EP3167307A1 - Vorrichtung und verfahren zur akustischen untersuchung von umgebungsobjekten eines fortbewegungsmittels - Google Patents
Vorrichtung und verfahren zur akustischen untersuchung von umgebungsobjekten eines fortbewegungsmittelsInfo
- Publication number
- EP3167307A1 EP3167307A1 EP15721727.4A EP15721727A EP3167307A1 EP 3167307 A1 EP3167307 A1 EP 3167307A1 EP 15721727 A EP15721727 A EP 15721727A EP 3167307 A1 EP3167307 A1 EP 3167307A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- sensor
- sound
- time
- intensity
- environment
- 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.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 238000011156 evaluation Methods 0.000 claims description 20
- 238000001514 detection method Methods 0.000 claims description 11
- 230000007613 environmental effect Effects 0.000 claims description 11
- 238000004458 analytical method Methods 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 238000009795 derivation Methods 0.000 claims description 2
- 238000003860 storage Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 10
- 238000002592 echocardiography Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 5
- 230000005236 sound signal Effects 0.000 description 4
- 230000002123 temporal effect Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000873 masking effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—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
Definitions
- the present invention relates to a device and a method for examining surrounding objects of a means of locomotion.
- the present invention relates to the acoustic examination of a position and / or a relative movement and / or a spatial extent of the surrounding object.
- sound-based driver assistance systems are known in the prior art which examine the echoes of emitted measurement signals as to whether environment objects are contained in the environment of the ego transportation means, at which distance they are located to the ego vehicle and, if appropriate, in which direction they are currently moving.
- DE 10 2009 002 870 A1 proposes an increase in the energy of emitted measuring signals in order to reduce the energy of the
- DE 10 201 1 079 707 A1 discloses a further method for measuring-signal-free acoustic surroundings sensor system for use in a driver assistance system.
- the environment objects can be any type of Procedure solved.
- the environment objects can be any type of Procedure solved.
- the environment objects can be any type of Procedure solved.
- the environment objects can be any type of Procedure solved.
- the environment objects can be any type of Procedure solved.
- the environment objects can be any type of Procedure solved.
- the environment objects can be any type of Procedure solved.
- a first step sound emitted by an environmental object is detected by means of a sensor which is arranged on the ego locomotion means.
- the sound may have been generated independently by the environment object, as for example in the case of engine noise, tire rolling noise, wind noise, gear noise, engine noise, etc., takes place. Alternatively or additionally, from the
- ambient sound radiated sound but also be reflected sound whose origin in the environment of the surrounding object, in particular in
- short measured signals emitted by the ego vehicle in particular measuring pulses whose echoes are received and evaluated by the ego means of locomotion
- the time signal (“sound event versus time") is recorded and evaluated, in other words, the time course of an intensity magnitude of the sensor output signal (microphone, acoustic-to-electrical converter) is compared with predefined references as an "intensity variable" in the frame
- the sensor output signal microphone, acoustic-to-electrical converter
- Sensor results In addition to the direct evaluation of the signal strength itself, this also includes evaluations of the time course of the signal strength derivatives, in particular the derivatives of the signal strength according to the time, ie with respect to its temporal change, and / or the derivative of the signal strength according to the location, wherein at a known instantaneous velocity temporal and local derivative can be converted into each other.
- predefined references which may be stored, for example, in a data memory, it is possible to deduce a position and / or a relative movement and / or a spatial extent of the surrounding object.
- the time profile of the intensity quantity of the sensor signal is classified and assigned to the determined class
- Driving situation recognized as present. According to the invention can be dispensed with the transmission of measurement signals and the investigation of
- Means of transport can be collected.
- An alternative preferred realization of the representation of time profiles by means of equidistant sampling may be based on the path equidistance, in which the signals and their derivatives are each after a certain distance
- One way to characterize a current time course is to measure successive times in the strength (intensity) of the time
- Relationship with exactly one predefined reference can be determined, which is assumed to be current when falling below a predefined maximum deviation.
- Traffic situation with respect to an environment object compared with corresponding predefined signatures and assumed a closest to the closest signature driving situation as related to the current driving situation.
- the omission of the emission of measurement signals avoids the masking possibly also interesting environmental signals by their echoes and reduces the energy consumption within the electrical system.
- the evaluation according to the invention of the signals arriving at the ego vehicle is not tied to the waiver of the emission of measurement signals.
- an alternating evaluation is conceivable, ie, according to the Emission of at least one measurement signal, the incoming echoes are evaluated and at the end of the echo cycle, ie, in periods in which the arrival of echoes on the Meßsignalaussch due to the runtime-proportional increasing sound attenuation has become unlikely, at least one sample of the time course of the otherwise ego -
- Vehicle received incoming sound signals.
- the strength of the sensor signal over time can, for example, be designed and examined in a manner similar to an envelope. Accordingly, the shape of different envelopes can be stored as a reference and respective
- references can be made iteratively, with more and more references being excluded as time progresses until finally only one reference (the one with the highest similarity to the examined sensor signal) remains. It is based on the fact that changes due to the directional characteristic of a transducer converted signal strength depending on the direction from which a sound signal is irradiated him. It is also considered that, due to the room damping, the sound intensity arriving at a sound transducer of a fixed geometry decreases with increasing distance to the sound source, or conversely increases with decreasing distance.
- Ambient object in conjunction with the orientation and the directional characteristic of the sensor used or the sensors used results in a Restriction of possible occurring respective acoustic signatures for a position, a relative speed and a spatial extent of an environment object with respect to a sensor arranged on the ego transportation means.
- the absolute speed of the ego means of locomotion or the environment object, the road condition and other properties of the environment object have an influence on the signature.
- the aforementioned properties can be found at different locations or in different areas over the time of the intensity variable and can be read accordingly from the time course. If the environment object automatically generates sound (eg another means of transport), not even an operation of the ego means of locomotion (driving operation) is required. If the ego means of locomotion independently emits sound (driving mode, speed greater than zero), intensity variables of "silent" surrounding objects can also provide information on the surrounding object based on reflected self-sounds of the ego locomotion means.
- Road boundary posts are detected by suddenly increasing reflections emitted by the ego vehicle sound event. Both will be characterized by a change in the sound intensity equivalent to the speed of the ego vehicle, which can easily be investigated by deriving the course of the sound power.
- Non-stationary sound sources or reflectors such as in the same or in the opposite direction driving road users, will be characterized by other time courses of the intensity quantities and their derivatives. Especially at low intrinsic speeds of the ego
- Vehicles are also possible with the method according to the invention further trajectories determined by collision-free crossing passage.
- higher detection ranges or greater reliabilities are possible with the method according to the invention, in particular if the signal intensity of an approaching sound source is greater than the signals emitted by the ego vehicle and reflected echoes.
- the sound event emitted by the ego-locomotion means may represent an interesting measurement signal, since the operating state of the ego-locomotion means is determined by means of various messages, e.g. on one
- Bus system can be used for the evaluation of the intensity magnitude of the echoes. For example, the ego speed, the engine speed, the
- Gear stage the configuration of the body (canopy open, window open, spoiler position, etc.) can affect the acoustic signature of the ego means of locomotion and in the evaluation
- the time characteristic of the intensity or its derivatives is influenced by the directional characteristic of the intensity variable.
- time courses of the intensity and / or their derivatives at the beginning of a passage can be the same, although the reflectors or sound sources move on different trajectories and that the differences in the trajectories, especially with respect to relative position or with respect to relative speed, only progressively Analysis of the time course of the intensity size and / or their derivatives can be seen.
- the time courses of the intensity and / or their derivatives of sound sources or reflectors located relative to the ego vehicle or reflectors in the case of sensors with respect to shoring position on the ego vehicle and / or with respect to their directional characteristic differ, will be different.
- the time courses of the intensity and / or their derivatives of sound sources or reflectors located relative to the ego vehicle or reflectors in the case of sensors with respect to shoring position on the ego vehicle and / or with respect to their directional characteristic differ, will be different.
- a predominantly backward sensor can only vaguely detect an approach of a road user from behind along a corresponding trajectory. However, if another sensor, e.g. directed by a predominantly towards a rear corner
- An essential aspect is to detect how long the approaching road user will be in the area of the vehicle side, in particular in the area of a rear corner which is difficult to see by the driver, that is, the blind spot. Due to the timing of the intensity signals on the front sensors can on the
- By-pass trajectory can be inferred and assuming a usual limited relative acceleration can then be estimated with which trajectory the road user will pass the critical rear area.
- Environment object can be a probability-based analysis of the
- the Environment object is in which area, such as in a blind spot of the Ego-locomotion means.
- an indication to the leader of the ego means of locomotion can be given with a sufficiently long lead time.
- the indication may be, for example, optically (by a display element in the mirror, in the instrument cluster, in a central information display (CID), etc.), haptically (eg by vibration of the steering wheel and / or the seat) and / or acoustically (eg by output one
- a device which includes at least one environment sensor (e.g., a sound sensor), an evaluation unit (e.g., in the form of a programmable processor, a microcontroller, a nanocontroller, or the like) and the like
- environment sensor e.g., a sound sensor
- evaluation unit e.g., in the form of a programmable processor, a microcontroller, a nanocontroller, or the like
- Memory means e.g., in the form of a non-volatile memory (e.g., a flash memory)).
- the storage means is furnished, references
- Time courses of an intensity size of a current sensor signal can be compared.
- the device is set up to realize the features, the combinations of features and the resulting advantages of the method according to the invention, for which reason reference is expressly made to avoid repetitions to the description of the same.
- a third aspect of the present invention is a
- Propulsion means proposed which, for example, as a car, as Transporter, as a truck, as a land and / or aircraft can be configured.
- the means of locomotion comprises a device according to the invention, as has been described above as the second-mentioned aspect of the invention.
- Figure 1 is a schematic plan view of a driving situation of a
- Figure 4 is a flow chart illustrating steps of a
- Figure 1 shows the top view of a car 10 as an ego means of locomotion, which has an embodiment of a device according to the invention.
- This includes a first sound sensor 1, which is embedded in a front left side surface of the car.
- Corresponding sound sensors 2, 3, 4 are provided in the remaining three corners and each with a
- the electronic control unit 5 as an evaluation unit connected by information technology.
- the electronic control unit 5 is also connected in terms of information technology with a non-volatile data memory 6, in which references in the form of time profiles of the intensity quantities of predefined sensor signals are stored.
- the sound sensors 1, 2, 3, 4 have different directional characteristics 1 1, 12, 13, 14, which due to
- the respective orientation of the sound sensors 1, 2, 3, 4 are four different assigned to azimuthal angular ranges.
- a car 30 As an environment object.
- a second car 20 As environment object, which attaches according to an arrow P for overtaking the car 10. Until the second car 20 has reached the dead angle or the same height as the car 10, located to the left of the
- PKW 10 only a guardrail 40 as an environment object whose acoustic signature (apart from wind noise) only consists of reflections of ambient noise. Since the spatial extent of the
- Guard rail 40 does not change significantly over time, can according to the invention based on a reference assigned to her from the reflected from her
- FIG. 2 shows two different time profiles of an intensity variable of a sensor signal recorded by means of a sound sensor arranged at the rear right corner of an ego vehicle in the case of a slow one
- time courses 5a, 5b represent differently loud third-party vehicles which, for example, move past the sensor at the same gradient, the volume also being for example at an absolute speed of the one considered
- Time range I is a gradual increase in the time courses 5a, 5b instead.
- a time range II the foreign vehicle is relatively long in spatial proximity or next to the ego vehicle.
- the signals of the other vehicle received by the sound sensor are maximum.
- the tailpipe of the other vehicle is approximately in the area of
- the differences in the strength of the ambient sound come from different types of road users who pass the ego vehicle on otherwise similar trajectories.
- the method according to the invention can be concluded by the evaluation of the strength of the ambient sound on the object type of the road user. For example, the rolling noise of wide tires of a heavy sedan will be stronger than the sounds of tires a light vehicle equipped with an otherwise identical trajectory and equipped with the usual narrow tire.
- FIG. 3 shows the courses shown in connection with FIG. 2 for the case of a higher relative speed between the foreign vehicle and the ego vehicle.
- Data stores can be stored and on the basis of which by traversing the discussion, in particular by evaluating the temporal or local derivative of the gradients of the sound, the trajectories of
- FIG. 4 shows steps of an exemplary embodiment of a method according to the invention for the acoustic examination of surrounding objects of a means of locomotion.
- a step 100 sound emitted by an environmental object is detected by means of a sensor.
- the sensor signal is evaluated over time.
- a comparison of a time profile of an intensity variable of the sensor signal with a predefined reference is made for this purpose.
- a multiplicity of predefined references are each compared with a section of the time course, and finally a time course with the greatest possible similarity is determined.
- step 400 based on the determined best possible
- a time is calculated for outputting an indication of the environment object to the user of the Ego-locomotion means.
- an optical, haptic and acoustic indication to the user is output in step 500.
- the intensity quantity over time in a time range II see Figures
- the signal strength changes even if the surrounding object moves equidistantly around the observed sensor.
- the signal strength of a sensor can change if, while maintaining the same relative direction of movement, a foreign vehicle moves towards the ego vehicle.
- waveforms can be used, which are determined by calculations. For this purpose, in particular the knowledge of the directional characteristic and the position of a considered sensor within the outer skin of the means of transport are required.
- Possibility to determine the predefined references can be to carry out driving tests in which different from each other Driving situations are reproduced and scaled, if necessary
- the acoustic signal obtained from the time characteristic of the intensity variable can be post-processed by means of a downstream filter before and / or after the transmission to a central evaluation unit, before the signals of a plurality of sensors are combined, for example.
- this measuring method can be combined with measuring signal emitting methods in a device so that both in the presence of strong sound signals, these are evaluated according to the invention and in particular in the absence of ambient noise by means of emitted measurement signals environment detection is also possible.
- the person skilled in various combination methods are familiar. Therefore, be here without
- Frequency division multiplexing is usually realized by means of appropriate filters.
- Evaluating the time course of the environmental strength is the time division multiplex.
- echo cycles of the measurement-signal-aware environmental detection take about 20 ms to about 60 ms, which corresponds to a change in location of a maximum of about 20 cm to about 60 cm at a maximum relative speed of, for example, 10 m / s.
- Using in the time division the pause between successive echo cycles of Messsignalaussendendungen to obtain a value for the
- this time-division multiplex method can already be integrated with little effort even in today's conventional measuring methods.
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014213359.9A DE102014213359A1 (de) | 2014-07-09 | 2014-07-09 | Vorrichtung und Verfahren zur akustischen Untersuchung von Umgebungsobjekten eines Fortbewegungsmittels |
PCT/EP2015/060553 WO2016005087A1 (de) | 2014-07-09 | 2015-05-13 | Vorrichtung und verfahren zur akustischen untersuchung von umgebungsobjekten eines fortbewegungsmittels |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3167307A1 true EP3167307A1 (de) | 2017-05-17 |
Family
ID=53175059
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15721727.4A Withdrawn EP3167307A1 (de) | 2014-07-09 | 2015-05-13 | Vorrichtung und verfahren zur akustischen untersuchung von umgebungsobjekten eines fortbewegungsmittels |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3167307A1 (de) |
CN (1) | CN106537175B (de) |
DE (1) | DE102014213359A1 (de) |
WO (1) | WO2016005087A1 (de) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017206856A1 (de) * | 2017-04-24 | 2018-10-25 | Osram Gmbh | Einrichtung, Fahrzeug und Verfahren |
US10319228B2 (en) | 2017-06-27 | 2019-06-11 | Waymo Llc | Detecting and responding to sirens |
DE102017011879A1 (de) * | 2017-12-21 | 2019-06-27 | Metirionic Gmbh | Funkfeld basierte Authentifizierung von Knoten innerhalb einer Funkverbindung |
JP7035712B2 (ja) * | 2018-03-29 | 2022-03-15 | トヨタ自動車株式会社 | 後方監視装置 |
DE102018206722A1 (de) * | 2018-05-02 | 2019-11-07 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben von Ultraschallsensoren eines Fahrzeugs |
CN110706496A (zh) * | 2018-07-10 | 2020-01-17 | 北京耘科科技有限公司 | 基于声学的环境感知方法及*** |
CN109036408A (zh) * | 2018-08-23 | 2018-12-18 | 重庆加河科技有限公司 | 一种用于vr展示教学的语音识别控制设备及控制方法 |
AT521647B1 (de) * | 2018-09-14 | 2020-09-15 | Avl List Gmbh | Verfahren und System zur Datenaufbereitung, zum Trainieren eines künstlichen neuronalen Netzes und zum Analysieren von Sensordaten |
DE102018221517A1 (de) * | 2018-12-12 | 2020-06-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Erfassung einer Fahrbahnoberfläche |
CN109920439B (zh) * | 2019-03-14 | 2020-11-17 | 西安交通大学 | 基于音调能量和人耳频率选择性的减变速机啸叫评判方法 |
DE102019002963A1 (de) * | 2019-04-25 | 2020-10-29 | Drägerwerk AG & Co. KGaA | Vorrichtung und Verfahren zur Überwachung einer Schall- und Gasexpositon |
DE102019215441A1 (de) * | 2019-10-09 | 2021-04-15 | Zf Friedrichshafen Ag | Kollisionsrisiken zwischen Lastenwagen und einem Fahrzeug |
DE102021112711A1 (de) | 2021-05-17 | 2022-11-17 | Deutsche Telekom Ag | Verfahren zum steuern eines fahrzeugs |
DE102021214222A1 (de) * | 2021-12-13 | 2023-06-15 | Robert Bosch Gesellschaft mit beschränkter Haftung | System für ein Fahrzeug und zur Erkennung eines im Umfeld des Fahrzeugs befindlichen zweiten Fahrzeugs sowie ein Fahrzeug mit solch einem System |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1296159A2 (de) * | 2001-09-19 | 2003-03-26 | Robert Bosch Gmbh | Verfahren zur Abstandsmessung |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN2209624Y (zh) * | 1994-04-22 | 1995-10-11 | 乔昆华 | 全天候车辆前后防撞预警装置 |
DE10136981A1 (de) * | 2001-07-30 | 2003-02-27 | Daimler Chrysler Ag | Verfahren und Vorrichtung zur Ermittlung eines stationären und/oder bewegten Objektes |
DE102009002870A1 (de) | 2009-05-06 | 2010-11-18 | Robert Bosch Gmbh | Ultraschallobjekterfassungssystem und Verfahren zur Erfassung von Objekten mit Hilfe von Ultraschall |
DE102009027842A1 (de) | 2009-07-20 | 2011-01-27 | Robert Bosch Gmbh | Ultraschall-Messvorrichtung und Verfahren zum Auswerten eines Ultraschallsignals |
DE102010062235A1 (de) * | 2010-12-01 | 2012-06-06 | Robert Bosch Gmbh | Fahrerassistenzsystem zur Detektion eines Objekts in einer Fahrzeugumgebung |
DE102011079707A1 (de) | 2011-07-25 | 2013-01-31 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Erfassung von Objekten aus der Fahrzeugumgebung eines Fahrzeuges |
DE102011083337A1 (de) * | 2011-09-23 | 2013-03-28 | Robert Bosch Gmbh | Verfahren zur Erfassung der Fahrzeugumgebung eines Fahrzeuges mittels Ultraschall und Vorrichtung zum Durchführen des Verfahrens |
DE102011088225A1 (de) * | 2011-12-12 | 2013-06-13 | Robert Bosch Gmbh | Verfahren und Einrichtung zur Umfelderfassung eines Bewegungshilfsmittels mittels von pulsförmig ausgesendeten Schallsignalen |
CN103770736B (zh) * | 2014-01-29 | 2016-12-07 | 大连理工大学 | 一种基于声场探测的车辆周边环境预警*** |
-
2014
- 2014-07-09 DE DE102014213359.9A patent/DE102014213359A1/de active Pending
-
2015
- 2015-05-13 WO PCT/EP2015/060553 patent/WO2016005087A1/de active Application Filing
- 2015-05-13 CN CN201580037432.2A patent/CN106537175B/zh active Active
- 2015-05-13 EP EP15721727.4A patent/EP3167307A1/de not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1296159A2 (de) * | 2001-09-19 | 2003-03-26 | Robert Bosch Gmbh | Verfahren zur Abstandsmessung |
Also Published As
Publication number | Publication date |
---|---|
CN106537175A (zh) | 2017-03-22 |
WO2016005087A1 (de) | 2016-01-14 |
CN106537175B (zh) | 2020-05-19 |
DE102014213359A1 (de) | 2016-01-14 |
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