CN109633657A - A kind of method and system that barrier is tracked based on multiple ultrasonic radars - Google Patents
A kind of method and system that barrier is tracked based on multiple ultrasonic radars Download PDFInfo
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- CN109633657A CN109633657A CN201811435847.7A CN201811435847A CN109633657A CN 109633657 A CN109633657 A CN 109633657A CN 201811435847 A CN201811435847 A CN 201811435847A CN 109633657 A CN109633657 A CN 109633657A
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/66—Sonar tracking systems
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention provides a kind of methods being tracked based on multiple ultrasonic radars to barrier, algorithm to solve to track barrier in the prior art is complicated, the more problem of data processing, this method is comprising steps of S1: according to prefixed time interval, barrier within the scope of predetermined inductive is obtained by multiple ultrasonic radars to record and save to the range information of body of a motor car；S2: each ultrasonic radar is calculated in the change rate of the range information of adjacent time inter point obstacle distance body of a motor car；S3: verification is compared according to default comparison method in the change rate of the range information for the obstacle distance body of a motor car that multiple ultrasonic radars obtain, obtains the current default operating condition of each ultrasonic radar.Using this method, the purpose that barrier tracking is realized using the processing of low volume data, can mutually verify between multiple ultrasonic radars, the ultrasonic radar of timely learning abnormal operation can be realized.
Description
Technical field
The present invention relates to ultrasonic radar identification technology fields, more particularly to one kind to be based on multiple ultrasonic radars to obstacle
The method and system that object is tracked.
Background technique
Ultrasonic radar obtains the point information of ambient enviroment by ultrasonic sensing, and reaction speed is fast, is not illuminated by the light shadow
Ring etc..Have wide practical use in automatic driving vehicle and robot field.
However although ultrasonic radar precision is high, detection angles are smaller, and single ultrasonic radar, Wu Fajing
Really description Obstacle Position, since ultrasonic radar can return to the value of a detection range at work, it is assumed that a ultrasonic wave
Within the scope of the predetermined inductive of radar, the identical position of layback passes through the letter of single ultrasonic radar there are two when barrier
Breath can not determine which position barrier is in.Therefore multiple ultrasonic radar collective effects are needed to realize to barrier
The identification of position.
However the use of the setting of traditional multiple ultrasonic radars, it is only limitted to the detection and alarm to barrier, not
It is able to achieve the tracking to barrier, such as when barrier is the obstacle automobile of same driving alongside, the obstacle automobile of driving alongside
There are the speed of oneself and the relative velocity relative to automobile, when driving, the barrier automobile of driving alongside is relative to certainly
The relative velocity of own automobile improves traffic safety to the operation for prejudging oneself automobile when driving and is necessary.
Therefore with high accuracy and barrier can be tracked in conclusion needing to design that a kind of algorithm is simple
Method and system.
Summary of the invention
To solve the above-mentioned problems, the present invention provides one kind without analyzing mass data, can fast track barrier
The method and system that barrier is tracked based on multiple ultrasonic radars.
In order to achieve the above object, the invention adopts the following technical scheme:
A method of barrier is tracked based on multiple ultrasonic radars, comprising steps of
S1: it according to prefixed time interval, is obtained by multiple ultrasonic radars being arranged on body of a motor car predeterminated position
Barrier is recorded and saved to the range information of body of a motor car within the scope of predetermined inductive；
S2: the range information for the adjacent time inter point obstacle distance body of a motor car that each ultrasonic radar obtains is calculated
Change rate, judge whether change rate changes, if variation, it is determined that barrier changes relative to the relative velocity of automobile；
S3: the change rate of the range information for the obstacle distance body of a motor car that multiple ultrasonic radars are obtained is according to default
Verification is compared in comparison method, obtains the current default operating condition of each ultrasonic radar.
Further, step S1 includes:
S11: predetermined inductive range is detected by multiple ultrasonic radars that body of a motor car predeterminated position is arranged in；
S12: recording and saving prefixed time interval point, and the distance of barrier to body of a motor car is believed within the scope of predetermined inductive
Breath.
Further, step S2 includes:
S21: the range information that each ultrasonic radar obtains adjacent time inter point barrier to body of a motor car is calculated；
S22: by presetting computational algorithm, adjacent time inter point barrier that each ultrasonic radar obtains is obtained to vapour
The change rate of the range information of vehicle vehicle body；
S23: judging whether change rate changes, if variation, it is determined that barrier becomes relative to the relative velocity of automobile
Change.
Further, step S3 includes:
S31: the distance of the obstacle distance body of a motor car of the adjacent time inter point of multiple ultrasonic radars calculating is become
Rate carries out Cluster Classification；
S32: judging whether ultrasonic radar is belonging to cluster one kind, if so, the ultrasonic radar current state is pre-
If normal operating conditions；If it is not, then the ultrasonic radar current state is default abnormal operation；
S33: default abnormal report is carried out according to preset alarm mode to the ultrasonic radar of current preset abnormal operation
It is alert.
A kind of system that barrier is tracked based on multiple ultrasonic radars, comprising:
Multiple ultrasonic radars are arranged on body of a motor car predeterminated position, for obtaining default according to prefixed time interval
Barrier is recorded and saved to the range information of body of a motor car in induction range；
Change rate module is calculated, the adjacent time inter point obstacle distance vapour obtained for calculating each ultrasonic radar
The change rate of the range information of vehicle vehicle body；
Inspection module, the range information of the obstacle distance body of a motor car for obtaining multiple ultrasonic radars
Verification is compared according to default comparison method in change rate, obtains the current default operating condition of each ultrasonic radar.
Further, ultrasonic radar includes:
Probe unit, for being detected to predetermined inductive range；
Recording distance unit, for recording and saving prefixed time interval point, barrier is to automobile within the scope of predetermined inductive
The range information of vehicle body.
Further, calculating change rate module includes:
Distance unit is obtained, obtains adjacent time inter point barrier to body of a motor car for obtaining each ultrasonic radar
Range information；
Change rate unit is obtained, for obtaining the adjacent time that each ultrasonic radar obtains by presetting computational algorithm
Spaced points barrier to body of a motor car range information change rate；
Confirm speed unit, the adjacent time inter point barrier for obtaining when each ultrasonic radar to body of a motor car
The change rate of range information when changing, determine that barrier changes relative to the relative velocity of automobile.
Further, Inspection module includes:
Cluster Classification unit, the obstacle distance automobile of the adjacent time inter point for calculating multiple ultrasonic radars
The range rate of vehicle body carries out Cluster Classification；
State cell is judged, for judging whether ultrasonic radar is belonging to cluster one kind, if so, the ultrasonic radar
Current state is default normal operating conditions；If it is not, then the ultrasonic radar current state is default abnormal operation；
Abnormity early warning unit, for the ultrasonic radar to current preset abnormal operation according to preset alarm mode into
The default abnormal alarm of row.
The invention has the benefit that
(1) by the way that multiple ultrasonic radars of predeterminated position around body of a motor car are arranged in, obtain automobile park etc. it is low
Under fast state, the obstacle information around vehicle body is constantly detected, obstacle distance signal is exported, and by calculating barrier
Hinder object also to obtain the movement velocity of barrier to the change rate of body of a motor car distance, realizes the tracking to barrier, further
There is good reference to the anticipation of motor racing speed and direction, further, improves the traffic safety of automobile.
(2) process in measurement to obstacle distance change rate can be passed through between the multiple ultrasonic radars being provided with
It is middle mutually to be verified, and early warning prompting is carried out to the ultrasonic radar of abnormal operation, it further ensure that ultrasonic wave
The working condition of radar, and improve ultrasonic radar tracking barrier precision.
Detailed description of the invention
Fig. 1 is the method flow diagram one being tracked based on multiple ultrasonic radars to barrier；
Fig. 2 is the method flow diagram two being tracked based on multiple ultrasonic radars to barrier；
Fig. 3 is that automobile and barrier car speed calculate outline drawing in embodiment one；
Fig. 4 is the system construction drawing one being tracked based on multiple ultrasonic radars to barrier；
Fig. 5 is the system construction drawing two being tracked based on multiple ultrasonic radars to barrier.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
Embodiment one
A kind of method being tracked based on multiple ultrasonic radars to barrier is present embodiments provided, such as Fig. 1 to Fig. 3
It is shown, this method comprising steps of
S1: it according to prefixed time interval, is obtained by multiple ultrasonic radars being arranged on body of a motor car predeterminated position
Barrier is recorded and saved to the range information of body of a motor car within the scope of predetermined inductive；
S2: the range information for the adjacent time inter point obstacle distance body of a motor car that each ultrasonic radar obtains is calculated
Change rate, judge whether change rate changes, if variation, it is determined that barrier changes relative to the relative velocity of automobile；
S3: the change rate of the range information for the obstacle distance body of a motor car that multiple ultrasonic radars are obtained is according to default
Verification is compared in comparison method, obtains the current default operating condition of each ultrasonic radar.
Further, step S1 includes:
S11: predetermined inductive range is detected by multiple ultrasonic radars that body of a motor car predeterminated position is arranged in；
S12: recording and saving prefixed time interval point, and the distance of barrier to body of a motor car is believed within the scope of predetermined inductive
Breath.
Further, step S2 includes:
S21: the range information that each ultrasonic radar obtains adjacent time inter point barrier to body of a motor car is calculated；
S22: by presetting computational algorithm, adjacent time inter point barrier that each ultrasonic radar obtains is obtained to vapour
The change rate of the range information of vehicle vehicle body；
S23: judging whether change rate changes, if variation, it is determined that barrier becomes relative to the relative velocity of automobile
Change.
Further, step S3 includes:
S31: the distance of the obstacle distance body of a motor car of the adjacent time inter point of multiple ultrasonic radars calculating is become
Rate carries out Cluster Classification；
S32: judging whether ultrasonic radar is belonging to cluster one kind, if so, the ultrasonic radar current state is pre-
If normal operating conditions；If it is not, then the ultrasonic radar current state is default abnormal operation；
S33: default abnormal report is carried out according to preset alarm mode to the ultrasonic radar of current preset abnormal operation
It is alert.
A kind of method that barrier is tracked based on multiple ultrasonic radars provided in this embodiment, wherein in automobile
Every preset interval distance one ultrasonic radar of setting, when barrier is close to body of a motor car, multiple ultrasonic waves around vehicle body
Radar can simultaneously detect it, and each ultrasonic radar can export the range information of barrier to ultrasonic radar,
The distance of the barrier that the ultrasonic radar of different location obtains to respective ultrasonic radar is different, when barrier is in mobile mistake
Cheng Zhong, the change rate of barrier to ultrasonic radar distance, can calculate the velocity information of current barrier；Such as automobile
Side has a barrier automobile A close, and wherein barrier automobile A is different relative to the movement velocity of automobile, therefore each super
The change rate of the distance apart from barrier automobile A of sound radar detection also can be different, can be with according to the difference of range conversion rate
Calculate its speed:
As shown in figure 3, the speed of automobile first is assumed to be a, distance of the barrier automobile apart from automobile ultrasonic radar exists
It is at the first time L1, by time t, distance of the barrier automobile apart from the automobile ultrasonic radar is L2, then the barrier
Speed are as follows: b=(L2 2-L1 2)0.5/t+a
The current speed of barrier is confirmed, therefore the tracking to barrier automobile A may be implemented.
Wherein since the speed of barrier automobile is certain, distance of barrier automobile to each ultrasonic radar
Change rate be certain, therefore can be verified by each ultrasonic radar apart from barrier automobile range rate
Whether ultrasonic radar is under default normal operating conditions.
Such as the m of the distance between barrier automobile of the measurement of ultrasonic radar 1 change rate, what ultrasonic radar 2 measured
The m+0.1 of the distance between barrier automobile change rate；The distance between the barrier automobile that ultrasonic radar 3 measures change rate
M-0.6；The m+0.2 etc. of the distance between the barrier automobile that ultrasonic radar 4 measures change rate passes through default cluster point
Class, it can be seen that ultrasonic radar 1,2,4 belongs to one kind of cluster, and ultrasonic radar 3 is not belonging to one kind of cluster, ultrasonic wave
The current working condition of radar 3 is default abnormality, therefore, to the ultrasonic radar of current preset abnormal operation according to
Preset alarm mode carries out default abnormal alarm, notifies automobile driver, which is checked or repaired.
A kind of method being tracked based on multiple ultrasonic radars to barrier provided in this embodiment, can be realized and obtain
The movement velocity of barrier is obtained, to be tracked to barrier, further, based on ultrasonic radar between barrier
Distance change rate be it is quantitative, to realize the mutual verification of multiple ultrasonic radars, ensure that the safety of running
Property.
Embodiment two
A kind of system based on the laser radar obstruction detection direction of motion is present embodiments provided, such as Fig. 4 to Fig. 5 institute
Show, this system includes:
A kind of system that barrier is tracked based on multiple ultrasonic radars, comprising:
Multiple ultrasonic radars are arranged on body of a motor car predeterminated position, for obtaining default according to prefixed time interval
Barrier is recorded and saved to the range information of body of a motor car in induction range；
Change rate module is calculated, the adjacent time inter point obstacle distance vapour obtained for calculating each ultrasonic radar
The change rate of the range information of vehicle vehicle body；
Inspection module, the range information of the obstacle distance body of a motor car for obtaining multiple ultrasonic radars
Verification is compared according to default comparison method in change rate, obtains the current default operating condition of each ultrasonic radar.
Further, ultrasonic radar includes:
Probe unit, for being detected to predetermined inductive range；
Recording distance unit, for recording and saving prefixed time interval point, barrier is to automobile within the scope of predetermined inductive
The range information of vehicle body.
Further, calculating change rate module includes:
Distance unit is obtained, obtains adjacent time inter point barrier to body of a motor car for obtaining each ultrasonic radar
Range information；
Change rate unit is obtained, for obtaining the adjacent time that each ultrasonic radar obtains by presetting computational algorithm
Spaced points barrier to body of a motor car range information change rate；
Confirm speed unit, the adjacent time inter point barrier for obtaining when each ultrasonic radar to body of a motor car
The change rate of range information when changing, determine that barrier changes relative to the relative velocity of automobile.
Further, Inspection module includes:
Cluster Classification unit, the obstacle distance automobile of the adjacent time inter point for calculating multiple ultrasonic radars
The range rate of vehicle body carries out Cluster Classification；
State cell is judged, for judging whether ultrasonic radar is belonging to cluster one kind, if so, the ultrasonic radar
Current state is default normal operating conditions；If it is not, then the ultrasonic radar current state is default abnormal operation；
Abnormity early warning unit, for the ultrasonic radar to current preset abnormal operation according to preset alarm mode into
The default abnormal alarm of row.
The system provided in this embodiment that barrier is tracked based on multiple ultrasonic radars, by being arranged in automobile
Multiple ultrasonic radars of predeterminated position around vehicle body, acquisition automobile constantly detect around vehicle body under equal lower-speed states of parking
Obstacle information, obstacle distance signal is exported, and by calculate barrier to body of a motor car distance variation
Rate also obtains the movement velocity of barrier, realizes the tracking to barrier, further to the pre- of motor racing speed and direction
Sentencing has had good reference, further, improves the traffic safety of automobile.It can between the multiple ultrasonic radars being provided with
With by mutually being verified during measurement is to obstacle distance change rate, and to the ultrasonic wave thunder of abnormal operation
Up to early warning prompting is carried out, the working condition of ultrasonic radar further ensure that, and improve ultrasonic radar tracking barrier
Hinder object precision.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (8)
1. a kind of method being tracked based on multiple ultrasonic radars to barrier, which is characterized in that comprising steps of
S1: it according to prefixed time interval, is obtained by multiple ultrasonic radars being arranged on body of a motor car predeterminated position default
Barrier is recorded and saved to the range information of body of a motor car in induction range；
S2: the change of the range information for the adjacent time inter point obstacle distance body of a motor car that each ultrasonic radar obtains is calculated
Rate, judges whether change rate changes, if variation, it is determined that barrier changes relative to the relative velocity of automobile；
S3: the change rate of the range information for the obstacle distance body of a motor car that multiple ultrasonic radars are obtained is according to default comparison
Verification is compared in method, obtains the current default operating condition of each ultrasonic radar.
2. a kind of method being tracked based on multiple ultrasonic radars to barrier according to claim 1, feature
It is, step S1 includes:
S11: predetermined inductive range is detected by multiple ultrasonic radars that body of a motor car predeterminated position is arranged in；
S12: recording and saving prefixed time interval point, within the scope of predetermined inductive barrier to body of a motor car range information.
3. a kind of method being tracked based on multiple ultrasonic radars to barrier according to claim 1, feature
It is, step S2 includes:
S21: the range information that each ultrasonic radar obtains adjacent time inter point barrier to body of a motor car is calculated；
S22: by presetting computational algorithm, adjacent time inter point barrier that each ultrasonic radar obtains is obtained to Automobile
The change rate of the range information of body；
S23: judging whether change rate changes, if variation, it is determined that barrier changes relative to the relative velocity of automobile.
4. a kind of method being tracked based on multiple ultrasonic radars to barrier according to claim 1, feature
It is, step S3 includes:
S31: to the range rate of the obstacle distance body of a motor car of the adjacent time inter point of multiple ultrasonic radars calculating
Carry out Cluster Classification；
S32: judging whether ultrasonic radar is belonging to cluster one kind, if so, ultrasonic radar current state is default normal
Working condition；If it is not, then ultrasonic radar current state is default abnormal operation；
S33: default abnormal alarm is carried out according to preset alarm mode to the ultrasonic radar of current preset abnormal operation.
5. a kind of system being tracked based on multiple ultrasonic radars to barrier characterized by comprising
Multiple ultrasonic radars are arranged on body of a motor car predeterminated position, for obtaining predetermined inductive according to prefixed time interval
Barrier is recorded and saved to the range information of body of a motor car in range；
Change rate module is calculated, the adjacent time inter point obstacle distance Automobile obtained for calculating each ultrasonic radar
The change rate of the range information of body；
Inspection module, the variation of the range information of the obstacle distance body of a motor car for obtaining multiple ultrasonic radars
Verification is compared according to default comparison method in rate, obtains the current default operating condition of each ultrasonic radar.
6. a kind of system being tracked based on multiple ultrasonic radars to barrier according to claim 5, feature
It is, ultrasonic radar includes:
Probe unit, for being detected to predetermined inductive range；
Recording distance unit, for recording and saving prefixed time interval point, barrier is to body of a motor car within the scope of predetermined inductive
Range information.
7. a kind of system being tracked based on multiple ultrasonic radars to barrier according to claim 5, feature
It is, calculating change rate module includes:
Obtain distance unit, for obtain each ultrasonic radar obtain adjacent time inter point barrier to body of a motor car away from
From information；
Change rate unit is obtained, for obtaining the adjacent time inter that each ultrasonic radar obtains by presetting computational algorithm
Point barrier to body of a motor car range information change rate；
Confirm speed unit, the adjacent time inter point barrier for being obtained when each ultrasonic radar to body of a motor car away from
When change rate from information changes, determine that barrier changes relative to the relative velocity of automobile.
8. a kind of system being tracked based on multiple ultrasonic radars to barrier according to claim 5, feature
It is, Inspection module includes:
Cluster Classification unit, the obstacle distance body of a motor car of the adjacent time inter point for calculating multiple ultrasonic radars
Range rate carry out Cluster Classification；
State cell is judged, for judging whether ultrasonic radar is belonging to cluster one kind, if so, the current shape of ultrasonic radar
State is default normal operating conditions；If it is not, then ultrasonic radar current state is default abnormal operation；
Abnormity early warning unit is carried out for the ultrasonic radar to current preset abnormal operation according to preset alarm mode pre-
If abnormal alarm.
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| CN112009368A (en) * | 2020-08-17 | 2020-12-01 | 黄冈格罗夫氢能汽车有限公司 | 360-degree panoramic image ultrasonic radar control system and method for fuel cell hydrogen energy automobile |
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