷达生成的自动驾驶策略驾驶存在不精准的问题，进而减少根据该自动驾驶策略驾驶导致的汽车与障碍物碰撞的情况发生的概率，提高了驾驶的安全性。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例公开的一种基于超声波雷达的异物覆盖处理方法的流程示意图；
图2是本发明实施例公开的另一种基于超声波雷达的异物覆盖处理方法的流程示意图；
图3是本发明实施例公开的另一种基于超声波雷达的异物覆盖处理方法的流程示意图；
图4是本发明实施例公开的一种基于超声波雷达的异物覆盖处理装置的结构示意图；
图5是本发明实施例公开的另一种基于超声波雷达的异物覆盖处理装置的结构示意图；
图6是本发明实施例公开的另一种基于超声波雷达的异物覆盖处理装置的结构示意图；
图7是本发明实施例公开的另一种基于超声波雷达的异物覆盖处理装置的结构示意图；
图8是本发明实施例公开的一种超声波雷达受到异物覆盖时输出的提示界面示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，本发明实施例及附图中的术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
本发明实施例公开一种基于超声波雷达的异物覆盖处理方法及装置，能够提高驾驶的安全性。以下分别进行详细说明。
实施例一
请参阅图1，图1是本发明实施例公开的一种基于超声波雷达的异物覆盖处理方法的流程示意图。如图1所示，该基于超声波雷达的异物覆盖处理方法可以包括以下步骤：
101、基于超声波雷达的异物覆盖处理装置检测超声波雷达是否受到异物覆盖，若是，执行步骤102，若不是，结束本次流程。
本发明实施例中，覆盖超声波雷达的异物可以包括但不限于冰渣、泥泞、水滴和车辆的保险杠等，本发明实施例中不做限定。
102、基于超声波雷达的异物覆盖处理装置输出用于提示超声波雷达受到异物覆盖的提示信息。
本发明实施例中，提示信息至少包括提示图标和提示字符。
作为一种可选的实施方式，基于超声波雷达的异物覆盖处理装置输出用于提示超声波雷达受到异物覆盖的提示信息可以包括：
基于超声波雷达的异物覆盖处理装置控制显示终端输出提示界面，提示界面至少包括预置车辆模拟图像和分布于该预置车辆模拟图像周围与超声波雷达所处位置对应的若干光束；显示终端至少包括车载中控大屏或者车载仪表盘；
基于超声波雷达的异物覆盖处理装置确定受到异物覆盖的超声波雷达在上述预置车辆模拟图像周围对应的目标光束；
基于超声波雷达的异物覆盖处理装置控制该目标光束熄灭，并在该目标光束对应的目标位置输出用于提示超声波雷达受到异物覆盖的提示图标，以及在提示界面的预设区域输出用于提示超声波雷达受到异物覆盖的提示字符。
通过实施这种可选的实施方式，当检测出某一超声波雷达受到异物覆盖时，可以在显示终端输出相应的提示界面，以使驾驶员可以根据该提示界面及时获知到超声波雷达受到异物覆盖的情况，提高了获取超声波雷达受到异物覆盖的实时性。此外，提示界面能够以预置车辆模拟图像以及光束等直观形象来描述超声波雷达在车辆的分布情况，以及可以通过改变光束的显示效果与输出提示图标相结合来直观地展示超声波雷达受异物覆盖情况，使得获取提示信息更加直观、形象，更加适用于驾驶车辆场景，提高驾驶体验。
作为另一种可选的实施方式，基于超声波雷达的异物覆盖处理装置控制显示终端输出提示界面可以包括：
基于超声波雷达的异物覆盖处理装置获取当前车辆的车辆信息，并控制显示终端输出包含与该车辆信息相匹配的预置车辆模拟图像、与该车辆信息相匹配的分布于该预置车辆模拟图像周围与超声波雷达所处位置对应的若干光束的提示界面。
通过实施这种可选的实施方式，可以针对不同车辆生成不同的提示界面，更有针对性，更加形象。
作为另一种可选的实施方式，在基于超声波雷达的异物覆盖处理装置控制显示终端输出提示界面之后，还可以执行以下步骤：
基于超声波雷达的异物覆盖处理装置获取若干个超声波雷达检测到的障碍物与该超声波雷达的距离信息；
基于超声波雷达的异物覆盖处理装置根据上述距离信息计算障碍物与车辆的目标距离以及障碍物与车辆的相对方向信息；
基于超声波雷达的异物覆盖处理装置在提示界面上与该相对方向信息相匹配的区域输出上述目标距离。
通过实施这种可选的实施方式，可以在提示界面上显示超声波雷达探测到的障碍物与车辆之间的位置以及方向关系，从而使得驾驶员了解到更多障碍物情况，辅助驾驶策略的生成，提高驾驶的安全性。
需要说明的是，基于超声波雷达的异物覆盖处理装置控制显示终端输出提示界面不仅是在超声波雷达受到异物覆盖时输出，也可以在超声波雷达未受到异物覆盖时输出，具体输出条件可由用户更改设置，本发明实施例中对此不做限定。
作为另一种可选的实施方式，在基于超声波雷达的异物覆盖处理装置获取若干个超声波雷达检测到的障碍物与该超声波雷达的距离信息之后，还可以执行以下步骤：
基于超声波雷达的异物覆盖处理装置控制提示界面上与每一超声波雷达对应的光束根据该距离信息以不同的显示状态显示。
举例来说，可以控制光束根据该超声波雷达探测到的障碍物与车辆之间距离的不同以不同的颜色显示，更加直观地展示每一超声波雷达探测到的距离情况。
请一并参阅图8，图8是本发明实施例公开的一种超声波雷达受到异物覆盖时输出的提示界面示意图，如图8所示，在车辆周围分布有若干光束801，其中，每一光束801对应有相应的超声波雷达，图8中车辆前方分布有六个光束801，车辆后方也分布有六个光束801(右下角的光束未显示，相应显示一个感叹号形状的提示图标)，分别对应着车辆前保险杠的六个超声波雷达以及车辆后保险杠的六个超声波雷达。图中右下角未显示光束只显示感叹号形状的提示图标表示该位置对应的超声波雷达受到异物覆盖，并在图8下方显示相应的提示字符，图8所示的提示字符为“后方传感器故障，小心驾驶，联系维修”，需要说明的是，图8仅用作示例，在实际应用中，具体的提示字符可以包括但不局限于上述提示字符，以及提示字符在图8中所示的位置也不限制实际应用中提示字符在显示界面的位置。其中，在图8所示的上方中部的“60cm”用于表示车辆前保险杠的六个超声波雷达检测到的障碍物距离车辆前保险杠的距离。可选的，也可以在图8所示的界面下方中部显示车辆后保险杠的六个超声波雷达检测到的障碍物距离车辆后保险杠的距离。
可见，通过实施图1所描述的基于超声波雷达的异物覆盖处理方法，检测超声波雷达是否受到异物覆盖，若是，输出用于提示超声波雷达受到异物覆盖的提示信息。这一过程能够在超声波雷达受到异物覆盖时输出相应的提示信息，从而使得用户及时了解到根据超声波雷达生成的自动驾驶策略驾驶存在不精准的问题，进而减少根据该自动驾驶策略驾驶导致的汽车与障碍物碰撞的情况发生的概率，提高了驾驶的安全性。
实施例二
请参阅图2，图2是本发明实施例公开的另一种基于超声波雷达的异物覆盖处理方法的流程示意图。如图2所示，该基于超声波雷达的异物覆盖处理方法可以包括以下步骤：
201、基于超声波雷达的异物覆盖处理装置获取超声波雷达的余震变化曲线。
本发明实施例中，余震变化曲线可以用于反映一段时间内余震值的变化情况。优选的，由于余震变化曲线随时间变化而不同，因而在每次检测超声波雷达是否被异物覆盖时都获取与当前时间相匹配的余震变化曲线，以此得到更具实时性的余震变化曲线，从而提高对超声波雷达是否受到异物覆盖的判断的准确率。另一种可选的，在实际应用中，也可以存储最近一次获取到的超声波雷达的余震变化曲线，距离预设间隔时间后再获取超声波雷达的余震变化曲线，以此减小工作量，具体的预设间隔时间可以根据所需的准确度而定。
作为一种可选的实施方式采用距离预设间隔时间后再获取超声波雷达的余震变化曲线的方式时，基于超声波雷达的异物覆盖处理装置获取超声波雷达的余震变化曲线可以包括：
基于超声波雷达的异物覆盖处理装置判断存储的上一次获取的超声波雷达的余震变化曲线对应的获取时间与当前时间的时间差值是否大于预设时间差值；
如果是，基于超声波雷达的异物覆盖处理装置获取当前时间的超声波雷达的余震变化曲线；
如果否，基于超声波雷达的异物覆盖处理装置获取上一次获取的超声波雷达的余震变化曲线。
通过实施这种可选的实施方式，如果上一次获取超声波雷达的余震变化曲线的时间与当前时间的时间差值较大，则重新获取当前时间的超声波雷达的余震变化曲线，如果上一次获取超声波雷达的余震变化曲线的时间与当前时间的时间差值较小，则直接获取上一次获取的超声波雷达的余震变化曲线，以此在确保检测异物覆盖的准确率的前提下进一步减小工作量。
202、基于超声波雷达的异物覆盖处理装置根据余震变化曲线检测超声波雷达是否受到异物覆盖，若是，执行步骤203至步骤204，若不是，结束本次流程。
本发明实施例中，当超声波雷达未受到异物覆盖时，余震变化曲线会稳定趋于预设正常余震值；当超声波雷达受到异物覆盖时，余震变化曲线趋于的余震值会与预设正常余震值之间产生较大的偏差，从而可以据此判断超声波雷达是否受到异物覆盖。
203、基于超声波雷达的异物覆盖处理装置获取超声波雷达在显示终端所显示的预置车辆模拟图像上对应的目标位置。
本发明实施例中，目标位置即为图8中右下角缺失的光束附近位置。
204、基于超声波雷达的异物覆盖处理装置在目标位置输出用于提示超声波雷达受到异物覆盖的提示图标，以及控制显示终端在预设提示区域输出用于提示超声波雷达受到异物覆盖的提示字符。
可见，通过实施图2所描述的基于超声波雷达的异物覆盖处理方法，能够在超声波雷达受到异物 覆盖时输出相应的提示信息，从而使得用户及时了解到根据超声波雷达生成的自动驾驶策略驾驶存在不精准的问题，进而减少根据该自动驾驶策略驾驶导致的汽车与障碍物碰撞的情况发生的概率，提高了驾驶的安全性。
实施例三
请参阅图3，图3是本发明实施例公开的另一种基于超声波雷达的异物覆盖处理方法的流程示意图。如图3所示，该基于超声波雷达的异物覆盖处理方法可以包括以下步骤：
301、基于超声波雷达的异物覆盖处理装置获取超声波雷达的余震变化曲线。
302、基于超声波雷达的异物覆盖处理装置计算余震变化曲线相匹配的余震值与预设余震值之间差的绝对值。
本发明实施例中，预设余震值为超声波雷达未受到异物覆盖时对应的余震值。其中，余震变化曲线相匹配的余震值为该余震变化曲线趋于的余震值。并且，该余震变化曲线趋于的余震值可以为上升沿余震值，此时的预设余震值为预设的标准上升沿余震值，也可以为下降沿余震值，此时的预设余震值为预设的标准下降沿余震值，也可以为上升沿余震值和下降沿余震值，此时的预设余震值为预设的标准上升沿余震值和预设的标准下降沿余震值。并且，当预设余震值为预设的标准上升沿余震值和预设的标准下降沿余震值时，余震值与预设余震值之间差的绝对值包括上升沿余震值与标准上升沿余震值的差的第一绝对值以及下降沿与标准下降沿余震值的差的第二绝对值，此时预设绝对值也包括与第一绝对值对应的预设绝对值以及与第二绝对值对应的预设绝对值。优选的，本发明采用该余震变化曲线趋于的余震值为上升沿余震值，此时的预设余震值为预设的标准上升沿余震值，以此得到较为可靠的判断结果与较小的工作量。
303、基于超声波雷达的异物覆盖处理装置检测绝对值是否大于预设绝对值；如果是，确定超声波雷达受到异物覆盖，并执行步骤304至步骤305；如果否，确定超声波雷达未受到异物覆盖，并结束本次流程。
作为一种可选的实施方式，在基于超声波雷达的异物覆盖处理装置检测到绝对值大于预设绝对值之后，还可以执行以下步骤：
基于超声波雷达的异物覆盖处理装置判断上述余震值是否大于预设余震值；
如果是，基于超声波雷达的异物覆盖处理装置在与余震值大于预设余震值相匹配的第一异物数据库中查询与上述绝对值相匹配的目标异物；
如果否，基于超声波雷达的异物覆盖处理装置在与余震值小于预设余震值相匹配的第二异物数据 库中查询与上述绝对值相匹配的目标异物；
基于超声波雷达的异物覆盖处理装置启动与该目标异物相匹配的异物清理方式用以清理该目标异物。
通过实施这种可选的实施方式，可以根据余震值与预设余震值确定出目标异物，从而采取与该目标异物相匹配的异物清理方式清理该目标异物，达到自动化清理超声波雷达异物覆盖的效果，自动化程度更高。
304、基于超声波雷达的异物覆盖处理装置获取超声波雷达在显示终端所显示的预置车辆模拟图像上对应的目标位置。
305、基于超声波雷达的异物覆盖处理装置在目标位置输出用于提示超声波雷达受到异物覆盖的提示图标，以及控制显示终端在预设提示区域输出用于提示超声波雷达受到异物覆盖的提示字符。
请参阅表1与表2，表1为侧向泊车超声波雷达异物覆盖余震表，表2为前后泊车超声波雷达异物覆盖余震表，表1中的RT1为车辆的侧向泊车超声波雷达在不同异物覆盖模式下余震变化曲线的上升沿数据，RT2为车辆的横向泊车超声波雷达在不同异物覆盖模式下余震变化曲线的下降沿数据，表2中的RT1为车辆的前后泊车超声波雷达在不同异物覆盖模式下余震变化曲线的上升沿数据，RT2为车辆的前后泊车超声波雷达在不同异物覆盖模式下余震变化曲线的下降沿数据，并且，侧向泊车超声波雷达的RT1的规格为1.4ms至1.82ms、RT2的规格为小于0.3ms，前后泊车超声波雷达的RT1的规格为1.2至1.6ms、RT2的规格为小于0.3ms。
表1
  RT1(ms) RT2(ms)
正常模式 1.65 0.23
水滴模式 1.88 0.24
手指轻压模式 1.41 0.71
手指重压模式 1.18 0
黄纸覆盖模式 1.65 0.12
白纸覆盖模式 1.53 0.35
透明胶覆盖模式 1.65 0.71
泥巴覆盖模式 1.3 0.11
树叶覆盖模式 1.65 0.59
覆冰模式 1.3 0.11
表2
  RT1(ms) RT2(ms)
正常模式 1.44 0.12
水滴模式 1.39 0.21
手指轻压模式 0.82 0.41
手指重压模式 0.57 0.74
黄纸覆盖模式 1.35 0.13
白纸覆盖模式 1.35 0.17
透明胶覆盖模式 1.39 0.17
泥巴覆盖模式 0.94 0.37
树叶覆盖模式 2.66 1.48
覆冰模式 1.11 0.16
如表1与表2所示，当超声波雷达处于异物覆盖模式(水滴模式、手指轻压模式、手指重压模式、黄纸覆盖模式、白纸覆盖模式、透明胶覆盖模式、泥巴覆盖模式、树叶覆盖模式、覆冰模式)时，余震变化曲线的上升沿数据与正常模式下的余震变化曲线的上升沿数据之间的差异值较高，不处于相应的规格数据范围内。由上述数据可以推论得到：当超声波雷达的余震变化曲线的上升沿数据与标准上升沿数据的差异较大时，超声波雷达处于异物覆盖状态。在实际应用中，也可以结合超声波雷达的余震变化曲线的下降沿数据与标准下降沿数据的差异共同判断超声波雷达是否被异物覆盖。优选的，本发明采用仅依据上升沿数据来判断，以此得到较为可靠的判断结果与较小的计算量。
可见，通过实施图3所描述的基于超声波雷达的异物覆盖处理方法，能够在超声波雷达受到异物覆盖时输出相应的提示信息，从而使得用户及时了解到根据超声波雷达生成的自动驾驶策略驾驶存在不精准的问题，进而减少根据该自动驾驶策略驾驶导致的汽车与障碍物碰撞的情况发生的概率，提高了驾驶的安全性。
实施例四
请参阅图4，图4是本发明实施例公开的一种基于超声波雷达的异物覆盖处理装置的结构示意图。如图4所示，该基于超声波雷达的异物覆盖处理装置400可以包括：
检测单元401，用于检测超声波雷达是否受到异物覆盖。
输出单元402，用于当检测单元401检测到超声波雷达受到异物覆盖时，输出用于提示超声波雷达受到异物覆盖的提示信息。
本发明实施例中，提示信息至少包括提示图标和提示字符。
作为一种可选的实施方式，输出单元402输出用于提示超声波雷达受到异物覆盖的提示信息可以包括：
输出单元402控制显示终端输出提示界面，提示界面至少包括预置车辆模拟图像和分布于该预置车辆模拟图像周围与超声波雷达所处位置对应的若干光束；显示终端至少包括车载中控大屏或者车载仪表盘；
输出单元402确定受到异物覆盖的超声波雷达在上述预置车辆模拟图像周围对应的目标光束；
输出单元402控制该目标光束熄灭，并在该目标光束对应的目标位置输出用于提示超声波雷达受到异物覆盖的提示图标，以及在提示界面的预设区域输出用于提示超声波雷达受到异物覆盖的提示字符。
通过实施这种可选的实施方式，当检测出某一超声波雷达受到异物覆盖时，可以在显示终端输出相应的提示界面，以使驾驶员可以根据该提示界面及时获知到超声波雷达受到异物覆盖的情况，提高了获取超声波雷达受到异物覆盖的实时性。此外，提示界面能够以预置车辆模拟图像以及光束等直观形象来描述超声波雷达在车辆的分布情况，以及可以通过改变光束的显示效果与输出提示图标相结合来直观地展示超声波雷达受异物覆盖情况，使得获取提示信息更加直观、形象，更加适用于驾驶车辆场景，提高驾驶体验。
作为另一种可选的实施方式，输出单元402控制显示终端输出提示界面可以包括：
输出单元402获取当前车辆的车辆信息，并控制显示终端输出包含与该车辆信息相匹配的预置车辆模拟图像、与该车辆信息相匹配的分布于该预置车辆模拟图像周围与超声波雷达所处位置对应的若干光束的提示界面。
通过实施这种可选的实施方式，可以针对不同车辆生成不同的提示界面，更有针对性，更加形象。
作为另一种可选的实施方式，在输出单元402控制显示终端输出提示界面之后，输出单元402还可以用于：
获取若干个超声波雷达检测到的障碍物与该超声波雷达的距离信息；
根据上述距离信息计算障碍物与车辆的目标距离以及障碍物与车辆的相对方向信息；
在提示界面上与该相对方向信息相匹配的区域输出上述目标距离。
通过实施这种可选的实施方式，可以在提示界面上显示超声波雷达探测到的障碍物与车辆之间的位置以及方向关系，从而使得驾驶员了解到更多障碍物情况，辅助驾驶策略的生成，提高驾驶的安全性。
需要说明的是，基于超声波雷达的异物覆盖处理装置控制显示终端输出提示界面不仅是在超声波雷达受到异物覆盖时输出，也可以在超声波雷达未受到异物覆盖时输出，具体输出条件可由用户更改设置，本发明实施例中对此不做限定。
作为另一种可选的实施方式，在输出单元402获取若干个超声波雷达检测到的障碍物与该超声波雷达的距离信息之后，输出单元402还可以用于：
控制提示界面上与每一超声波雷达对应的光束根据该距离信息以不同的显示状态显示。
举例来说，可以控制光束根据该超声波雷达探测到的障碍物与车辆之间距离的不同以不同的颜色显示，更加直观地展示每一超声波雷达探测到的距离情况。
可见，通过实施图4所描述的基于超声波雷达的异物覆盖处理装置，能够在超声波雷达受到异物覆盖时输出相应的提示信息，从而使得用户及时了解到根据超声波雷达生成的自动驾驶策略驾驶存在不精准的问题，进而减少根据该自动驾驶策略驾驶导致的汽车与障碍物碰撞的情况发生的概率，提高了驾驶的安全性。
实施例五
请参阅图5，图5是本发明实施例公开的另一种基于超声波雷达的异物覆盖装置的结构示意图。其中，图5所示的基于超声波雷达的异物覆盖装置400是由图4所示的基于超声波雷达的异物覆盖装置400优化得到的，与图4所示的基于超声波雷达的异物覆盖装置400相比，在图5所示的基于超声波雷达的异物覆盖装置400中，检测单元401包括：
第一获取子单元4011，用于获取超声波雷达的余震变化曲线。
作为一种可选的实施方式，第一获取子单元4011获取超声波雷达的余震变化曲线可以包括：
第一获取子单元4011判断存储的上一次获取的超声波雷达的余震变化曲线对应的获取时间与当前时间的时间差值是否大于预设时间差值；
如果是，第一获取子单元4011获取当前时间的超声波雷达的余震变化曲线；
如果否，第一获取子单元4011获取上一次获取的超声波雷达的余震变化曲线。
通过实施这种可选的实施方式，如果上一次获取超声波雷达的余震变化曲线的时间与当前时间的时间差值较大，则重新获取当前时间的超声波雷达的余震变化曲线，如果上一次获取超声波雷达的余震变化曲线的时间与当前时间的时间差值较小，则直接获取上一次获取的超声波雷达的余震变化曲线，以此在确保检测异物覆盖的准确率的前提下进一步减小工作量。
检测子单元4012，用于根据第一获取子单元4011获取的余震变化曲线检测超声波雷达是否受到异物覆盖。
可选的，检测子单元4012可以包括：
计算模块40121，用于计算余震变化曲线相匹配的余震值与预设余震值之间差的绝对值；预设余震值为超声波雷达未受到异物覆盖时对应的余震值。
检测模块40122，用于检测计算模块40121计算得到的绝对值是否大于预设绝对值；如果是，确定超声波雷达受到异物覆盖；如果否，确定超声波雷达未受到异物覆盖。
作为一种可选的实施方式，在检测模块40122检测到绝对值大于预设绝对值之后，检测模块40122还可以用于：
判断上述余震值是否大于预设余震值；
如果是，在与余震值大于预设余震值相匹配的第一异物数据库中查询与上述绝对值相匹配的目标异物；
如果否，在与余震值小于预设余震值相匹配的第二异物数据库中查询与上述绝对值相匹配的目标异物；
启动与该目标异物相匹配的异物清理方式用以清理该目标异物。
通过实施这种可选的实施方式，可以根据余震值与预设余震值确定出目标异物，从而采取与该目标异物想匹配的异物清理方式清理该目标异物，达到自动化清理超声波雷达异物覆盖的效果，自动化程度更高。
可见，通过实施图5所描述的基于超声波雷达的异物覆盖处理装置，能够在超声波雷达受到异物覆盖时输出相应的提示信息，从而使得用户及时了解到根据超声波雷达生成的自动驾驶策略驾驶存在不精准的问题，进而减少根据该自动驾驶策略驾驶导致的汽车与障碍物碰撞的情况发生的概率，提高了驾驶的安全性。
实施例六
请参阅图6，图6是本发明实施例公开的另一种基于超声波雷达的异物覆盖装置的结构示意图。其中，图6所示的基于超声波雷达的异物覆盖装置400是由图5所示的基于超声波雷达的异物覆盖装置400优化得到的，与图5所示的基于超声波雷达的异物覆盖装置400相比，在图6所示的基于超声波雷达的异物覆盖装置400中，输出单元402包括：
第二获取子单元4021，用于获取超声波雷达在显示终端所显示的预置车辆模拟图像上对应的目标位置。
输出子单元4022，用于在第二获取子单元4021获取的目标位置输出用于提示超声波雷达受到异物覆盖的提示图标，以及控制显示终端在预设提示区域输出用于提示超声波雷达受到异物覆盖的提示字符。
可见，通过实施图6所描述的基于超声波雷达的异物覆盖处理装置，能够在超声波雷达受到异物覆盖时输出相应的提示信息，从而使得用户及时了解到根据超声波雷达生成的自动驾驶策略驾驶存在不精准的问题，进而减少根据该自动驾驶策略驾驶导致的汽车与障碍物碰撞的情况发生的概率，提高了驾驶的安全性。
实施例七
请参阅图7，图7是本发明实施例公开的另一种基于超声波雷达的异物覆盖处理装置的结构示意图。如图7所示，该基于超声波雷达的异物覆盖处理装置可以包括：
存储有可执行程序代码的存储器701；
与存储器701耦合的处理器702；
其中，处理器702调用存储器701中存储的可执行程序代码，执行图1～图3任意一种基于超声波雷达的异物覆盖处理方法。
本发明实施例公开一种计算机可读存储介质，其存储计算机程序，其中，该计算机程序使得计算机执行图1～图3任意一种基于超声波雷达的异物覆盖处理方法。
本发明实施例还公开一种计算机程序产品，其中，当计算机程序产品在计算机上运行时，使得计算机执行如以上各方法实施例中的方法的部分或全部步骤。
本发明实施例还公开一种应用发布平台，其中，应用发布平台用于发布计算机程序产品，其中，当计算机程序产品在计算机上运行时，使得计算机执行如以上各方法实施例中的方法的部分或全部步骤。
在本发明的各种实施例中，应理解，上述各过程的序号的大小并不意味着执行顺序的必然先后， 各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。
在本发明所提供的实施例中，应理解，“与A相应的B”表示B与A相关联，根据A可以确定B。但还应理解，根据A确定B并不意味着仅仅根据A确定B，还可以根据A和/或其他信息确定B。
另外，在本发明各实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
上述集成的单元若以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可获取的存储器中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或者部分，可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储器中，包括若干请求用以使得一台计算机设备(可以为个人计算机、服务器或者网络设备等，具体可以是计算机设备中的处理器)执行本发明的各个实施例上述方法的部分或全部步骤。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质包括只读存储器(Read-Only Memory，ROM)、随机存储器(Random Access Memory，RAM)、可编程只读存储器(Programmable Read-only Memory，PROM)、可擦除可编程只读存储器(Erasable Programmable Read Only Memory，EPROM)、一次可编程只读存储器(One-time Programmable Read-Only Memory，OTPROM)、电子抹除式可复写只读存储器(Electrically-Erasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储器、磁盘存储器、磁带存储器、或者能够用于携带或存储数据的计算机可读的任何其他介质。
以上对本发明实施例公开的一种基于超声波雷达的异物覆盖处理方法及装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (11)

  1. 一种基于超声波雷达的异物覆盖处理方法，其特征在于，包括：
    检测所述超声波雷达是否受到异物覆盖，若是，输出用于提示所述超声波雷达受到异物覆盖的提示信息。
  2. 根据权利要求1所述的方法，其特征在于，所述检测所述超声波雷达是否受到异物覆盖，包括：
    获取所述超声波雷达的余震变化曲线；
    根据所述余震变化曲线检测所述超声波雷达是否受到异物覆盖。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述余震变化曲线检测所述超声波雷达是否受到异物覆盖，包括：
    计算所述余震变化曲线相匹配的余震值与预设余震值之间差的绝对值；所述预设余震值为所述超声波雷达未受到异物覆盖时对应的余震值；
    检测所述绝对值是否大于预设绝对值；如果是，确定所述超声波雷达受到异物覆盖；如果否，确定所述超声波雷达未受到异物覆盖。
  4. 根据权利要求1至3任一项所述的方法，其特征在于，所述提示信息至少包括提示图标和提示字符。
  5. 根据权利要求4所述的方法，其特征在于，所述输出用于提示所述超声波雷达受到异物覆盖的提示信息，包括：
    获取所述超声波雷达在显示终端所显示的预置车辆模拟图像上对应的目标位置；
    在所述目标位置输出用于提示所述超声波雷达受到异物覆盖的所述提示图标，以及控制所述显示终端在预设提示区域输出用于提示所述超声波雷达受到异物覆盖的所述提示字符。
  6. 一种基于超声波雷达的异物覆盖处理装置，其特征在于，包括：
    检测单元，用于检测所述超声波雷达是否受到异物覆盖；
    输出单元，用于当所述检测单元检测到所述超声波雷达受到异物覆盖时，输出用于提示所述超声波雷达受到异物覆盖的提示信息。
  7. 根据权利要求6所述的基于超声波雷达的异物覆盖处理装置，其特征在于，所述检测单元包括：
    第一获取子单元，用于获取所述超声波雷达的余震变化曲线；
    检测子单元，用于根据所述第一获取子单元获取的所述余震变化曲线检测所述超声波雷达是否受到异物覆盖。
  8. 根据权利要求7所述的基于超声波雷达的异物覆盖处理装置，其特征在于，所述检测子单元包 括：
    计算模块，用于计算所述余震变化曲线相匹配的余震值与预设余震值之间差的绝对值；所述预设余震值为所述超声波雷达未受到异物覆盖时对应的余震值；
    检测模块，用于检测所述绝对值是否大于预设绝对值；如果是，确定所述超声波雷达受到异物覆盖；如果否，确定所述超声波雷达未受到异物覆盖。
  9. 根据权利要求6至8任一项所述的基于超声波雷达的异物覆盖处理装置，其特征在于，所述提示信息至少包括提示图标和提示字符。
  10. 根据权利要求9所述的基于超声波雷达的异物覆盖处理装置，其特征在于，所述输出单元包括：
    第二获取子单元，用于获取所述超声波雷达在显示终端所显示的预置车辆模拟图像上对应的目标位置；
    输出子单元，用于在所述目标位置输出用于提示所述超声波雷达受到异物覆盖的所述提示图标，以及控制所述显示终端在预设提示区域输出用于提示所述超声波雷达受到异物覆盖的所述提示字符。
  11. 一种计算机可读存储介质，其特征在于，其存储计算机程序，所述计算机程序使得计算机执行权利要求1至5任一项所述的基于超声波雷达的异物覆盖处理方法。
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EP3809158C0 (en) 2023-12-13
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CN109459742A (zh) 2019-03-12
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