CN112666563B - Obstacle recognition method based on ultrasonic radar system - Google Patents
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Abstract
The invention provides an obstacle recognition method based on an ultrasonic radar system, which comprises the steps that one ultrasonic radar transmits ultrasonic signals, other ultrasonic radars do not transmit signals, synchronous starting and receiving sound waves are carried out, echo signals are received through three or more ultrasonic probes, the distance of an obstacle is calculated, the distance, the direction and the height of the obstacle are effectively positioned, the shape of the obstacle is measured through data fusion, the problem that the ultrasonic probes can only measure the distance of the nearest obstacle is solved, and the depth distance of the obstacle is measured.
Description
Technical Field
The invention relates to the technical field of ultrasonic radars, in particular to an obstacle recognition method based on an ultrasonic radar system.
Background
At present, the automobile reversing radar adopts an ultrasonic radar, and has low price and higher automobile assembly rate. The ultrasonic radar has the inherent defects that the ultrasonic wave is sound wave, the single-shot receiving can only judge the distance of the obstacle, the angle and the direction of the obstacle can not be identified, and the height of the obstacle can not be identified.
Accordingly, there is a need for further improvements in the art.
Disclosure of Invention
The invention provides an obstacle recognition method based on an ultrasonic radar system, which aims to solve the defect that an ultrasonic probe can only measure the nearest obstacle in the prior art and realize the measurement of the depth distance of the obstacle.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
an obstacle recognition method based on an ultrasonic radar system, the ultrasonic radar system comprising at least three ultrasonic radars with consistent parameters, the method comprising:
Step 1, calibrating shielding distance circles from a first ultrasonic radar to each point of an obstacle;
Step 2, controlling the first ultrasonic radar to transmit signals, shielding signal reception by the first ultrasonic radar within a first preset time period after each signal transmission, starting signal reception, detecting whether an undetermined obstacle exists, and acquiring a current shielding distance ring if the undetermined obstacle exists;
Step 3, calculating a second theoretical time from the current shielding distance circle to the second ultrasonic radar and a third theoretical time from the current shielding distance circle to the third ultrasonic radar;
Step 4, simultaneously controlling the second ultrasonic radar to shield the received signal in a second shielding time period, controlling the third ultrasonic radar to shield the received signal in a third shielding time period, starting signal reception, detecting whether reflected waves are received or not, and if yes, determining the position of an obstacle as the intersection of a first to-be-detected point and a second to-be-detected point;
and 5, fusing positions of points of the obstacle to acquire three-dimensional data of the obstacle.
Specifically, the step1 includes:
Step 101, setting the total emission times of a first ultrasonic radar, wherein the total emission times are the quantization levels;
step 102, controlling a first ultrasonic radar to transmit signals, controlling other ultrasonic radars to be in a closed state, and shielding signal reception by the first ultrasonic radar within a first preset time period after each signal transmission;
Step 103, sequentially obtaining shielding distances from each point of the obstacle to the first ultrasonic radar;
And 104, establishing a shielding distance circle by taking the shielding distance as a radius and taking the FOV angle of the first ultrasonic radar as a sphere center angle.
Specifically, the step 101 includes:
step a, setting the farthest detection distance and the nearest detection distance of an ultrasonic probe;
step b, acquiring the receiving time window length of the ultrasonic radar according to the farthest detection distance and the nearest detection distance;
and c, quantifying the length of the receiving time window according to the resolution of the ultrasonic radar to obtain a quantification level.
Specifically, the reception time window length Δt=2 (Lmin-Lmax)/V, where Lmax represents the furthest detection distance of the ultrasonic probe, lmin represents the closest detection distance of the ultrasonic probe, and V represents the speed of sound.
Specifically, the quantization level n= [ Δt/r ] +1, where r represents the minimum resolution of the ultrasonic radar.
Specifically, the first preset duration T1 (N) =lmin+n (Lmax-Lmin)/v×n, where N takes a value of (1:n).
Specifically, the shielding distance R1 (n) =v×t1 (n)/2.
Specifically, the step 3 includes:
Step 301, taking the first ultrasonic radar as an origin, taking a radial normal line of the first ultrasonic radar as a Y axis, taking the origin parallel to the ground as an X axis, and taking the origin perpendicular to the ground as a Z axis, and establishing an XYZ coordinate system.
Step 302, determining the sector spherical arc length of the current shielding distance ring.
Step 303, establishing a first distance according to a first coordinate value of the undetermined obstacle corresponding to the current shielding distance circle and an installation coordinate of the first ultrasonic radar.
And 304, establishing a second distance according to the first coordinate value of the to-be-determined obstacle and the second installation coordinate of the second ultrasonic radar, and establishing a third distance according to the first coordinate value of the to-be-determined obstacle and the third installation coordinate of the third ultrasonic radar.
In step 305, the smallest one of the second distances is marked as the nearest first to-be-measured point, the largest one is marked as the farthest first to-be-measured point, the smallest one of the third distances is marked as the nearest second to-be-measured point, and the largest one is marked as the farthest second to-be-measured point.
And 306, uniformly dividing the sector spherical arc length between the nearest first to-be-measured point and the farthest first to-be-measured point by taking the minimum resolution of the second ultrasonic radar as a step length, obtaining a preset number of first to-be-measured points, and uniformly dividing the sector spherical arc length between the nearest second to-be-measured point and the farthest second to-be-measured point by taking the minimum resolution of the third ultrasonic radar as a step length, obtaining a preset number of second to-be-measured points.
Step 307, calculating a second theoretical time from the first to-be-measured points to the second ultrasonic radar;
and 308, calculating a third theoretical time from the second to-be-measured points to the third ultrasonic radar.
Specifically, the fan-shaped spherical arc length d=α×r1 (n), and α represents the FOV angle of the first ultrasonic radar.
Specifically, the preset number k= [ D/r ], [ ] represents a rounding.
Specifically, the step 307 includes:
step 3071, obtaining a first installation distance of a central connecting line of the first ultrasonic radar and the second ultrasonic radar, and a first included angle between the central connecting line and an X axis;
step 3072, calculating a second to-be-measured distance between each first to-be-measured point and the second ultrasonic radar according to the first included angle, the FOV angle of the first ultrasonic radar, the first installation distance and the current shielding distance;
step 3073, calculating a second theoretical time according to the second distance to be measured.
Specifically, the second distance to be measured
Wherein h1 represents a first installation distance, R1 (n) represents a current shielding distance, θ1 represents a first included angle, α represents an FOV of the first ultrasonic radar, and i=1, 2,3 … k represents serial numbers of points to be measured.
Specifically, the second theoretical time t2 (i) = [ R1 (n) +g2 (i) ]/V.
Specifically, the step 308 includes:
Step 3081, obtaining a second installation distance of a central connecting line of the first ultrasonic radar and the third ultrasonic radar, and a second included angle of the central connecting line and an X axis;
step 3082, calculating a third distance to be measured between each second measuring point and the third ultrasonic radar according to the second central angle, the second included angle, the FOV angle of the first ultrasonic radar, the second installation distance and the current shielding distance;
And 3083, calculating a third theoretical time according to the third distance to be measured.
Specifically, the third distance to be measured
Wherein h2 represents a second installation distance, R1 (n) represents a current shielding distance, θ2 represents a second included angle, α represents an FOV of the first ultrasonic radar, and i=1, 2,3 … k represents serial numbers of points to be measured.
Specifically, the third theoretical time t3 (i) = [ R1 (n) +g3 (i) ]/V.
Specifically, the second shielding period T2 (q) =t1 (n)/2+t2 (q), and the third shielding period T3 (q) =t1 (n)/2+t3 (q), where q=1, 2, … k.
The invention has the beneficial effects that: according to the invention, the ultrasonic radar transmits ultrasonic signals, other ultrasonic radars do not transmit signals, the ultrasonic radars synchronously start to receive sound waves, echo signals are received through three or more ultrasonic probes, the distance of the obstacle is calculated, the distance, the azimuth and the height of the obstacle are effectively positioned, the shape of the obstacle is measured through data fusion, the problem that the ultrasonic probes can only measure the distance of the nearest obstacle is solved, and the depth distance of the obstacle is measured.
Drawings
FIG. 1 is a flow chart of a method for identifying an obstacle based on an ultrasonic radar system of the present invention;
FIG. 2 is a schematic view of a shielded distance ring of the present invention;
fig. 3 is a schematic diagram of the present invention for calculating the second distance to be measured.
Detailed Description
Embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which are for reference and illustration only, and are not intended to limit the scope of the invention.
As shown in fig. 1, the present embodiment provides an obstacle recognition method based on an ultrasonic radar system, where the ultrasonic radar system includes at least three ultrasonic radars with consistent parameters, and the method includes:
and 1, calibrating a shielding distance circle S1 (n) from the first ultrasonic radar to each point of the obstacle.
The shielding distance circle refers to a certain distance range where the ultrasonic radar does not receive reflected waves. For example, if the shielding distance circle is 1 meter, reflected waves within a range of 1 meter are not received, and reflected waves outside a range of 1 meter are received only.
It is easy to understand that the shielding distance ring is a sector sphere centered on the ultrasonic radar. As shown in fig. 2, the O point represents an ultrasonic radar, the angle AOB represents the FOV angle α of the ultrasonic radar, and the OA represents the shielding distance, and the sector sphere with O as the center of sphere, OA as the radius, and the center angle α is the shielding distance circle corresponding to the shielding distance OA.
As shown in fig. 3, the first ultrasonic radar (1 # ultrasonic radar) is installed at the O1 position, the second ultrasonic radar (2 # ultrasonic radar) is installed at the O1 position, and the third ultrasonic radar (3 # ultrasonic radar) is installed at the O3 position. Of course, more ultrasonic radars may be installed as needed.
In one embodiment of the present invention, the step 1 includes:
and step 101, setting the total emission times of the first ultrasonic radar, wherein the total emission times are the quantization level N.
In this embodiment, the method for determining the quantization level N includes:
And a, setting the farthest detection distance Lmax and the nearest detection distance Lmin of the ultrasonic probe.
And b, acquiring the receiving time window length delta T of the ultrasonic radar according to the farthest detection distance Lmax and the nearest detection distance Lmin.
And c, quantizing the length delta T of the receiving time window according to the resolution of the ultrasonic radar to obtain a quantization level N.
In this embodiment, the receive time window length Δt=2 (Lmin-Lmax)/V, where V represents the speed of sound.
The quantization level n= [ Δt/r ] +1, where r represents the minimum resolution of the ultrasonic radar.
Step 102, controlling the nth transmitting signal of the first ultrasonic radar, controlling other ultrasonic radars to be in a closed state, and shielding signal receiving of the first ultrasonic radar within a first preset time period T1 (n) after each transmitting signal.
In this embodiment, the first preset duration T1 (N) =tmin+n (Tmax-Tmin)/N, where N takes a value of (1:n).
Step 103, sequentially obtaining N shielding distances R1 (N) from each point of the obstacle to the first ultrasonic radar.
In this embodiment, R1 (n) =v×t1 (n)/2.
For example, the shielding distances obtained after the first ultrasonic radar transmits and receives signals N times are as follows:
TABLE 1
| n | 1 | 2 | … | 28 |
| Time of masking T1 (n) | 1.764ms | 2.352ms | .. | 17.64ms |
| Shielding distance R1 (n) | 0.299m | 0.399m | .. | 2.989m |
And 104, establishing a shielding distance ring S1 (n) by taking the shielding distance R1 (n) as a radius and taking the FOV angle of the first ultrasonic radar as a sphere center angle.
Similarly, shielding distance rings of other ultrasonic radars can be obtained.
And 2, controlling the first ultrasonic radar to transmit signals, shielding signal reception by the first ultrasonic radar within a first preset time period T1 (n) after each signal transmission, starting signal reception, detecting whether an undetermined obstacle exists, and acquiring a current shielding distance ring S1 (n) if the undetermined obstacle exists.
The pending obstacle refers to any point on the sector sphere represented by the current shielding distance circle S1 (n), where the first ultrasonic radar can detect that an obstacle exists, but cannot determine the specific direction of the obstacle.
And 3, calculating second theoretical time t2 (i) from the current shielding distance circle S1 (n) to the second ultrasonic radar and third theoretical time t3 (i) from the current shielding distance circle S1 (n) to the third ultrasonic radar.
In this embodiment, the step3 includes:
Step 301, taking the first ultrasonic radar as an origin, taking a radial normal line of the first ultrasonic radar as a Y axis, taking the origin parallel to the ground as an X axis, and taking the origin perpendicular to the ground as a Z axis, and establishing an XYZ coordinate system.
Step 302, determining the sector spherical arc length D of the current shielding distance circle S1 (n).
In this embodiment, the fan-shaped spherical arc length d=α×r1 (n), and α represents the FOV angle of the first ultrasonic radar.
Step 303, establishing a first distance R1 (n) according to a first coordinate value (x 1, y1, z 1) of the pending obstacle corresponding to the current shielding distance circle S1 (n) and an installation coordinate (a 1, b1, c 1) of the first ultrasonic radar.
In the present embodiment, the
It is easily understood that the first coordinate values (x 1, y1, z 1) of the pending obstacle may be coordinate values of any point on the sector sphere represented by the current shielding distance circle S1 (n).
Step 304, a second distance R2 is established according to the first coordinate value (x 1, y1, z 1) of the obstacle to be determined and the second installation coordinate (a 2, b2, c 2) of the second ultrasonic radar, and a third distance R3 is established according to the first coordinate value (x 1, y1, z 1) of the obstacle to be determined and the third installation coordinate (a 3, b3, c 3) of the third ultrasonic radar.
In the present embodiment, the
In the present embodiment, the
It is easy to understand that the values of the second distance R2 and the third distance R3 are not fixed but vary with the variation of the first coordinate values (x 1, y1, z 1) of the obstacle to be determined.
In step 305, the smallest one of the second distances R2 is designated as the nearest first to-be-measured point P2 (1), the largest one is designated as the farthest first to-be-measured point P2 (k), the smallest one of the third distances R3 is designated as the nearest second to-be-measured point P3 (1), and the largest one is designated as the farthest second to-be-measured point P3 (k).
Step 306, equally dividing the sector spherical arc length D between the nearest first to-be-detected point P2 (1) and the farthest first to-be-detected point P2 (k) by taking the minimum resolution r of the second ultrasonic radar as a step length, obtaining preset k first to-be-detected points P2 (i), equally dividing the sector spherical arc length D between the nearest second to-be-detected point P3 (1) and the farthest second to-be-detected point P3 (k) by taking the minimum resolution r of the third ultrasonic radar (2#) as a step length, and obtaining preset k second to-be-detected points P3 (i).
In this embodiment, the preset number k= [ D/r ], [ ] represents a rounding.
Step 307, calculating a second theoretical time t2 (i) from the first points to be measured P2 (i) (i=1, 2,3 … k) to the second ultrasonic radar.
In this embodiment, the step 307 includes:
Step 3071, obtaining a first installation distance h1 of a central connecting line of the first ultrasonic radar and the second ultrasonic radar, and a first included angle θ1 of the central connecting line and the X axis.
As shown in fig. 3, the distance between the first ultrasonic radar and the center line O1O2 of the second ultrasonic radar is the first installation distance h1, and the included angle between the O1O2 and the X axis is the first included angle θ1.
Step 3072, calculating a second distance to be measured G2 (i) between the first points to be measured P2 (i) and the second ultrasonic radar according to the first included angle θ1, the FOV angle α of the first ultrasonic radar, the first installation distance h1, and the current shielding distance R1 (n).
In fig. 3, the distance of P2 (i) O2 is the second distance to be measured G2 (i).
In the present embodiment of the present invention, in the present embodiment,
Step 3073, calculating a second theoretical time t2 (i) according to the second distance to be measured G2 (i).
In the present embodiment, the second theoretical time t2 (i) = [ R1 (n) +g2 (i) ]/V.
Step 308, calculating a third theoretical time t3 (i) from the second to-be-measured points P3 (i) (i=1, 2,3 … k) to the third ultrasonic radar.
In this embodiment, similar to step 307, the step 308 includes:
step 3081, obtaining a second installation distance h2 of a central connecting line of the first ultrasonic radar and the third ultrasonic radar, and a second included angle theta 2 of the central connecting line and an X axis;
And 3082, calculating a third distance to be measured G3 (i) between each second point to be measured P3 (i) and the third ultrasonic radar according to the second included angle θ2, the FOV angle α of the first ultrasonic radar, the second installation distance h2, and the current shielding distance R1 (n).
In the present embodiment of the present invention, in the present embodiment,
And 3083, calculating a third theoretical time t3 (i) according to the third distance to be measured G3 (i).
In this embodiment, t3 (i) = [ R1 (n) +g3 (i) ]/V.
And 4, simultaneously controlling the second ultrasonic radar to shield the received signal in the second shielding time period T2 (q), controlling the third ultrasonic radar to shield the received signal in the third shielding time period T3 (q), starting signal reception, detecting whether reflected waves are received or not, and if yes, determining the position of the obstacle as the intersection of the first to-be-detected point P2 (q) and the second to-be-detected point P3 (q).
Wherein the second masking duration T2 (q) =t1 (n)/2+t2 (q), where q=1, 2, … k.
The third masking period T3 (q) =t1 (n)/2+t3 (q), where q=1, 2, … k.
And 5, fusing positions of points of the obstacle to obtain three-dimensional data of the obstacle.
The above disclosure is illustrative of the preferred embodiments of the present invention and should not be construed as limiting the scope of the invention, which is defined by the appended claims.
Claims (16)
1. An obstacle recognition method based on an ultrasonic radar system, wherein the ultrasonic radar system at least comprises three ultrasonic radars with consistent parameters, and the method is characterized by comprising the following steps:
Step 1, calibrating shielding distance circles from a first ultrasonic radar to each point of an obstacle;
Step 2, controlling the first ultrasonic radar to transmit signals, shielding signal reception by the first ultrasonic radar within a first preset time period after each signal transmission, starting signal reception, detecting whether an undetermined obstacle exists, and acquiring a current shielding distance ring if the undetermined obstacle exists;
Step 3, calculating a second theoretical time from the current shielding distance circle to the second ultrasonic radar and a third theoretical time from the current shielding distance circle to the third ultrasonic radar;
Step 4, simultaneously controlling the second ultrasonic radar to shield the received signal in a second shielding time period, controlling the third ultrasonic radar to shield the received signal in a third shielding time period, starting signal reception, detecting whether reflected waves are received or not, and if yes, determining the position of an obstacle as the intersection of a first to-be-detected point and a second to-be-detected point;
step 5, fusing the positions of each point of the obstacle to acquire three-dimensional data of the obstacle;
The step 3 comprises the following steps:
Step 301, taking the first ultrasonic radar as an origin, taking a radial normal line of the first ultrasonic radar as a Y axis, taking the origin parallel to the ground as an X axis, and taking the origin perpendicular to the ground as a Z axis, and establishing an XYZ coordinate system;
Step 302, determining the sector spherical arc length of the current shielding distance ring;
Step 303, establishing a first distance according to a first coordinate value of the undetermined obstacle corresponding to the current shielding distance circle and an installation coordinate of the first ultrasonic radar;
step 304, establishing a second distance according to the first coordinate value of the obstacle to be determined and the second installation coordinate of the second ultrasonic radar, and establishing a third distance according to the first coordinate value of the obstacle to be determined and the third installation coordinate of the third ultrasonic radar;
Step 305, the smallest one of the second distances is marked as the nearest first to-be-measured point, the largest one is marked as the farthest first to-be-measured point, the smallest one of the third distances is marked as the nearest second to-be-measured point, and the largest one is marked as the farthest second to-be-measured point;
Step 306, dividing the sector spherical arc length between the nearest first to-be-measured point and the farthest first to-be-measured point uniformly by taking the minimum resolution of the second ultrasonic radar as a step length to obtain preset first to-be-measured points, and dividing the sector spherical arc length between the nearest second to-be-measured point and the farthest second to-be-measured point uniformly by taking the minimum resolution of the third ultrasonic radar as a step length to obtain preset second to-be-measured points;
Step 307, calculating a second theoretical time from the first to-be-measured points to the second ultrasonic radar;
and 308, calculating a third theoretical time from the second to-be-measured points to the third ultrasonic radar.
2. The method for identifying an obstacle based on an ultrasonic radar system according to claim 1, wherein the step 1 includes:
step 101, setting the total emission times of a first ultrasonic radar, wherein the total emission times are quantization levels;
step 102, controlling a first ultrasonic radar to transmit signals, controlling other ultrasonic radars to be in a closed state, and shielding signal reception by the first ultrasonic radar within a first preset time period after each signal transmission;
Step 103, sequentially obtaining shielding distances from each point of the obstacle to the first ultrasonic radar;
And 104, establishing a shielding distance circle by taking the shielding distance as a radius and taking the FOV angle of the first ultrasonic radar as a sphere center angle.
3. The method for identifying an obstacle based on an ultrasonic radar system according to claim 2, wherein said step 101 comprises:
step a, setting the farthest detection distance and the nearest detection distance of an ultrasonic probe;
step b, acquiring the receiving time window length of the ultrasonic radar according to the farthest detection distance and the nearest detection distance;
and c, quantifying the length of the receiving time window according to the resolution of the ultrasonic radar to obtain a quantification level.
4. The obstacle recognition method based on an ultrasonic radar system according to claim 3, wherein the reception time window length Δt=2 (Lmin-Lmax)/V, where Lmax represents a farthest detection distance of the ultrasonic probe, lmin represents a nearest detection distance of the ultrasonic probe, and V represents a sound velocity.
5. The obstacle recognition method based on an ultrasonic radar system according to claim 4, wherein the quantization level n= [ Δt/r ] +1, where r represents a minimum resolution of the ultrasonic radar.
6. The method for identifying an obstacle based on an ultrasonic radar system according to claim 5, wherein the first preset time period T1 (N) =lmin+n (Lmax-Lmin)/v×n, where N takes a value of (1:n).
7. The method for identifying an obstacle based on an ultrasonic radar system according to claim 6, wherein the shielding distance R1 (n) =v×t1 (n)/2.
8. The obstacle recognition method based on an ultrasonic radar system according to claim 1, wherein the sector spherical arc length d=α×r1 (n), α representing the FOV angle of the first ultrasonic radar.
9. The obstacle recognition method based on an ultrasonic radar system according to claim 8, wherein the preset number k= [ D/r ], [ ] represents a rounding.
10. The method of identifying an obstacle based on an ultrasonic radar system according to claim 1, wherein said step 307 comprises:
step 3071, obtaining a first installation distance of a central connecting line of the first ultrasonic radar and the second ultrasonic radar, and a first included angle between the central connecting line and an X axis;
step 3072, calculating a second to-be-measured distance between each first to-be-measured point and the second ultrasonic radar according to the first included angle, the FOV angle of the first ultrasonic radar, the first installation distance and the current shielding distance;
step 3073, calculating a second theoretical time according to the second distance to be measured.
11. The ultrasonic radar system-based obstacle recognition method according to claim 10, wherein the second distance to be measured
Wherein h1 represents a first installation distance, R1 (n) represents a current shielding distance, θ1 represents a first included angle, α represents an FOV of the first ultrasonic radar, and i=1, 2,3 … k represents serial numbers of points to be measured.
12. The obstacle recognition method based on an ultrasonic radar system according to claim 11, wherein the second theoretical time t2 (i) = [ R1 (n) +g2 (i) ]/V.
13. The obstacle recognition method based on an ultrasonic radar system according to claim 1, wherein said step 308 comprises:
Step 3081, obtaining a second installation distance of a central connecting line of the first ultrasonic radar and the third ultrasonic radar, and a second included angle of the central connecting line and an X axis;
step 3082, calculating a third to-be-measured distance between each second to-be-measured point and the third ultrasonic radar according to the second included angle, the FOV angle of the first ultrasonic radar, the second installation distance and the current shielding distance;
And 3083, calculating a third theoretical time according to the third distance to be measured.
14. The ultrasonic radar system-based obstacle recognition method according to claim 13, wherein the third distance to be measured
Wherein h2 represents a second installation distance, R1 (n) represents a current shielding distance, θ2 represents a second included angle, α represents an FOV of the first ultrasonic radar, and i=1, 2,3 … k represents serial numbers of points to be measured.
15. The obstacle recognition method based on an ultrasonic radar system according to claim 14, wherein the third theoretical time t3 (i) = [ R1 (n) +g3 (i) ]/V.
16. The ultrasonic radar system-based obstacle recognition method according to claim 15, wherein the second shielding period T2 (q) =t1 (n)/2+t2 (q), and the third shielding period T3 (q) =t1 (n)/2+t3 (q), wherein q=1, 2, … k.
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