阅读说明：本技术 雷达测距方法、装置、计算机设备和存储介质 (Radar range finding method, apparatus, computer equipment and storage medium ) 是由 陈小年 刘兵 曹鑫 于 2019-08-02 设计创作，主要内容包括：本申请涉及一种雷达测距方法、装置、计算机设备和存储介质。所述方法包括：初始化雷达通路后发射超声波,并启动回波监测任务；利用回波监测任务获取超声波的第一回波信号和第二回波信号；对第一回波信号和第二回波信号进行分析,得到第一回波信号特征和第二回波信号特征；将第一回波信号特征和第二回波信号特征进行特征匹配,确定第一回波信号是否被干扰；当确定第一回波信号未被干扰时,根据第一回波信号计算障碍物距离。采用本方法能够提高测距的准确性。(This application involves a kind of radar range finding method, apparatus, computer equipment and storage mediums.The described method includes: emitting ultrasonic wave after initialization radar access, and start echo monitoring task；The first echo signal and second echo signal of ultrasonic wave are obtained using echo monitoring task；First echo signal and second echo signal are analyzed, first echo signal feature and second echo signal feature are obtained；First echo signal feature and second echo signal feature are subjected to characteristic matching, determine whether first echo signal is disturbed；When determining that first echo signal is not disturbed, obstacle distance is calculated according to first echo signal.It can be improved the accuracy of ranging using this method.)

1. a kind of radar range finding method, which comprises

Emit ultrasonic wave after initialization radar access, and starts echo monitoring task；

The first echo signal and second echo signal of the ultrasonic wave are obtained using echo monitoring task；

The first echo signal and the second echo signal are analyzed, first echo signal feature and second time are obtained Wave signal characteristic；

The first echo signal feature and the second echo signal feature are matched, whether determine first echo signal It is disturbed；

When determining that the first echo signal is not disturbed, obstacle distance is calculated according to the first echo signal.

2. the method according to claim 1, wherein described obtain the ultrasound using echo monitoring task The first echo signal and second echo signal of wave, comprising:

The echo monitors the timing of task start first time；

When the first time timing time reaches detection time, the first echo signal of the ultrasonic wave is received；

The radar access is reinitialized, and starts second of timing；

When second of timing time reaches detection time, the second echo signal of the ultrasonic wave is received.

3. the method according to claim 1, wherein described to the first echo signal and second echo Signal is analyzed, and first echo signal feature and second echo signal feature are obtained, comprising:

The superposed signal of the first echo signal and the second echo signal is removed respectively；

The first echo signal for removing superposed signal is compared with threshold line, obtains the first signal distributions, and will removal The second echo signal of superposed signal is compared with threshold line, obtains second signal distribution；

Divide first signal distributions and second signal distribution, obtain at least one first block and at least one the Binary signal block；

First echo signal feature is obtained from first block, and obtains the second echo from the second signal block Signal characteristic.

4. the method according to claim 1, wherein described by the first echo signal feature and described second Ultrasonic echo feature is matched, and determines whether first echo signal is disturbed, comprising:

When the quantity of the corresponding second signal block of the second echo signal feature is not more than the first preset value, described the is judged Whether one ultrasonic echo feature and the second echo signal feature meet default first condition；

When the first echo signal feature and the second echo signal feature meet default first condition, described the is determined One echo-signal is not disturbed.

5. the method according to claim 1, wherein described by the first echo signal feature and described second Ultrasonic echo feature is matched, and determines whether first echo signal is disturbed, comprising:

When the quantity of the corresponding second signal block of the second echo signal feature is greater than the first preset value, described first is judged Whether ultrasonic echo feature and the second echo signal feature meet default first condition and default second condition；

Meet default first condition in the first echo signal feature and the second echo signal feature and meets default the When two conditions, determine that the first echo signal is not disturbed.

6. method according to claim 4 or 5, which is characterized in that described to judge the first echo signal feature and institute State second echo signal feature whether satisfaction preset first condition, comprising:

Obtain respectively from the first echo signal feature and the second echo signal feature according to default first condition One matching characteristic and the second matching characteristic；

First matching characteristic is compared with second matching characteristic, if obtained comparison result meets default first Condition, it is determined that the first echo signal feature and the second echo signal feature meet default first condition.

7. according to the method described in claim 6, it is characterized in that, first matching characteristic includes maximum first letter of width Number block width, the first peak signal amplitude of amplitude maximum and the first superthreshold points；Second matching characteristic includes width Spend maximum second signal block width, the second peak signal amplitude of amplitude maximum and the second superthreshold points；

It is described to be compared first matching characteristic with second matching characteristic, it is preset if obtained comparison result meets First condition, it is determined that the first echo signal feature and the second echo signal feature meet default first condition, packet It includes:

The first block width, the first peak signal amplitude and the first superthreshold are counted wide with the second signal block Degree, the second peak signal amplitude and the second superthreshold points are compared；

If the first block width is greater than the second signal block width and the first peak signal amplitude is greater than described Second peak signal amplitude and first superthreshold points are greater than 3 times of second superthreshold points, it is determined that described the One ultrasonic echo feature and the second echo signal feature meet default first condition.

8. according to the method described in claim 5, it is characterized in that, the judgement first echo signal feature and described the Two ultrasonic echo features whether satisfaction preset second condition, comprising:

Obtained from the first echo signal feature according to default second condition the first peak signal amplitude of amplitude maximum with And corresponding time shaft point；

When the first peak signal amplitude and corresponding time shaft point meet the second preset value and second echo letter Number feature is distributed at equal proportion, it is determined that the first echo signal feature and the second echo signal feature meet described pre- If second condition.

9. the method according to claim 1, wherein the method also includes:

It when the second echo signal is empty, determines that the first echo signal is not disturbed, is believed according to first echo Number calculate obstacle distance.

10. a kind of radar range unit, which is characterized in that described device includes:

Transmitting module for emitting ultrasonic wave after initializing radar access, and starts echo monitoring task；

Receiving module, for obtaining the first echo signal and the second echo letter of the ultrasonic wave using echo monitoring task Number；

Analysis module obtains the first echo letter for analyzing the first echo signal and the second echo signal Number feature and second echo signal feature；

Matching module, for the first echo signal feature and the second echo signal feature to be carried out characteristic matching, really Determine whether first echo signal is disturbed；

Computing module, for being calculated and being hindered according to the first echo signal when determining that the first echo signal is not disturbed Hinder object distance.

11. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists In the step of processor realizes any one of claims 1 to 9 the method when executing the computer program.

12. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program The step of method described in any one of claims 1 to 9 is realized when being executed by processor.

Technical field

This application involves Radar Technology fields, more particularly to a kind of radar range finding method, apparatus, computer equipment and deposit Storage media.

Background technique

Radar is the abbreviation of radio detection and location.Radar system is using the waveform and directional aerial of modulation into space Specific airspace transmitting electromagnetic wave to search for target object, once searching in airspace, there are target objects, then projectile energy A part to radar direction emit.Radar receiver handles these echoes therefrom to extract the distance, speed, angle of target object Spend position etc. information on target object.

Ultrasonic radar belongs to one kind of radar, and ultrasonic radar equally passes through transmitter, and the transmitting of some direction is super outward Acoustic signals start to carry out timing while emitting ultrasonic wave.Ultrasonic wave is propagated by air, is encountered on the way if propagating Barrier will reflect to be propagated back to immediately to be come, and ultrasonic receiver just stops timing immediately at the time of receiving back wave.Pass through The time of the spread speed of ultrasonic wave and timer record in air, so that it may calculate between starting point to barrier away from From length.However, if ultrasonic wave is after transmitting if received in the case where the more noisy interference source of external environment is more The interference for holding the interference signal by frequency band same in external environment, will lead to erroneous judgement of the receiving end to echo, to go out Existing measured deviation or measuring error lead to the accuracy rate decline of measurement.

Summary of the invention

Based on this, it is necessary in view of the above technical problems, provide a kind of radar range finding method that can be improved accuracy rate, dress It sets, computer equipment and storage medium.

A kind of radar range finding method, which comprises

Emit ultrasonic wave after initialization radar access, and starts echo monitoring task；

The first echo signal and second echo signal of the ultrasonic wave are obtained using echo monitoring task；

The first echo signal and the second echo signal are analyzed, first echo signal feature and are obtained Two ultrasonic echo features；

The first echo signal feature and the second echo signal feature are matched, determine first echo signal Whether it is disturbed；

When determining that the first echo signal is not disturbed, obstacle distance is calculated according to the first echo signal.

First echo for obtaining the ultrasonic wave using echo monitoring task is believed in one of the embodiments, Number and second echo signal, comprising:

The echo monitors the timing of task start first time；

When the first time timing time reaches detection time, the first echo signal of the ultrasonic wave is received；

The radar access is reinitialized, and starts second of timing；

When second of timing time reaches detection time, the second echo signal of the ultrasonic wave is received.

It is described in one of the embodiments, that the first echo signal and the second echo signal are analyzed, Obtain first echo signal feature and second echo signal feature, comprising:

The superposed signal of the first echo signal and the second echo signal is removed respectively；

The first echo signal for removing superposed signal is compared with threshold line, obtains the first signal distributions, and will The second echo signal of removal superposed signal is compared with threshold line, obtains second signal distribution；

Divide first signal distributions and second signal distribution, obtains at least one first block and at least one A second signal block；

First echo signal feature is obtained from first block, and obtains second from the second signal block Ultrasonic echo feature.

In one of the embodiments, it is described by the first echo signal feature and the second echo signal feature into Row matching, determines whether first echo signal is disturbed, comprising:

When the quantity of the corresponding second signal block of the second echo signal feature is not more than the first preset value, institute is judged It states first echo signal feature and whether the second echo signal feature meets default first condition；

When the first echo signal feature and the second echo signal feature meet default first condition, institute is determined First echo signal is stated not to be disturbed.

In one of the embodiments, it is described by the first echo signal feature and the second echo signal feature into Row matching, determines whether first echo signal is disturbed, comprising:

When the quantity of the corresponding second signal block of the second echo signal feature is greater than the first preset value, described in judgement Whether first echo signal feature and the second echo signal feature meet default first condition and default second condition；

Meet default first condition in the first echo signal feature and the second echo signal feature and meets pre- If when second condition, determining that the first echo signal is not disturbed.

The judgement first echo signal feature and the second echo signal feature in one of the embodiments, Whether satisfaction preset first condition, comprising:

It is obtained respectively from the first echo signal feature and the second echo signal feature according to default first condition Take the first matching characteristic and the second matching characteristic；

First matching characteristic is compared with second matching characteristic, is preset if obtained comparison result meets First condition, it is determined that the first echo signal feature and the second echo signal feature meet default first condition.

First matching characteristic includes the maximum first block width of width, amplitude in one of the embodiments, Maximum first peak signal amplitude and the first superthreshold points；Second matching characteristic includes maximum second letter of width Number block width, the second peak signal amplitude of amplitude maximum and the second superthreshold points；

It is described to be compared first matching characteristic with second matching characteristic, if obtained comparison result meets Default first condition, it is determined that the first echo signal feature and second echo signal feature satisfaction are first default Part, comprising:

By the first block width, the first peak signal amplitude and the first superthreshold points and the second signal Block width, the second peak signal amplitude and the second superthreshold points are compared；

If the first block width is greater than the second signal block width and the first peak signal amplitude is greater than The second peak signal amplitude and first superthreshold points are greater than 3 times of second superthreshold points, it is determined that institute It states first echo signal feature and the second echo signal feature meets default first condition.

The judgement first echo signal feature and the second echo signal feature in one of the embodiments, Whether satisfaction preset second condition, comprising:

The first peak signal width of amplitude maximum is obtained from the first echo signal feature according to default second condition Value and corresponding time shaft point；

When the first peak signal amplitude and corresponding time shaft point meet the second preset value and second time described Wave signal characteristic is distributed at equal proportion, it is determined that the first echo signal feature and the second echo signal feature meet institute State default second condition.

In one of the embodiments, the method also includes:

When the second echo signal is empty, determine that the first echo signal is not disturbed, according to described first time Wave signal calculates obstacle distance.

A kind of radar range unit, described device include:

Transmitting module for emitting ultrasonic wave after initializing radar access, and starts echo monitoring task；

Receiving module, for using the echo monitoring task obtain the ultrasonic wave first echo signal and second time Wave signal；

Analysis module obtains first time for analyzing the first echo signal and the second echo signal Wave signal characteristic and second echo signal feature；

Matching module, for the first echo signal feature and the second echo signal feature to be carried out feature Match, determines whether first echo signal is disturbed；

Computing module, for when determining that the first echo signal is not disturbed, according to the first echo signal meter Calculate obstacle distance.

A kind of computer equipment, including memory and processor, the memory are stored with computer program, and feature exists In when the processor executes the computer program the step of radar range finding method described in realization any of the above-described.

A kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program The step of radar range finding method described in any of the above-described is realized when being executed by processor.

Above-mentioned radar range finding method, apparatus, computer equipment and storage medium emit ultrasound after initializing radar access Wave, and start echo monitoring task, the first echo signal and second echo signal of ultrasonic wave are obtained using echo monitoring task, So that it is guaranteed that the corresponding echo of ultrasonic wave can be received.First echo signal and second echo signal are analyzed, obtained First echo signal feature and second echo signal feature, so that it is guaranteed that obtaining the characteristic point of ultrasonic echo.Then, by first Ultrasonic echo feature and second echo signal feature are matched, and determine whether first echo signal is disturbed, and are not disturbed when When, the calculating of obstacle distance is carried out according to first echo signal.The above method is by receiving twice return, twice according to matching The characteristic point of echo judges to carry out the calculating of distance with the first echo again when the first echo is not disturbed, thus prevent using by The echo-signal of interference carries out the measuring and calculating of distance and situations such as measured deviation occurs, improves the accuracy rate of measurement.

Detailed description of the invention

Fig. 1 is the flow diagram of radar range finding method in one embodiment；

Fig. 2 is to analyze in one embodiment first echo signal and second echo signal, obtains the first echo letter The flow diagram of number feature and second echo signal characterization step；

Fig. 3 is to match first echo signal feature and second echo signal feature in one embodiment, determines the The flow diagram of the whether disturbed step of one echo-signal；

Fig. 4 is to match first echo signal feature and second echo signal feature in another embodiment, is determined The flow diagram of the whether disturbed step of first echo signal；

Fig. 5 is the flow diagram of radar range finding method in another embodiment；

Fig. 6 is echo signal processing flow diagram in one embodiment；

Fig. 7 is the schematic diagram of echo in one embodiment；

Fig. 8 is the structural block diagram of radar range unit in one embodiment；

Fig. 9 is the internal structure chart of computer equipment in one embodiment.

Specific embodiment

It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood The application is further elaborated.For the ease of illustrating, each embodiment of the application is to answer with ultrasonic radar system With object, the technical solution of the application is explained.It should be appreciated that specific embodiment described herein is only used to solve The application is released, is not used to limit the application.

In one embodiment, as shown in Figure 1, providing a kind of radar range finding method, comprising the following steps:

Step S102 emits ultrasonic wave after initializing radar access, and starts echo monitoring task.

Wherein, initialization radar access refers to the initialization to radar hardware, such as electronic switch switching probe, for giving Circuit charging.Initialization radar access further includes the initialization for calculating data, it can be understood as, it prepares for data processing.It is super Sound wave is then the waveform of ultrasonic radar transmitting, and when ultrasonic wave, a kind of frequency was higher than 20000 hertz of sound wave, its directionality Good, penetration capacity is strong, is easily obtained the sound energy relatively concentrated, propagation distance in water is remote, is widely used in ranging, tests the speed, clearly It washes, weld etc. in work, in medicine, military affairs, industry and agriculturally having many applications.Echo monitoring task is then a kind of Mechanism after ultrasonic radar emits ultrasonic wave, for timing receipt echo.

Specifically, distance measuring instruction is sent to ultrasonic radar, after ultrasonic radar receives distance measuring instruction, responds ranging Instruction selection radar access, wherein the radar access selected can for one or one or more.After selected radar access, Initialize the radar access of selection.Ultrasonic wave is modulated and sent after the completion of the initialization of radar access, and ultrasonic wave once sends same Shi Qidong echo monitors task.For example, in practical applications, when there is ranging demand, relevant staff can pass through terminal Equipment sends distance measuring instruction to ultrasonic radar, is used to indicate ultrasonic radar and starts ranging work.

Step S104 obtains the first echo signal and second echo signal of ultrasonic wave using echo monitoring task.

Wherein, first echo signal refers to that ultrasonic radar receives the received first time echo of system, and second of echo Then received second of the echo of ultrasonic radar.It is to be understood that since echo monitoring task is to receive echo for timing Used, so first echo signal is to monitor the first time echo that task receives according to echo, second echo signal is then root Second of the echo received according to echo monitoring task.

Specifically, after starting echo monitoring task, ultrasonic radar starts timing, presets when the time of timing reaches Detection time when, using the echo-signal received as first echo signal.Then, restart timing, when timing Between arrive again at preset detection time after, using the echo-signal received as second of echo.

In one embodiment, the first echo signal and second echo signal of ultrasound are obtained using echo monitoring task, Specifically include: echo monitors the timing of task start first time；When first time timing time reaches detection time, ultrasonic wave is received First echo signal；Radar access is reinitialized, and starts second of timing；When second of timing time reaches detection Between when, receive the second echo signal of ultrasonic wave.

Specifically, after ultrasonic radar sends ultrasonic wave, echo monitors the timing of task start first time, works as timing time After reaching preset detection time, by the echo-signal of the ultrasonic wave received, which is first echo signal.Then, will The radar access re-starts initialization and prepares second of timing, after radar access reinitializes, starts second of timing, when After second of timing time reaches detection time, using the echo-signal received as second echo signal.Wherein, when detection Between set according to the actual situation.For example, it is assumed that detection time is 8 milliseconds, then when starting first time timing, timing reaches 8 After millisecond, using the echo-signal received as first echo signal.Radar access is reinitialized, second is opened and counts When, when second of timing equally to 8 milliseconds after, using the echo-signal received as second echo signal.Because of this implementation Set detection time in example, then when detecting between before get echo-signal and be not included into process range, it is only necessary to be directed to Received echo-signal after timing arrival detection time.

Step S106, analyzes first echo signal and second echo signal, obtain first echo signal feature and Second echo signal feature.

Wherein, first echo signal feature refers to the characteristic point of first echo signal, for indicating first echo signal Feature.Second echo signal feature then refers to the characteristic point of second echo signal, for identifying the feature of second echo signal.

Specifically, after receiving first echo signal and second echo signal, respectively to first echo signal and second Echo-signal carries out signal analysis, obtains first echo signal feature and second echo signal feature.That is, to first echo signal Signal analysis is carried out, corresponding first echo signal feature is obtained.Signal analysis is carried out to second echo signal, is obtained corresponding Second echo signal feature.

Step S108 matches first echo signal feature and second echo signal feature, determines that the first echo is believed Number whether it is disturbed.

Specifically, due to once sending out wave, the time difference monitors echo twice, and sound wave is propagated back in the medium because of scattering, absorption Etc. reasons constantly decay.Its show signal amplitude can bearing decaying at any time situation, therefore, when noiseless, second The characteristic point of received second echo signal and the characteristic point of first time received first echo signal can meet some requirements. Therefore it is analyzed after obtaining first echo signal feature and second echo signal feature by signal, by first echo signal feature It is matched with second echo signal feature, when determining that first echo signal feature and second echo signal feature match, Determine that first echo signal is not disturbed.It is on the contrary, however, it is determined that first echo signal feature and second echo signal feature mismatch, Then determine that first echo signal is disturbed.Wherein, matching refer to by first echo signal feature and second echo signal feature into The matching of row feature, it can be understood as, according to preset condition by first echo signal feature and second echo signal feature into Whether row comparison or first echo signal feature and second echo signal feature meet preset requirement etc..

Step S110 calculates obstacle distance according to first echo signal when determining that first echo signal is not disturbed.

Specifically, when determining that first echo signal is disturbed, then it represents that the data invalid of received first echo signal, Then data zero setting abandons the data and re-starts ranging.And when determining that first echo signal is not disturbed, according to what is received First echo signal calculates distance.Since the ultrasonic wave of radar emission is propagated by air, obstacle is encountered on the way if propagating Object will reflect to be propagated back to immediately to be come, so the distance surveyed is the distance of barrier.Wherein, obstacle distance is according to ultrasonic wave Spread speed calculated, calculation formula is as follows:

D=v*t/2+offest

Wherein, d indicates that obstacle distance, v indicate the aerial spread speed of ultrasonic wave, and v=340m/s, t are obstacle The time point of object echo-signal, that is, the time point of echo is received, offest indicates ranging offset correction value.

In one embodiment, when second echo signal is empty, then it represents that it is not received by secondary echo-signal, It indicates can not there is interference signal, then directly determines first echo signal and be not interfered.

Above-mentioned radar range finding method, initialize radar access after emit ultrasonic wave, and start echo monitoring task, using return Wave monitors task and obtains the first echo signal and second echo signal of ultrasonic wave, so that it is guaranteed that it is corresponding to receive ultrasonic wave Echo.First echo signal and second echo signal are analyzed, first echo signal feature and the second echo letter are obtained Number feature, so that it is guaranteed that obtaining the characteristic point of ultrasonic echo.Then, first echo signal feature and second echo signal is special Sign is matched, and determines whether first echo signal is disturbed, and when not disturbed, carries out barrier according to first echo signal The calculating of distance.The above method by receive twice return, according to matching twice return characteristic point judge the first echo not by The calculating of distance is carried out when interference with the first echo again, to prevent the measuring and calculating for carrying out distance using the echo-signal being interfered And there is situations such as measured deviation, improve the accuracy rate of measurement.

In one embodiment, as described in Figure 2, first echo signal and second echo signal are analyzed, obtains One ultrasonic echo feature and second echo signal feature, comprising the following steps:

Step S202 removes the superposed signal of first echo signal and second echo signal respectively.

Wherein, superposed signal refers to the bias voltage of hardware, in order to smoothly send ultrasonic wave, i.e., before ultrasonic wave transmission The deviant of hardware would generally be detected, bias voltage is superimposed on ultrasonic signal by when Modulated Ultrasonic wave.Therefore, it gets super The corresponding echo-signal of sound wave needs the bias voltage that will be superimposed to remove.

Specifically, after getting first echo signal and second echo signal, be respectively necessary for removal first echo signal and Superposed signal on second echo signal.That is, echo-signal is compared with bias voltage, it is straight higher than the part of bias voltage It connects and subtracts bias voltage, and first overturn lower than the part of bias voltage and subtract bias voltage again.

The first echo signal for removing superposed signal is compared step S204 with threshold line, obtains the first signal point Cloth, and the second echo signal for removing superposed signal is compared with threshold line, obtain second signal distribution.

Wherein, the reference of threshold line to be set by the range that need to detect previously according to hardware circuit and radar include threshold value Line, threshold value then refer to different distance position, and performance amplitude of effective barrier in detection circuit needs minimum to be achieved.It can To be interpreted as, all minimums surveyed in range of ultrasonic radar form threshold line.First signal distributions are and threshold value Remaining first echo signal after line is compared, second signal distribution are remaining the after being compared with threshold line Two echo-signals.

Specifically, after removing the superposed signal of first echo signal and second echo signal, the first echo is believed It number is compared with preset threshold line, the first echo signal higher than threshold line retains, and retained first echo signal is For the first signal distributions.Likewise, second echo signal threshold line is compared, the second echo signal higher than threshold line is protected It stays, retained second echo signal is second signal distribution.

Step S206 is distributed according to the first signal distributions and second signal, obtains first echo signal feature and second time Wave signal characteristic.

Wherein, ultrasonic echo feature includes peak signal amplitude and corresponding time point, block width and superthreshold Points.Specifically, after getting the first signal distributions and second signal is distributed, peak signal is obtained from the first signal distributions Amplitude and corresponding time point, first echo signal feature of the block width as first echo signal.From second signal Peak signal amplitude and corresponding time point are obtained in distribution, block width is believed as the second echo of second echo signal Number feature.In the present embodiment, the echo-signal that will acquire removes superposed signal and is compared to obtain signal with threshold line Distribution, it is ensured that obtain effective echo-signal.

In one embodiment, be distributed according to the first signal distributions and second signal, obtain first echo signal feature and Second echo signal feature, specifically includes: the first signal distributions of segmentation and second signal distribution obtain at least one first signal Block and at least one second signal block；First echo signal feature is obtained from the first block, and from second signal block Obtain second echo signal feature.

Wherein, block refers to effective obstacle signal distribution, i.e. the first block refers in first echo signal effectively Obstacle signal distribution, second signal block are effective obstacle signal distribution in second echo signal.

Specifically, it is determined that being divided to obtain corresponding block according to the waveform peak of signal after signal distributions.That is, according to It is used as starting according to the point that first in signal distributions is more than threshold line upper threshold value point, is no more than to a continuous wavelength period width The region of preset threshold is an effective block.It should be appreciated that the quantity of block is at least one, i.e., by the first signal Distribution can obtain one or more first block after being split, and similarly, second signal distribution is split After can obtain one or more second signal block.Then, corresponding characteristic point is obtained from obtained block, is obtained Signal characteristic of the characteristic point as corresponding echo-signal.That is, the characteristic point in the first block is that first echo signal is special It levies, the characteristic point in second signal block is second echo signal feature.Wherein, characteristic point include block block width, Superthreshold points, peak signal amplitude and corresponding time shaft point, that is to say, that ultrasonic echo feature includes corresponding block Block width, superthreshold points, peak signal amplitude and corresponding time shaft point.

In one embodiment, as shown in figure 3, by first echo signal feature and the progress of second echo signal feature Match, determine whether first echo signal is disturbed, comprising the following steps:

Step S302, when the quantity of the corresponding second signal block of second echo signal feature is not more than the first preset value, Judge whether first echo signal feature and second echo signal feature meet default first condition.

Step S304 is determined when first echo signal feature and second echo signal feature meet default first condition First echo signal is not disturbed.

Wherein, the first preset value is the value set according to practical experience, can be set based on practical experience.In this implementation In example, the first preset value preferably 3.And since ultrasonic echo feature is the characteristic point in corresponding block, echo-signal Feature has corresponding block.I.e. the corresponding block of first echo signal feature is the first block, and second echo signal is special Levying corresponding block is second signal block.Default first condition is preset rule.

Specifically, and when the quantity of the corresponding second signal block of second echo signal feature is not more than the first preset value, The first preset condition is obtained, it is pre- to judge whether first echo signal feature and second echo signal feature meet according to first condition If first condition.Where it is assumed that the first preset value is 3, then when the quantity of second signal block is less than or equal to 3, obtain default First condition.Judge whether first echo signal feature and second echo signal feature meet according to the default first condition of acquisition The first condition, if satisfied, then indicate that first echo signal feature and second echo signal feature match, second echo signal It is not interference signal, so determining that first echo signal is noiseless.Conversely, first echo signal feature and second echo signal are special Sign is unsatisfactory for default first condition, then it represents that first echo signal feature and second echo signal feature mismatch, the second echo Signal may be interference signal, so determining that first echo signal is interfered.

In another embodiment, as shown in figure 4, by first echo signal feature and the progress of second echo signal feature Match, determine whether first echo signal is disturbed, comprising the following steps:

Step S402 sentences when the quantity of the corresponding second signal block of second echo signal feature is greater than the first preset value Disconnected first echo signal feature and second echo signal feature whether satisfaction presets first condition and default second condition.

Step S404 meets default first condition in first echo signal feature and second echo signal feature and meets pre- If when second condition, determining that first echo signal is not disturbed.

Specifically, i.e., when the quantity of the corresponding second signal block of second echo signal feature is greater than the first preset value, then Preset first condition and second condition are obtained, first echo signal feature and second are judged according to first condition and second condition Whether ultrasonic echo feature meets preset first condition and default second condition, only meets first condition and Article 2 simultaneously Part, then it represents that first echo signal characteristic point and second echo signal characteristic point match, and second echo signal is not interference letter Number, so that it is determined that first echo signal is noiseless.Conversely, if be unsatisfactory in first condition and second condition at least one when, Then indicate that second echo signal is not interference signal, so that it is determined that first echo signal is noiseless.

In one embodiment, judge first echo signal feature and second echo signal feature whether satisfaction default the One condition, specifically includes: being obtained respectively from first echo signal feature and second echo signal feature according to default first condition Take the first matching characteristic and the second matching characteristic；First matching characteristic is compared with the second matching characteristic, if obtained ratio Relatively result meets default first condition, it is determined that first echo signal feature and the second echo signal feature meet default the One condition.

Wherein, the first matching characteristic is the Partial Feature point obtained from first echo signal feature, the second matching characteristic Point is the Partial Feature point obtained from second echo signal.Partial Feature point include in characteristic point the maximum block of width it is wide Degree, the peak signal amplitude of amplitude maximum and superthreshold points, superthreshold points can be understood as being more than threshold line upper threshold value The sum of point.That is, the maximum block width of selection signal block width from multiple blocks corresponding block width, from more Selected in the corresponding peak signal amplitude of a block amplitude maximum peak signal amplitude and multiple block superthreshold points Sum.

Specifically, from first echo signal feature obtain the maximum block width of width be the first block width, Superthreshold points conduct of the peak signal amplitude of amplitude maximum as the first block of the first peak signal amplitude and acquisition First superthreshold points, i.e. the first matching characteristic include the first block width, the first peak signal amplitude and the first superthreshold Points.The maximum block width of width is obtained from second echo signal feature as second signal block width, amplitude maximum Peak signal amplitude as the second peak signal amplitude, and obtain the superthreshold points of second signal block and be used as the second superthreshold Value points, i.e. the second matching characteristic include second signal block width, the second peak signal amplitude and the second superthreshold points.By One matching characteristic is compared with the second matching characteristic, determines whether to meet default first condition according to comparison result is obtained.

In one embodiment, the first matching characteristic is compared with the second matching characteristic, according to obtaining comparison result Determine whether to meet default first condition, specifically include: surpassing the first block width, the first peak signal amplitude and the first Threshold value points are compared with second signal block width, the second peak signal amplitude and the second superthreshold points.That is, by first Compared with second signal width, the first peak signal amplitude is compared signal width with the second peak signal amplitude, the first is surpassed Threshold value points are compared with the second superthreshold points.If the first block width is greater than second signal block width and first most Strong signal amplitude is greater than the second peak signal amplitude and the first superthreshold points are greater than 3 times of the second superthreshold points, it is determined that First echo signal feature and second echo signal feature meet default first condition.Wherein, 3 times are according to actual tests experience Value setting.

In one embodiment, judge first echo signal feature and second echo signal feature whether satisfaction default the Two conditions, specifically include: obtaining the first most strong letter of amplitude maximum from first echo signal feature according to default second condition Number amplitude and corresponding time shaft point；When the first peak signal amplitude and corresponding time shaft point meet the second preset value, And second echo signal feature is distributed at equal proportion, it is determined that first echo signal feature and second echo signal feature meet Default second condition.

Specifically, the first peak signal amplitude and amplitude for amplitude maximum being obtained from first echo signal feature are most The corresponding time shaft point of the first big peak signal amplitude.By the first peak signal amplitude and corresponding time shaft point and second Preset value compares, and the second preset value includes preset amplitude thresholds and distance threshold.In the present embodiment, in the second preset value Amplitude thresholds are 7.5V, distance threshold 0.5m.That is, when the first peak signal amplitude is greater than amplitude thresholds, and due to the time Time point on axis point and apart from proportional, therefore according to the available corresponding distance of time shaft point, i.e. time shaft point When corresponding distance is less than distance threshold, then it represents that the first peak signal amplitude and corresponding time shaft point meet second and preset Value.Also, judge whether second echo signal feature is distributed at equal proportion simultaneously, i.e. feature in second echo signal feature Whether the peak signal amplitude of point, i.e., each second signal block is distributed on a timeline at equal proportion, is table at equal proportion distribution Show that signal is in the situation gradually to decay.That is, when the first peak signal amplitude and corresponding time shaft point meet second When characteristic point in preset value and second echo signal feature is distributed at equal proportion, first echo signal feature and second is indicated Ultrasonic echo feature meets default second condition.

In one embodiment, as shown in figure 5, being illustrated with a specific embodiment to radar range finding method, when After ultrasonic radar receives distance measuring instruction, by selecting corresponding radar access and being initialized to radar access, and To radar hardware be biased detection obtain the bias voltage of hardware after, modulate and send ultrasonic wave, at the same start echo monitoring Task opens first time timing, after first time, timing reached detection time, receives first echo signal distribution.By to first Echo-signal carries out signal analysis, obtains corresponding first echo signal feature.Then, radar access is reinitialized, is utilized Echo monitors second of timing of task start, after second of timing time reaches detection time, receives second echo signal.Together Sample, signal analysis is carried out to second echo signal, obtains the second echo signal characteristic point of second echo signal.Finally, obtaining After getting first echo signal feature and second echo signal feature, into characteristic point checking treatment, i.e., the first echo is believed Number feature and second echo signal feature are matched, and determine whether first echo signal is received interference.First echo signal Whether the as distance measurement result of radar range finding, that is, the data for determining that ranging obtains are effective.First echo signal is not interfered, After then determining that distance measurement result is effective, the distance that ranging obtains is calculated according to distance calculation formula.It wherein, is the steady of guarantee data It is fixed, ranging is obtained into data and is filtered to obtain final result.Filtering method includes but is not limited to that median is flat The way of median average filter, recurrence average filtering is applied in combination in equal filter method, recurrence average filter method, limit filtration method Method, limit filtration method.

Further, with reference to Fig. 6, first echo signal is expressed as the signal that first time echo reception arrives, the second echo letter Number it is expressed as the signal that second of echo reception arrives.After receiving first echo signal and second echo signal, echo-signal Specific processing includes: to pre-process firstly, carrying out signal biasing respectively, i.e., folds in removal first echo signal and second echo signal The bias voltage added.It is filtered out secondly, carrying out echo threshold respectively, i.e., is compared with preset threshold line, obtains corresponding the One signal distributions and second signal distribution.Then, obstacle signal segmentation is carried out respectively and characteristic point obtains, i.e., respectively to first Signal distributions and second signal distribution are split, and obtain multiple corresponding first blocks and second signal block.Also, from Corresponding characteristic point is obtained in one block and in second signal block, i.e. first echo signal feature and second echo signal is special Sign.Finally, carrying out analysis matching to characteristic point, finally judge whether first echo signal is disturbed, i.e. the obtained data of ranging Whether effectively.

In one embodiment, with reference to Fig. 7, a kind of schematic diagram of echo is provided, includes threshold line in echo schematic diagram, inclined Set voltage.Specifically, the corresponding waveform of obtained echo-signal is compared with bias voltage and threshold line, removal superposition letter The waveform that number will be less than bias voltage removes, and is compared with threshold line after removal bias voltage and will be less than threshold line Waveform portion removal, obtain corresponding signal distributions.It will obtain signal distributions to be split, and obtain corresponding block, often The feature that block wave in a block is wide, peak signal amplitude and corresponding time shaft point are corresponding echo-signal Point.

It should be understood that although each step in the flow chart of Fig. 1-4 is successively shown according to the instruction of arrow, These steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps Execution there is no stringent sequences to limit, these steps can execute in other order.Moreover, at least one in Fig. 1-4 Part steps may include that perhaps these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps Completion is executed, but can be executed at different times, the execution sequence in these sub-steps or stage is also not necessarily successively It carries out, but can be at least part of the sub-step or stage of other steps or other steps in turn or alternately It executes.

In one embodiment, as shown in figure 8, providing a kind of radar range unit, comprising: A module, B module and C mould Block, in which:

Transmitting module 802 for emitting ultrasonic wave after initializing radar access, and starts echo monitoring task.

Receiving module 804, for obtaining the first echo signal and the second echo letter of ultrasonic wave using echo monitoring task Number.

Analysis module 806 obtains first echo signal for analyzing first echo signal and second echo signal Feature and second echo signal feature.

Matching module 808 is determined for first echo signal feature and second echo signal feature to be carried out characteristic matching Whether first echo signal is disturbed.

Computing module 810, for calculating obstacle according to first echo signal when determining that first echo signal is not disturbed Object distance.

In one embodiment, receiving module 804 is also used to echo monitoring task start first time timing；It is counted when first time When the time reach detection time when, receive the first echo signal of ultrasonic wave；Radar access is reinitialized, and is started second Timing；When second of timing time reaches detection time, the second echo signal of ultrasonic wave is received.

In one embodiment, analysis module 806 is also used to remove first echo signal and second echo signal respectively Superposed signal；The first echo signal for removing superposed signal is compared with threshold line, obtains the first signal distributions, and will The second echo signal of removal superposed signal is compared with threshold line, obtains second signal distribution；According to the first signal distributions It is distributed with the second signal, obtains first echo signal feature and second echo signal feature.

In one embodiment, analysis module 806 be also used to divide the first signal distributions and second signal distribution, obtain to Few first block and at least one second signal block；First echo signal feature is obtained from the first block, and Second echo signal feature is obtained from second signal block.

In one embodiment, matching module 808 is also used to when the corresponding second signal block of second echo signal feature When quantity is not more than the first preset value, judge whether first echo signal feature and second echo signal feature meet default first Condition；When first echo signal feature and second echo signal feature meet default first condition, first echo signal is determined It is not disturbed.

In one embodiment, matching module 808 is also used to when the corresponding second signal block of second echo signal feature When quantity is greater than the first preset value, judge whether first echo signal feature and second echo signal feature meet default first Part and default second condition；Meet default first condition in first echo signal feature and second echo signal feature and meets pre- If when second condition, determining that first echo signal is not disturbed.

In one embodiment, matching module 808 be also used to according to preset first condition from first echo signal feature and The first matching characteristic and the second matching characteristic are obtained in second echo signal feature respectively；First matching characteristic is matched with second Feature is compared, if obtained comparison result meets default first condition, it is determined that first echo signal feature and second time Wave signal characteristic meets default first condition.

In one embodiment, matching module 808 be also used to by the first block width, the first peak signal amplitude and First superthreshold points are compared with second signal block width, the second peak signal amplitude and the second superthreshold points；If First block width is greater than second signal block width and the first peak signal amplitude and is greater than the second peak signal amplitude and the One superthreshold points are greater than 3 times of the second superthreshold points, it is determined that first echo signal feature and second echo signal feature Meet default first condition.

In one embodiment, matching module 808 is also used to according to default second condition from first echo signal feature Obtain the first peak signal amplitude and corresponding time shaft point of amplitude maximum；When the first peak signal amplitude and corresponding Time shaft point meets the second preset value and second echo signal feature is distributed at equal proportion, it is determined that first echo signal is special Second echo signal feature of seeking peace meets default second condition.

Specific about radar range unit limits the restriction that may refer to above for radar range finding method, herein not It repeats again.Modules in above-mentioned radar range unit can be realized fully or partially through software, hardware and combinations thereof.On Stating each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also store in a software form In memory in computer equipment, the corresponding operation of the above modules is executed in order to which processor calls.

In one embodiment, a kind of computer equipment is provided, which can be server, internal junction Composition can be as shown in Figure 9.The computer equipment include by system bus connect processor, memory, network interface and Database.Wherein, the processor of the computer equipment is for providing calculating and control ability.The memory packet of the computer equipment Include non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system, computer program and data Library.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The calculating The database of machine equipment is for storing data.The network interface of the computer equipment is used to pass through network connection with external terminal Communication.To realize a kind of radar range finding method when the computer program is executed by processor.

It will be understood by those skilled in the art that structure shown in Fig. 9, only part relevant to application scheme is tied The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.

In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory Computer program, the processor perform the steps of when executing computer program

Emit ultrasonic wave after initialization radar access, and starts echo monitoring task；

The first echo signal and second echo signal of ultrasonic wave are obtained using echo monitoring task；

First echo signal and second echo signal are analyzed, first echo signal feature and the second echo letter are obtained Number feature；

First echo signal feature and second echo signal feature are subjected to characteristic matching, whether determine first echo signal It is disturbed；

When determining that first echo signal is not disturbed, obstacle distance is calculated according to first echo signal.

In one embodiment, it is also performed the steps of when processor executes computer program

Echo monitors the timing of task start first time；When first time timing time reaches detection time, ultrasonic wave is received First echo signal；Radar access is reinitialized, and starts second of timing；When second of timing time reaches detection Between when, receive the second echo signal of ultrasonic wave.

In one embodiment, it is also performed the steps of when processor executes computer program

The superposed signal of first echo signal and second echo signal is removed respectively；The first echo of superposed signal will be removed Signal is compared with threshold line, obtains the first signal distributions, and the second echo signal and threshold value that will remove superposed signal Line is compared, and obtains second signal distribution；Divide the first signal distributions and second signal distribution, obtains at least one first letter Number block and at least one second signal block；First echo signal feature is obtained from the first block, and from second signal block Middle acquisition second echo signal feature.

In one embodiment, it is also performed the steps of when processor executes computer program

When the quantity of the corresponding second signal block of second echo signal feature is not more than the first preset value, judge first time Whether wave signal characteristic and second echo signal feature meet default first condition；In first echo signal feature and the second echo When signal characteristic meets default first condition, determine that first echo signal is not disturbed.

In one embodiment, it is also performed the steps of when processor executes computer program

When the quantity of the corresponding second signal block of second echo signal feature is greater than the first preset value, the first echo is judged Whether signal characteristic and second echo signal feature meet default first condition and default second condition；In first echo signal spy When second echo signal feature of seeking peace meets default first condition and meets default second condition, determine first echo signal not by Interference.

In one embodiment, it is also performed the steps of when processor executes computer program

First is obtained respectively from first echo signal feature and second echo signal feature according to default first condition With feature and the second matching characteristic；First matching characteristic is compared with the second matching characteristic, if obtained comparison result is full The default first condition of foot, it is determined that first echo signal feature and second echo signal feature meet default first condition.

In one embodiment, processor execute computer program when also perform the steps of by the first block width, First peak signal amplitude and the first superthreshold points and second signal block width, the second peak signal amplitude and the second surpass Threshold value points are compared；If the first block width is greater than second signal block width and the first peak signal amplitude and is greater than the Two peak signal amplitudes and the first superthreshold points are greater than 3 times of the second superthreshold points, it is determined that first echo signal feature Meet default first condition with second echo signal feature.

In one embodiment, it is also performed the steps of when processor executes computer program according to default second condition The the first peak signal amplitude and corresponding time shaft point of amplitude maximum are obtained from first echo signal feature；When first most Strong signal amplitude and corresponding time shaft point meet the second preset value and second echo signal feature is distributed at equal proportion, Then determine that first echo signal feature and second echo signal feature meet default second condition.

In one embodiment, it also performs the steps of when processor executes computer program when second echo signal is It when empty, determines that first echo signal is not disturbed, obstacle distance is calculated according to first echo signal.

In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated Machine program performs the steps of when being executed by processor

Emit ultrasonic wave after initialization radar access, and starts echo monitoring task；

The first echo signal and second echo signal of ultrasonic wave are obtained using echo monitoring task；

First echo signal and second echo signal are analyzed, first echo signal feature and the second echo letter are obtained Number feature；

First echo signal feature and second echo signal feature are subjected to characteristic matching, whether determine first echo signal It is disturbed；

When determining that first echo signal is not disturbed, obstacle distance is calculated according to first echo signal.

In one embodiment, it is also performed the steps of when computer program is executed by processor

Echo monitors the timing of task start first time；When first time timing time reaches detection time, ultrasonic wave is received First echo signal；Radar access is reinitialized, and starts second of timing；When second of timing time reaches detection Between when, receive the second echo signal of ultrasonic wave.

In one embodiment, it is also performed the steps of when computer program is executed by processor

The superposed signal of first echo signal and second echo signal is removed respectively；The first echo of superposed signal will be removed Signal is compared with threshold line, obtains the first signal distributions, and the second echo signal and threshold value that will remove superposed signal Line is compared, and obtains second signal distribution；Divide the first signal distributions and second signal distribution, obtains at least one first letter Number block and at least one second signal block；First echo signal feature is obtained from the first block, and from second signal block Middle acquisition second echo signal feature.

In one embodiment, it is also performed the steps of when computer program is executed by processor and works as second echo signal When the quantity of the corresponding second signal block of feature is not more than the first preset value, first echo signal feature and the second echo letter are judged Whether number feature meets default first condition；Meet in first echo signal feature and second echo signal feature first default When part, determine that first echo signal is not disturbed.

In one embodiment, it is also performed the steps of when computer program is executed by processor

When the quantity of the corresponding second signal block of second echo signal feature is greater than the first preset value, the first echo is judged Whether signal characteristic and second echo signal feature meet default first condition and default second condition；In first echo signal spy When second echo signal feature of seeking peace meets default first condition and meets default second condition, determine first echo signal not by Interference.

In one embodiment, it is also performed the steps of when computer program is executed by processor

First is obtained respectively from first echo signal feature and second echo signal feature according to default first condition With feature and the second matching characteristic；First matching characteristic is compared with the second matching characteristic, if obtained comparison result is full The default first condition of foot, it is determined that first echo signal feature and second echo signal feature meet default first condition.

In one embodiment, it is also performed the steps of when computer program is executed by processor

By the first block width, the first peak signal amplitude and the first superthreshold points with second signal block width, Second peak signal amplitude and the second superthreshold points are compared；If it is wide that the first block width is greater than second signal block Degree and the first peak signal amplitude are greater than the second peak signal amplitude and the first superthreshold points are greater than the second superthreshold and count 3 times, it is determined that first echo signal feature and second echo signal feature meet default first condition.

In one embodiment, it is also performed the steps of when computer program is executed by processor

Obtained from first echo signal feature according to default second condition the first peak signal amplitude of amplitude maximum with And corresponding time shaft point；When the first peak signal amplitude and corresponding time shaft point meet the second preset value and second Ultrasonic echo feature is distributed at equal proportion, it is determined that first echo signal feature and second echo signal feature meet default second Condition.

In one embodiment, it is also performed the steps of when computer program is executed by processor

It when second echo signal is empty, determines that first echo signal is not disturbed, is calculated and hindered according to first echo signal Hinder object distance.

Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, To any reference of memory, storage, database or other media used in each embodiment provided herein, Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms, Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..

Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance Shield all should be considered as described in this specification.

The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.