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WO2019154745A1 - Procédé destiné à détecter un objet dans une zone environnante d'un véhicule automobile avec une évaluation de la hauteur de l'objet à l'aide de fractions d'écho d'un signal de réception, équipement de calcul, capteur à ultrasons et système d'assistance à la conduite - Google Patents

Procédé destiné à détecter un objet dans une zone environnante d'un véhicule automobile avec une évaluation de la hauteur de l'objet à l'aide de fractions d'écho d'un signal de réception, équipement de calcul, capteur à ultrasons et système d'assistance à la conduite Download PDF

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Publication number
WO2019154745A1
WO2019154745A1 PCT/EP2019/052589 EP2019052589W WO2019154745A1 WO 2019154745 A1 WO2019154745 A1 WO 2019154745A1 EP 2019052589 W EP2019052589 W EP 2019052589W WO 2019154745 A1 WO2019154745 A1 WO 2019154745A1
Authority
WO
WIPO (PCT)
Prior art keywords
echo
received signal
signal
motor vehicle
ultrasonic sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2019/052589
Other languages
German (de)
English (en)
Inventor
Thomas Jung
Wolfgang Hamm
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of WO2019154745A1 publication Critical patent/WO2019154745A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/527—Extracting wanted echo signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations

Definitions

  • the present invention relates to a method for detecting an object in an environmental region of a motor vehicle, in which an ultrasonic sensor for
  • Emission of an ultrasonic signal is controlled, a received signal is determined which a temporal course of the reflected in the surrounding area
  • Ultrasonic signal describes the received signal is compared with a threshold curve and if a first echo portion of the received signal, the threshold curve
  • the present invention relates to a computing device for an ultrasonic sensor, an ultrasonic sensor and a driver assistance system. Furthermore, the present invention relates to a
  • the interest here is directed to ultrasonic sensors for motor vehicles.
  • ultrasonic sensors may be part of a driver assistance system, for example, which serves to assist a driver when driving the motor vehicle.
  • ultrasonic sensors are used to determine a distance to an object or to determine a relative position between the motor vehicle and the object. For this purpose, an ultrasound signal is emitted with the ultrasound sensor and the ultrasound signal reflected by the object is received again. Based on the transit time between the emission of the ultrasonic signal and the
  • Receiving the reflected from the object ultrasonic signal can then under
  • the distance to the object can be determined.
  • Ultrasound sensors can not measure the height of an object directly. However, height is an important factor in deciding whether an object or obstacle can be overrun or not.
  • the echo information is processed in different ways, for example by means of a driver assistance system. For example, in a high object, the motor vehicle is braked in front of the object, whereby an object classified as low is run over. Currently, this classification is in a central control unit of the Motor vehicle or the driver assistance system based on sensor signals, which are provided with the ultrasonic sensors made.
  • Ultrasonic signal also a second echo component or a second echo is present.
  • two echo information can be evaluated. On the one hand, it can be checked whether a second echo component is present directly after the first echo component. On the other hand, it can be checked whether a second echo component with twice the duration of the first echo component is present.
  • DE 10 2005 044 050 A1 describes a method for parking space determination for motor vehicles.
  • a pulse CV method using an ultrasonic sensor with a transmitting receiving device a removal of objects located laterally from the motor vehicle is carried out. It is envisaged that based on the detection of two echo signals as a double echo whose time interval is less than a predetermined maximum distance, an assessment is made in terms of the height of the object.
  • Object classification method for classifying an object In this case, a transmission signal is emitted by the vehicle in the direction of a track boundary and the reflected received signal is received. Furthermore, local maxima of the received signal are counted within a time interval. Furthermore, a transmission signal is emitted by the vehicle in the direction of a track boundary and the reflected received signal is received. Furthermore, local maxima of the received signal are counted within a time interval. Furthermore, a transmission signal is emitted by the vehicle in the direction of a track boundary and the reflected received signal is received. Furthermore, local maxima of the received signal are counted within a time interval. Furthermore, a transmission signal is emitted by the vehicle in the direction of a track boundary and the reflected received signal is received. Furthermore, local maxima of the received signal are counted within a time interval. Furthermore, a transmission signal is emitted by the vehicle in the direction of a track boundary and the reflected received signal is received. Furthermore, local maxima of the received signal are counted within a time
  • the object classification signal generated, which depends on the number of local maxima of the received signal.
  • the object classification signal may assume a first state if the received signal has no or exactly one local maximum. Furthermore, the object classification signal may assume a second state if the received signal has two or more local maxima within the temporal segment. Thus, a classification of the object in two heights (traversable and not traversable) can be realized.
  • a reception signal which describes the ultrasonic signal reflected by the object.
  • This received signal is usually compared with a threshold curve.
  • Receive signal which exceeds this threshold curve is then considered by the Object assuming assumed. If a second echo portion, which briefly follows the first echo portion, is too high or too low, this information is not transmitted to the controller. The detection of the second echo component also depends on the set threshold curve. This can make it a wrong one
  • This object is achieved by a method by a
  • an ultrasonic sensor for emitting an ultrasonic signal is preferably activated.
  • a received signal is determined, which preferably a temporal course of the in the
  • the received signal is preferably compared with a threshold curve, and if a first echo component of the received signal exceeds the threshold curve, it is preferably assumed that this first echo component describes an echo of the ultrasound signal reflected by the object.
  • this first echo component describes an echo of the ultrasound signal reflected by the object.
  • predetermined window has a further echo component, which in particular describes a signal peak of the received signal.
  • a height of the object is estimated on the basis of the first echo component and / or the second echo component.
  • An inventive method is used to detect an object in one
  • a received signal is determined, which describes a time profile of the reflected ultrasonic signal in the surrounding area.
  • This received signal is compared with a threshold curve and if a first echo portion of the received signal, the threshold curve is exceeded, it is assumed that this first echo component describes an echo of the ultrasound signal reflected by the object. It is provided that, if the first echo portion exceeds the threshold curve, regardless of the
  • Threshold curve is checked, whether the received signal in at least one
  • predetermined window has a second echo portion, which describes a signal peak of the received signal.
  • the height of the object is estimated on the basis of the first echo component and / or the second echo component.
  • the object in the surrounding area of the motor vehicle is to be characterized by means of the ultrasonic sensor.
  • the height of the object is to be estimated by means of the measurement of the ultrasonic sensor.
  • an ultrasound signal is emitted by the ultrasound sensor and the ultrasound signal reflected by the object is received again.
  • a membrane of the ultrasonic sensor using a corresponding
  • Transducer element such as a piezoelectric element
  • an excitation signal can be transmitted to the transducer element by means of the computing device.
  • the ultrasonic signal reflected from the object again strikes the diaphragm, causing the transducer element to vibrate.
  • a sensor signal or a received signal can then be provided which describes the oscillation of the diaphragm as a function of time.
  • the received signal can describe a time profile of the amplitudes of the sensor signal or of the ultrasonic signal reflected by the object.
  • the received signal can describe an envelope of the sensor signal.
  • the received signal or the amplitude characteristic of the received signal is then compared with a predetermined threshold curve. It is checked whether the received signal exceeds the threshold curve.
  • the first echo component exceeds the threshold curve, it is checked independently of the threshold curve whether the echo component has the second echo component in at least one predetermined window.
  • This second echo component describes at least one signal peak of the received signal.
  • Received signal is detected, it is assumed that the emitted ultrasonic signal has been reflected by the object. It is then checked whether the received signal has the second echo component. For this purpose, the
  • Reception signal but especially not compared with the threshold curve.
  • the received signal has at least one signal peak or one local maximum. If the received signal describes a profile of the amplitudes of the oscillation of the membrane of the ultrasonic sensor when receiving the ultrasonic signal, it can be checked whether the
  • Receive signal has a signal peak or a maximum. It is further provided that the second echo component is searched for in the at least one predetermined window. This at least one window describes a region in which the second echo component or the second echo of the ultrasound signal usually occur. In this way, the evaluation of the received signal can be made directly to the ultrasonic sensor and independently of the threshold curve. This increases the robustness of the height detection of the object.
  • the object is preferably assumed to be high if the received signal has the second echo component.
  • the second echo portion can, for example, of a
  • the ultrasonic signal in addition to the object on a floor or at a
  • the second echo component may also be due to the fact that the ultrasound signal, which is reflected at the object, is again reflected at the ultrasound sensor or the motor vehicle, returns to the object and is reflected by the latter back to the ultrasound sensor. If the second echo component is detected in the received signal, it can be assumed that the object is a high object. This information can be determined by means of the computing device of the ultrasonic sensor and to the central control unit of the motor vehicle or the
  • Driver assistance system of the motor vehicle can be operated reliably and safely.
  • the at least one predetermined window is assigned to a time range and / or an amplitude range of the received signal, the time range and / or the amplitude range being dependent on the first
  • Echo component can be determined.
  • the at least one window describes the area of the received signal, in which portions of the second echo are usually present. It is also possible to define a plurality of predetermined windows in which it is checked whether the second echo component is present. In doing so, the window will be relative to the
  • the at least one window can also be determined with respect to the amplitude of the received signal. That's it
  • the at least one predetermined window is determined in dependence on the first echo or the first echo component.
  • the at least one window can then be determined in relation to the first echo component. This enables an efficient evaluation of the received signal.
  • the time range predetermined time interval with respect to the first echo portion, wherein the time interval is predetermined as a function of a distance to the object and / or an installed position of the ultrasound sensor.
  • the transit time difference between the first echo portion and the second echo portion is dependent on the distance and / or the installation position.
  • the distance between the ultrasound sensor and the object can be determined on the basis of the first echo component or a transit time assigned to the first echo component. Depending on this distance, the time range can then be determined.
  • the time range of the installation position for example, a mounting height
  • the ultrasonic sensor can be determined on the motor vehicle.
  • the predetermined time interval is between 30 ps and 70 ps, in particular 50 ps. If the ultrasound signal is additionally reflected at the ground or the road surface, the second echo component follows almost directly to the first echo component. Here, experiments and / or simulations have shown that this second echo component is usually received after a period of 50 ps after the first echo. If the second echo component is searched for in this time range, the received signal can be evaluated in a simple and effective manner.
  • the object is assumed to be a high object, which is located on a floor, if the second echo portion is detected in the time range.
  • the at least one window or a first window can be selected such that it covers the time range which follows the first echo portion. In this time range then echoes of the
  • Receive ultrasonic signal which come from the multiple reflection of the ultrasonic signal. These multiple reflections occur on objects that are located on the ground or the road surface. In this way, the object can be characterized accordingly.
  • a transit time is determined after which the first echo portion is received, and the time range is determined to include twice the transit time.
  • the transit time describes the time which elapses between the emission of the ultrasound signal and the reception of the first echo or of the first echo component.
  • the time range of the at least one window can be chosen such that it includes a double value of the transit time. In this way it can be checked whether the received signal describes portions of the ultrasonic signal which are caused by a multiple reflection between the ultrasonic sensor and the object. It can also be provided that a first window is defined for the time range which takes place directly on the first echo or the first echo and that a second window is defined which is determined to include twice the transit time. It allows an efficient evaluation of the received signal to further echo components or echoes, regardless of the threshold curve.
  • the time domain is assigned a time duration between 150 ps and 250 ps, in particular.
  • This time range was determined based on searches and / or simulations. This time range is chosen so that in this possible second echo components can be reliably detected. Furthermore, the time range is chosen so that this brings a low computational burden.
  • the amplitude range extends from a first amplitude value, which corresponds to at least 30% of the amplitude of the first echo component, to a second amplitude value, which corresponds to at least 70% of the amplitude of the first echo component.
  • the second echo component usually has a lower amplitude than the first echo component of the received signal.
  • the first amplitude value, which defines the lower limit of the amplitude range is so too Select to avoid misinterpreting noise or noise as the second echo portion. This allows reliable detection of the second echo component.
  • a computing device for an ultrasonic sensor of a
  • Motor vehicle is designed for performing a method according to the invention and the advantageous embodiments thereof. It can be provided in particular that the computing device is arranged in a housing of the ultrasonic sensor. Preferably, the computing device is designed as an application-specific integrated circuit (ASIC - Application-Specific Integrated Circuit). With the help of ASIC - Application-Specific Integrated Circuit).
  • ASIC application-specific integrated circuit
  • an excitation signal can be sent, which for
  • Transmission of the ultrasonic signal is transmitted to the transducer element. Furthermore, the sensor signal, which is provided by the transducer element when receiving the ultrasound signal, can be received by means of the computing device, and the received signal can be determined therefrom.
  • Another aspect of the invention relates to an electronic control device for a
  • the excitation signal can be transmitted to the transducer element of the ultrasonic sensor.
  • the electronic control unit ECU - Electronic Control Unit
  • Control unit the sensor signal, which is provided by the transducer element upon receiving the ultrasonic signal, are received, and from this, the received signal can be determined.
  • An inventive ultrasonic sensor for a motor vehicle comprises a
  • the ultrasonic sensor may have a membrane which is, for example, cup-shaped and may be made of a metal, for example aluminum.
  • the membrane which is, for example, cup-shaped and may be made of a metal, for example aluminum.
  • Ultrasonic sensor preferably a transducer element, which may be formed by a piezoelectric element. Furthermore, the ultrasonic sensor can have a housing in which the computing device or the sensor electronics are arranged.
  • An inventive driver assistance system for a motor vehicle comprises at least one ultrasonic sensor.
  • the driver assistance system can be a
  • the driver assistance system can be configured, for example, as a parking aid system, which the driver when parking in a Parking space and / or when parking out of the parking space supported. Furthermore, provision can be made for the driver assistance system to be designed to maneuver the motor vehicle, at least semi-autonomously, as a function of the detected object or as a function of the estimated height of the object.
  • a motor vehicle according to the invention comprises an inventive
  • the motor vehicle is designed in particular as a passenger car. It can also be provided that the motor vehicle is designed as a commercial vehicle.
  • the invention also includes a computer program product with program code means which are stored in a computer-readable medium in order to carry out the method according to the invention and the advantageous embodiments thereof when the computer program product is processed on a processor of an electronic computing device of an ultrasound sensor and / or an electronic control unit.
  • a further aspect of the invention relates to a computer-readable medium, in particular in the form of a computer-readable floppy disk, CD, DVD, memory card, USB memory unit, or the like, are stored in the program code means to perform the inventive method and the advantageous embodiments thereof, if the
  • Program code means loaded in a memory of an electronic computing device of an ultrasonic sensor and / or an electronic control unit and on a processor of the electronic computing device and / or the electronic
  • Control unit to be processed.
  • Embodiments and their advantages apply correspondingly to the ultrasonic sensor device according to the invention, to the driver assistance system according to the invention, to the motor vehicle according to the invention for the computer program product according to the invention and to the computer-readable medium according to the invention.
  • Fig. 1 shows a motor vehicle with a driver assistance system, which a
  • Fig. 2 is a schematic representation of the ultrasonic sensor, which is a
  • Computing device comprises;
  • Fig. 3 shows the ultrasonic sensor and a high object, which is located on a
  • Ground is located as well as the signal paths of the ultrasonic signal
  • Embodiment wherein the object is a barrier
  • Fig. 6 shows the ultrasonic sensor and an object according to another
  • Embodiment wherein the object is arranged spaced from the ground; and 7 shows a received signal which describes a time profile of the ultrasound signal reflected by the object according to FIG. 6.
  • Fig. 1 shows a motor vehicle 1, which is presently designed as a passenger car, in a plan view.
  • the motor vehicle 1 comprises a driver assistance system 2, which serves to assist a driver when driving the motor vehicle 1.
  • the driver assistance system 2 can be designed as a parking aid system, by means of which the driver can be supported when parking the motor vehicle 1 in a parking space and / or when parking out of the parking space.
  • the driver assistance system 2 comprises at least one ultrasound sensor 4.
  • the driver assistance system 2 comprises twelve
  • Ultrasonic sensors 4 of which six ultrasonic sensors 4 are arranged in a front region 6 of the motor vehicle 1 and six ultrasonic sensors 4 in a rear region 7 of the motor vehicle 1.
  • the ultrasonic sensors can in particular be mounted on a bumper of the motor vehicle 1.
  • Ultrasonic sensors 4 at least partially be arranged in corresponding recesses or through holes of the bumper. It can also be provided that the ultrasonic sensors 4 are arranged hidden behind the bumpers. In principle, the ultrasonic sensors 4 can also be arranged in other trim parts or components of the motor vehicle 1. For example, the ultrasonic sensors 4 may be arranged on or hidden behind the doors of the motor vehicle 1.
  • Receiving signals 10 (see FIG. 4), which describe at least one object 8 in a surrounding area 9 of the motor vehicle 1, can be respectively provided with the respective ultrasonic sensors 4.
  • an object 8 in the surrounding area 9 is shown schematically.
  • an ultrasound signal can be emitted with each of the ultrasound sensors 4 and the ultrasound signal reflected by the object 8 can be received again.
  • a transit time tf between the emission of the ultrasound signal and the reception of the ultrasound signal reflected by the object 8 On the basis of a transit time tf between the emission of the ultrasound signal and the reception of the ultrasound signal reflected by the object 8, a distance d between the
  • the driver assistance system 2 comprises an electronic control unit 3 which is connected to the respective ultrasonic sensors 4 for data transmission. Corresponding data lines or a data bus are presently not shown for clarity.
  • the reception signals 10 provided with the respective ultrasonic sensors 4 can be transmitted to the electronic control unit 3.
  • the control unit 3 can then check whether the object 8 is present in the surrounding area 9 and at which position the object 8 is located. As explained in more detail below, information which describes whether the object 8 is a tall object or a low object is also determined by means of the ultrasound sensor 4.
  • driver assistance system 2 can then be used by the driver assistance system 2 to output a corresponding output to the driver of the motor vehicle 1.
  • the driver assistance system 2 the motor vehicle 1 in
  • the motor vehicle 1 can be braked in front of a high object and a low object can be run over by the motor vehicle 1.
  • the ultrasonic sensor 4 has a membrane 11 which is pot-shaped and which can be made of a metal, in particular aluminum.
  • the ultrasonic sensor 4 comprises a transducer element 12, which can be provided by a piezoelectric element.
  • the transducer element 12 is in particular an electro-acoustic transducer.
  • the ultrasonic sensor 4 comprises a computing device 5, which may be formed in particular by an application-specific intelligent circuit. The computing device 5 is connected to the
  • Transducer element 12 is electrically connected. When emitting the ultrasonic signal from the computing device 5, a corresponding excitation signal to the
  • Transducer element 12 are transmitted. Upon receiving the ultrasonic signal, a sensor signal, in the form of a temporally variable electrical voltage, can be transmitted to the computing device 5 with the transducer element 12.
  • the received signal 10 can then be provided, which describes a time course of the vibrations of the membrane 1 1 and the transducer element 12 as a function of time t.
  • the received signal 10 also describes the time profile of the ultrasonic signal reflected by the object 8. It is provided in particular that the received signal 10 describes an envelope or an envelope of the sensor signal.
  • FIG. 3 shows a schematic representation of the ultrasonic sensor 4 and of the object 8, which in the present case is located on a floor 13 or the road surface.
  • the ultrasonic sensor 4 is arranged at an installation height h on the motor vehicle 1, wherein the installation height h is known.
  • the installation height h is defined with respect to a vertical axis of the motor vehicle 1.
  • the object 8 may be, for example, a post or a wall.
  • Ultrasonic sensor 4 is emitted, this is reflected directly on the object 8 and returns to the ultrasonic sensor 4 back. This is illustrated here by the arrow 14.
  • a portion of the emitted ultrasound signal at the contact point or foot point of the object 8 is reflected at the bottom 13. This is illustrated by the arrow 15 in the present case.
  • FIG. 4 shows a time profile of the received signal 16 of the ultrasonic signal reflected by the object 8 according to FIG. 3.
  • the time t is plotted on the abscissa and an amplitude A is plotted on the ordinate.
  • the received signal 10 describes an envelope curve or an amplitude profile of the ultrasonic signal reflected by the object 8.
  • This received signal 10 is compared with a predetermined threshold curve 17. This shows that
  • Receive signal 10 to a first echo portion 18, which exceeds the threshold curve 17. It is assumed that this first echo portion 18 of the
  • Reflection of the ultrasonic signal at the object 8 comes.
  • This first echo portion 18 is received after the time tf.
  • the distance d between the ultrasonic sensor 4 and the object 8 can then be determined.
  • the first echo component 18 is detected in the received signal 10
  • Threshold curve 17 This first window 20a is defined by a time range tb and by an amplitude range Ab.
  • the amplitude range Ab extends from a first amplitude value A1 to a second amplitude value A2.
  • Amplitude value A1 may be about 30% of the amplitude A of the first echo portion 18 and the second amplitude value A2 may be about 70% of the amplitude A of the first
  • the time domain tb may be associated with a duration of about 200 ps. Further, the time range tb is determined to be one
  • the second echo component 19 can be recognized in the received signal 10 by being assigned to a signal peak or a local maximum. If the second echo portion 19 is detected in the reception signal 10, it can
  • the object 8 according to FIG. 5 may be, for example, a
  • FIG. 6 shows the ultrasonic sensor 4 and another object 8.
  • the object 8 in comparison to the object 8 according to FIG. 5 with respect to the vertical direction of the motor vehicle 1 on a larger spatial extent.
  • FIG. 7 shows the received signal 10, which describes the time profile of the ultrasonic signal reflected by the object 8 according to FIG. 6.
  • a first echo portion 18 of the received signal 10 which exceeds the threshold curve 17.
  • This is received after the runtime tf.
  • it is checked whether a second echo portion 19 is received in a second window 20b.
  • the second window 20b or the time range tb of the second window 20b is selected such that it includes twice the transit time 2tf.
  • the received signal 10 By evaluating the received signal 10, it can first be checked whether this has the first echo component 18. Following this, it can be checked in the window 20a and / or in the window 20b whether the second echo portion 19 can be detected there. If this is the case, it can be assumed that the object 8 is a tall object. This information can then be transmitted from the respective ultrasonic sensor 4 or its computing device 5 to the control unit 3. This information can then be provided by the driver assistance system 2 used to issue a warning to the driver and / or to maneuver the motor vehicle 1 at least semi-autonomously.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé destiné à détecter un objet (8) dans une zone environnante (9) d'un véhicule automobile (1), selon lequel un capteur à ultrasons (4) destiné à émettre un signal à ultrasons est commandé, un signal de réception (10) est déterminé, lequel signal décrit un parcours chronologique du signal à ultrasons réfléchi dans la zone environnante (9), le signal de réception (10) est comparé à une courbe de valeurs de seuil (17) et, dans le cas où une première fraction d'écho (18) du signal de réception (10) dépasse la courbe de valeurs de seuil (17), il est supposé que cette première fraction d'écho (18) décrit un écho du signal à ultrasons réfléchi par l'objet (8) ; dans le cas où la première fraction d'écho (18) dépasse la courbe de valeurs de seuil (17), il est contrôlé indépendamment de la courbe de valeurs de seuil (17) si le signal de réception (10) comporte dans au moins une fenêtre préétablie (20a, 20b) une deuxième fraction d'écho (19), laquelle décrit au moins un pic de signal du signal de réception (10), et une hauteur de l'objet étant estimée à l'aide de la première fraction d'écho (18) et/ou de la deuxième fraction d'écho (19).
PCT/EP2019/052589 2018-02-08 2019-02-04 Procédé destiné à détecter un objet dans une zone environnante d'un véhicule automobile avec une évaluation de la hauteur de l'objet à l'aide de fractions d'écho d'un signal de réception, équipement de calcul, capteur à ultrasons et système d'assistance à la conduite Ceased WO2019154745A1 (fr)

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DE102018102786.9A DE102018102786A1 (de) 2018-02-08 2018-02-08 Verfahren zum Erfassen eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs mit Abschätzung der Höhe des Objekts anhand von Echoanteilen eines Empfangssignals, Recheneinrichtung, Ultraschallsensor sowie Fahrerassistenzsystem

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CN113296101A (zh) * 2020-02-22 2021-08-24 坎德拉（深圳）科技创新有限公司 超声波测距方法、装置、系统及计算机可读存储介质
CN114930190A (zh) * 2019-12-06 2022-08-19 法雷奥开关和传感器有限责任公司 在干扰环境中通过超声波传感器系统进行测量
CN116507938A (zh) * 2020-10-07 2023-07-28 法雷奥开关和传感器有限责任公司 用于测量车辆的侧面周围环境的方法、测量设备和车辆
CN116547558A (zh) * 2020-10-07 2023-08-04 法雷奥开关和传感器有限责任公司 用于测量车辆的侧向环境区域的方法、测量装置和车辆
JP2023541147A (ja) * 2020-09-30 2023-09-28 コンチネンタル・オートナマス・モビリティ・ジャーマニー・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング 動力車両の周辺部にあるオブジェクトを特徴付けるための方法
CN116507938B (en) * 2020-10-07 2026-01-23 法雷奥开关和传感器有限责任公司 Method for measuring the lateral surroundings of a vehicle, measuring device and vehicle

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DE102020215255A1 (de) * 2020-12-03 2022-06-09 Continental Automotive Gmbh Verfahren zur Höhenklassifikation von Objekten mittels Ultraschallsensorik
CN117063088A (zh) * 2021-05-13 2023-11-14 株式会社爱信 物体检测装置
CN113376644B (zh) * 2021-08-16 2021-11-30 深圳煜炜光学科技有限公司 一种提高激光测距精度的方法与装置
CN113376645B (zh) * 2021-08-16 2021-11-30 深圳煜炜光学科技有限公司 一种提高激光测距精度的方法与装置

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CN116507938A (zh) * 2020-10-07 2023-07-28 法雷奥开关和传感器有限责任公司 用于测量车辆的侧面周围环境的方法、测量设备和车辆
CN116547558A (zh) * 2020-10-07 2023-08-04 法雷奥开关和传感器有限责任公司 用于测量车辆的侧向环境区域的方法、测量装置和车辆
CN116507938B (en) * 2020-10-07 2026-01-23 法雷奥开关和传感器有限责任公司 Method for measuring the lateral surroundings of a vehicle, measuring device and vehicle

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