EP3381024A1 - Klassifizieren eines oder mehrerer reflektionsobjekte - Google Patents
Klassifizieren eines oder mehrerer reflektionsobjekteInfo
- Publication number
- EP3381024A1 EP3381024A1 EP16801488.4A EP16801488A EP3381024A1 EP 3381024 A1 EP3381024 A1 EP 3381024A1 EP 16801488 A EP16801488 A EP 16801488A EP 3381024 A1 EP3381024 A1 EP 3381024A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- echo signal
- data
- ultrasonic
- ultrasound
- data point
- 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- Withdrawn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
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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
-
- 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
- G01S15/02—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
-
- 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
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
Definitions
- Field Exemplary embodiments of the invention relate to the classification of one or more reflection objects in the detection range of an ultrasonic sensor.
- Ultrasonic sensors as other non-intrusive sensors, have so far been used in road traffic primarily in parking aid systems of vehicles for distance measurement. It is only evaluated whether and at what distance a transmitted ultrasonic pulse is reflected first. However, such evaluations of the initial reflection are not sufficient for the exact detection of moving and stationary objects as well as for the classification of the objects, if other objects are also within the detection range. Ultrasonic sensors are particularly sensitive to disturbances and changes in the environment detected by the ultrasonic sensors, such as background reflections of the environment, the ground and fixed objects, and movement of tree branches by the wind and the like. Ultrasonic sensors have therefore not been used in systems for detecting moving and stationary objects in a complex environment. Summary of some exemplary embodiments of the invention
- the present invention has, inter alia, the task of overcoming these problems.
- a method which comprises methods:
- the ultrasound echo signal data comprises a plurality of data points, the ultrasound echo signal data at least partially representing an ultrasound echo signal detected by an ultrasound sensor, and wherein the
- Ultrasound echo signal comprises reflections on one or more reflection objects resulting signal components
- the method according to the invention and / or the steps of the method according to the invention are carried out, for example, by a device such as the device according to the invention described below.
- a device such as the device according to the invention described below.
- the method according to the invention and / or the steps of the method according to the invention to be carried out by different devices of a system such as the system according to the invention described below.
- a computer program is further disclosed, the computer program comprising program instructions which include a processor for executing and / or controlling the computer program
- the computer program according to the invention can be used, for example, via a network such as the Internet, smart city infrastructures and smart building solutions such as that of the company ICE
- Gateway GmbH distributed ICE Gateway, other open source solutions we Raspberry PI, a telephone or mobile network and / or a local network be distributed.
- the invention
- Computer program may be at least partially software and / or firmware of a processor, and / or software and / or firmware of an embedded system. It may equally be at least partially implemented as hardware.
- the computer program according to the invention can be stored, for example, on a computer-readable storage medium, for example a touchable, magnetic, electrical, electromagnetic, optical and / or other type Storage medium.
- the storage medium may for example be part of the processor, for example a (non-volatile or volatile) program memory and / or main memory of the processor or a part thereof.
- a device comprising:
- Means adapted for the execution and / or control of the method according to the invention or respective means for carrying out and / or controlling the steps of the method according to the invention are arranged to execute and / or control the method or steps of the invention (e.g., except for the steps performed by a user).
- One or more of the steps of the method of the invention may also be carried out and / or controlled by the same means.
- one or more of the means of the device may be at least partially formed by one or more processors.
- the device according to the invention comprises at least one circuit which is set up to cause the device to execute and / or control at least the method according to the invention and / or the steps of the method according to the invention. Either all steps of the method according to the invention can be controlled, or all steps of the
- a circuit should be understood to mean, for example, an implementation of the means of the device according to the invention only in hardware and / or an implementation of the means of the device according to the invention with a combination of hardware and software.
- Implementation of hardware only means of the invention includes digital and / or analog circuits (e.g., digital and / or analog circuits only) such as configurable digital logic.
- the device according to the invention comprises at least one digital and / or analog circuit which is set up to cause the device to execute and / or control at least the method according to the invention and / or the steps of the method according to the invention
- An implementation of the means of the device according to the invention with a combination of hardware and software comprises, for example, at least one processor and at least one Memory with program instructions.
- the device according to the invention comprises a processor and at least one memory which contains program code, wherein the memory and the program code are arranged, together with at least one processor, to cause the device to at least the method according to the invention and / or the steps of
- a processor for example, a control unit, a microprocessor, a microcontroller such as a
- Microcontroller a Digital Signal Processor (DSP), a
- ASIC Application Specific Integrated Circuit
- FPGA Field Programmable Gate Array
- system comprising system:
- one or more stationary ultrasonic sensors are one or more stationary ultrasonic sensors.
- An ultrasound echo signal should, for example, be understood to be an ultrasound signal which is detected by an ultrasound sensor and comprises at least substantially signal portions attributable to reflections at one or more reflection objects.
- a reflection object is to be understood, for example, as an object in the detection range of the ultrasound sensor, at which an ultrasound signal (for example one or more ultrasound pulses) is reflected.
- a reflection object may be a moving object (i.e., a moving reflection object) or a non-moving object (i.e., a non-moving reflection object).
- the detection range of the ultrasound sensor is, for example, the spatial area in the vicinity of the ultrasound sensor that can be monitored by the ultrasound sensor (for example the spatial area in which signal components due to reflections on one or more reflection objects in the direction of the ultrasound sensor can be detected by the ultrasound sensor).
- the ultrasonic echo signal is detected by the ultrasonic sensor, for example, by measuring the signal strength of the ultrasonic echo signal.
- the ultrasonic sensor is as
- Ultrasonic detector formed. For example, the signal strength of one at the position of
- Ultrasonic sensor detectable ultrasonic echo signal indirectly through one of the
- Ultrasonic sensor comprised piezoelectric transducer detected and / or measured.
- the piezoelectric transducer converts the ultrasonic echo signal into an electrical signal.
- the value of the signal strength of the ultrasonic echo signal may be determined by measuring the voltage amplitude of that electrical signal.
- the ultrasonic echo signal data can be obtained, for example, by analog-to-digital conversion of this electrical signal.
- the ultrasound echo signal data are, for example, a representation of the time profile of the signal strength of the ultrasound echo signal detected by the ultrasound sensor.
- the ultrasound echo signal data is preferably a digital representation of the time profile of the signal strength of the ultrasound echo signal detected by the ultrasound sensor.
- the signal strength corresponds for example to the signal energy of the detected ultrasonic echo signal.
- a data point of the ultrasound echo signal data includes a representation (e.g., a digital representation) of the value of the signal strength of the signal detected by the ultrasound sensor
- Ultrasonic echo signal at a certain detection time may include, for example, a representation (e.g., a digital representation) of the acquisition time.
- the detection time may also result from the position of the data point in the ultrasound echo signal data.
- Ultrasonic echo signal data optional additional information such as frequency and / or
- Phase information (e.g., the frequency spectrum per data point and / or the phase position per data point).
- Obtaining the ultrasonic echo signal data includes, for example, measuring the signal strength of the ultrasonic echo signal and / or determining the value of the signal strength or others
- the ultrasonic sensor is for example a part of the device according to the invention.
- obtaining the ultrasound echo signal data may also include receiving the ultrasound echo signal data from the ultrasound sensor.
- the ultrasonic sensor is not part of the device according to the invention.
- the ultrasound echo signal data are communicated, for example, from the ultrasound sensor to the device according to the invention.
- the inventive apparatus includes communication means configured to receive the ultrasound echo signal data from the ultrasound sensor.
- An example of such communication means is a communication interface, for example a wireless communication interface such as a communication interface of a wireless communication technology or a wired communication interface such as a
- RFID Radio Frequency Identification
- NFC Near Field Communication
- Bluetooth eg Bluetooth Version 2.1 and / or 4.0
- WLAN Wireless Local Area Network
- RFID and NFC are specified in accordance with ISO standards 18000, 11784/11785 and ISO / IEC standards 14443-A and 15693.
- the Bluetooth specifications are currently available on the internet
- WLAN is specified in the standards of the IEEE 802.11 family.
- Another example of a wireless communication technology is an over-the-air radio network technology, for example a mobile radio technology, for example Global System for Mobile Communications (GSM) and / or Universal Mobile Telecommunications System (UMTS) and / or Long Term Evolution (LTE).
- GSM Global System for Mobile Communications
- UMTS Universal Mobile Telecommunications System
- LTE Long Term Evolution
- USB Universal Serial Bus
- SPI Serial Peripheral Interface
- I2C Inter-Integrated Circuit
- the USB specifications are currently available on the Internet at www.usb.org.
- a wired Ethernet communication interface could at the same time also be used to supply power to the device according to the invention and / or the ultrasound sensor in the context of a technique known as PoE (Power over Ethernet).
- PoE Power over Ethernet
- PoE is specified in the IEEE 802.3af-2003 standard. However, it should also be understood later and future versions of this standard or proprietary modifications under the term PoE.
- PoE can be used both for supplying energy to the device according to the invention and / or the ultrasound sensor and as communication technology for communication of information and / or data between the device according to the invention and the ultrasound sensor.
- Various communication protocols such as CoAP (Constrained Application Protocol) can be used.
- CoAP is an application layer communication protocol specified inter alia in RFC 7252 of the IETF (Internet Engineering Task Force).
- a data point cluster is understood to mean a group of data points.
- the data points of a data point cluster are similar.
- data points are grouped into a data point cluster if one or more properties of the
- Data points e.g., the locations of the data points within the ultrasound echo signal data
- a similarity range e.g., a predetermined similarity range.
- grouping multiple data points may be the same
- Ultrasonic echo signal data to one or more data point clusters applying a
- Clustering algorithm on the data points of the ultrasonic echo signal data include. By choosing a suitable similarity range and / or a suitable clustering algorithm For example, data points are grouped into one or more data point arrays, which at least essentially represent reflections on a particular reflection object attributable signal components of the ultrasonic echo signal. This makes it possible to distinguish signal components of the ultrasonic echo signal that are at least essentially due to reflections at different reflection objects.
- characteristic data of the respective data point cluster can be determined.
- the characteristics describe characteristics of the data point clusters and / or characteristics of the data point clusters. Examples of such properties and characteristics are the localization, distribution, shape, morphology, pattern, and extent of a data point cluster. Further examples of this are the reflection energy and signal propagation time of the signal portion of the ultrasound echo signal data represented by a data point cluster (e.g., at least substantially due to reflections on a reflection object)
- characteristic data are amplitude, frequency and / or phase information.
- the characteristics are determined at least in part depending on the values of the signal strength represented by one or more data points (e.g., multiple data points of a data point cluster) and / or the detection times represented by one or more data points.
- the characteristics include a value and / or an average value (e.g., an average) of the amplitude, frequency, and / or phase of the signal portion of the ultrasonic echo signal represented by one or more data points (e.g., multiple data points of a data point cluster).
- one or more of the reflection objects are classified at least in part based on the characteristics obtained as a result of the determination.
- the characteristics are selected to allow distinguishing different types of reflection objects and classifying the reflection objects accordingly.
- various types of reflection objects for example, various traffic objects such as pedestrians, cyclists, and motor vehicles can be distinguished from each other by the characteristics. For example, based on phase and / or frequency information, the speed of the reflection objects
- Reflection objects are estimated and / or determined so that reflection objects with
- At least fast and slow moving reflection objects can be detected using phase and / or frequency information can be distinguished. This distinction is taken into account, for example, in classifying. For example, a fast-moving reflection object may speak for a classification as a motor vehicle, whereas a slow-moving reflection object might speak for a classification as a pedestrian or a cyclist, for example.
- further characteristics of the reflection objects such as the dimensions and / or the position, can be determined and / or estimated on the basis of the characteristic data and taken into account in the classification.
- the classification can be performed, for example, locally by the device according to the invention. It is also possible that the classification by one or more
- Devices according to the invention for a local group of devices according to the invention for example a group of devices according to the invention of the system according to the invention.
- the classifying may also be performed, for example, by a server (e.g., a server of the
- the classification can also be performed distributed by different devices and / or servers.
- the present invention thus makes it possible to evaluate the ultrasound echo signal with regard to signal components which are at least essentially reflective to reflections at different wavelengths
- Reflection objects in the detection range of the ultrasonic sensor go back, and is not limited to the evaluation of Warreffletation.
- different classes of reflection objects in the detection range of the ultrasonic sensor such as various (e.g., moving) traffic objects can be recognized and discriminated.
- the detection range of an ultrasonic sensor can be increased, for example, an ultrasonic sensor for traffic monitoring of multiple lanes or for monitoring multiple parking spaces can be used. If the evaluation of the
- Ultrasonic echo signal is limited to the Clearrefletation, however, only a lane or a parking lot can be sensibly monitored by an ultrasonic sensor.
- each data point represents the
- Ultrasonic echo signal data the value of the signal strength of the detected ultrasonic echo signal in each case at a detection time.
- one data point includes the Ultrasonic echo signal data, for example, a representation (eg, a digital representation) of the value of the signal strength of the ultrasonic echo signal detected by the ultrasonic sensor at a certain detection time.
- a representation of a value of the signal strength is, for example, a digital value which corresponds at least substantially to the value of the signal strength (eg a rounded value or a digitized value of the signal strength).
- a data point may include, for example, a representation (eg, a digital representation) of the acquisition time.
- a representation of the detection time is, for example, a digital value that at least substantially corresponds to the date and time of the detection time (eg the Unix time and / or the POSIX time of the detection time).
- the ultrasonic sensor is stationary.
- the ultrasonic sensor is permanently located at a specific position (for example, a geographical and / or spatial position).
- the ultrasonic sensor is permanently installed and / or mounted at this position.
- the ultrasonic sensor is in a sidefire configuration (e.g., in an oblique and / or angular orientation, e.g., in an oblique and / or angular orientation to the
- Detection area and / or to a ground surface e.g. the soil surface in the
- Detection area installed and / or mounted. This has the effect that the detection range of the ultrasonic sensor can cover a larger area than, for example, in a vertical orientation to the detection area and / or to a floor surface. Further are
- the ultrasonic sensor is pivotable.
- the ultrasonic sensor is mechanically pivotable and / or the detection direction of the ultrasonic sensor is electronically pivotable (e.g., by a phased array receiving arrangement).
- the ultrasonic sensor part of a portable device (e.g., a vehicle).
- the ultrasound sensor may be part of a plurality of ultrasound sensors, for example part of an ultrasound sensor array.
- the system of the invention includes such a plurality of ultrasonic sensors.
- a plurality of ultrasonic sensors may be arranged to be one
- the results from ultrasonic sensor to ultrasonic sensor can be further optimized, for example.
- the method according to the invention furthermore comprises the emission and / or the initiation of the emission of one or more ultrasound pulses.
- the transmitted ultrasound pulses are based on a time-limited prototype pulse that is modulated and / or frequency-shifted to an ultrasound carrier frequency (eg, 44 kHz).
- the ultrasonic pulses are emitted at regular intervals, so that the time difference between the transmission times of two successive ultrasonic pulses is always the same.
- the point in time at which the emission of the ultrasonic pulse starts is to be understood by a transmission time of an ultrasonic pulse.
- the ultrasound pulses are, for example, the same and / or the ultrasound pulses have, for example, the same pulse length.
- the ultrasonic pulses may also be uneven and / or emitted at irregular intervals and / or with different pulse lengths.
- Embodiments are also possible in which the time intervals between two successive ultrasonic pulses and / or the pulse length of the ultrasonic pulses are variable.
- the ultrasonic pulses are emitted from the ultrasonic sensor.
- the ultrasonic sensor is formed, for example, as a combined ultrasonic transmitter and ultrasonic detector.
- the ultrasound pulses are emitted by a suitably arranged ultrasound transmitter separate from the ultrasound sensor.
- the ultrasonic transmitter is stationary. Under stationary, as described above for ultrasonic sensor, it should be understood, for example, that the ultrasonic transmitter is permanently at a certain position. For example, the ultrasonic transmitter is permanently installed and / or mounted at this position.
- the ultrasonic transmitter is installed and / or mounted in a sidefire configuration (e.g., in an oblique and / or angular orientation, e.g., in an oblique and / or angular orientation to a ground surface, e.g., the ground surface).
- a sidefire configuration e.g., in an oblique and / or angular orientation, e.g., in an oblique and / or angular orientation to a ground surface, e.g., the ground surface.
- the ultrasonic transmitter is pivotable.
- the ultrasonic transmitter is mechanically pivotable and / or the transmission direction of the ultrasonic transmitter is electronically pivotable (e.g., by a phased array transmitter).
- the ultrasonic transmitter part of a portable one
- Device e.g., a vehicle.
- the device according to the invention comprises the ultrasonic transmitter.
- the device according to the invention can be the ultrasonic transmitter
- the device according to the invention comprises communication means which are set up to communicate a corresponding drive signal to the ultrasound transmitter.
- communication means for example a wireless communication interface or a wired one
- the ultrasonic transmitter is not part of the device according to the invention.
- An ultrasonic transmitter comprises, for example, a piezoelectric transducer which, for example, converts an electrical signal into an ultrasonic pulse.
- the ultrasound transmitter (and / or the ultrasound sensor formed as a combined ultrasound sensor and ultrasound detector) may, for example, be part of a plurality of ultrasound transmitters
- the system according to the invention comprises such a plurality of ultrasound transmitters (and / or ultrasound sensors).
- Each ultrasonic pulse emitted by another ultrasound transmitter of a plurality of ultrasound transmitters and / or another ultrasound sensor of a plurality of ultrasound sensors has, for example, a different ultrasound carrier frequency. This has the effect of being on
- Reflections of ultrasound pulses of different ultrasonic transmitter and / or ultrasonic sensors returning signal components in an ultrasonic echo signal for example by a
- Bandpass filtering can be at least substantially separated.
- the method according to the invention can comprise, for example, such bandpass filtering of the ultrasonic echo signal detected by the ultrasonic sensor.
- the ultrasound echo signal data obtained can represent, for example, a corresponding band-filtered ultrasound echo signal, which is at least essentially reflected by reflections from
- Ultrasonic pulses of a single ultrasonic transmitter comprises returning signal components.
- the reflections comprise at least substantially reflections of the emitted ultrasonic pulses at the reflection objects.
- the ultrasonic echo signal includes signal components that are at least substantially
- the method according to the invention further comprises subdividing the ultrasound echo signal data into a plurality of ultrasound echo signal data blocks, wherein the ultrasound echo signal data blocks have successive periods of time
- each of the time periods begins with the transmission time of an ultrasonic pulse.
- the time period length of each of the time sections corresponds, for example, to the time difference between the transmission times of two successive ultrasonic pulses.
- Transmission points of two consecutive ultrasonic pulses is always the same, data points that are located at the same position in different ultrasonic echo signal data blocks, each with the same signal delay time (starting from the transmission time at the beginning of the respective period) are associated.
- a detection time shall be understood to be associated with a signal delay if the time difference between the detection time and a
- Transmission time of a previously transmitted ultrasonic pulse corresponds to the signal delay.
- Ultrasonic pulse and a detection time of the attributable to one or more reflections of the ultrasonic pulse signal components are understood in an ultrasonic echo signal.
- This embodiment is advantageous, for example, if the ultrasound pulses are each emitted by a stationary ultrasound transmitter and / or stationary ultrasound sensor and the
- Ultrasonic echosignal be detected by a stationary ultrasonic sensor, since in such a scenario, reflect on reflections of multiple ultrasound pulses on a reflection object at a certain distance in a certain distance signal components of the detected ultrasonic echo signal in each case the same distance and thus have the same signal propagation time.
- the data points which are located at the same position in different ultrasound echo signal data blocks in this scenario each represent a signal component of the ultrasound echo signal that is at least essentially a reflection of the respective ultrasound pulse on a reflection object at the same distance (eg in the same distance) Distance from the ultrasonic sensor and / or ultrasonic transmitter) goes back.
- the method according to the invention further comprises determining a graphical representation of the ultrasound echo signal data at least partially in dependence on the ultrasound echo signal data blocks.
- a graphically representable ultrasonic echo signal data structure is obtained, such as a two-dimensional data field and / or a data array and / or a graphics file (eg, a graphics file in an image data format such as the bitmap format, BMP format, the graphical representation for example, a two-dimensional representation of
- Ultrasonic echo signal data is for example a graphical interpretation and / or abstraction of the ultrasound echo signal data.
- the graphical representation is and / or includes a pixel array having pixels arranged in a raster (e.g., the ultrasound echo signal data structure obtained as a result of determining the graphical representation may be represented as a pixel array). For example, each pixel of the pixel array depending on a data point of the
- Ultrasonic echo signal data determined. For example, the color, coloration and / or gray level of a pixel is determined as a function of the value of the signal strength represented by the respective data point.
- adjacent pixels in a raster column of the raster become, for example, successive data points of a respective ultrasound echo signal data block
- Ultrasound echo signal data blocks determined; and adjacent pixels in a raster line of the raster become, for example, data points that are in successive
- Ultrasonic echo signal data blocks are located (e.g., at the same position in consecutive ultrasonic echo signal data blocks). This has the effect, for example, that when each of the time periods represented by the ultrasonic echo signal data blocks coincides with the
- Transmission time of an ultrasonic pulse begins and the time period length of each of the time segments, for example, the time difference between the transmission times of two successive
- Ultrasonic pulses corresponding to the pixels of a grid column are determined at least substantially by a respective ultrasonic impulse response (i.e., at least substantially by reflections of the ultrasound pulse emitted at the beginning of the respective time period).
- the pixels located at the same position in different grid columns represent, for example, a signal component of the signal represented by the ultrasonic echo signal data
- Ultrasonic echo signal at least substantially to a reflection of the respective Ultrasonic pulse at a reflection object in each case at the same distance (eg at the same distance from the ultrasonic sensor and / or ultrasonic transmitter) goes back.
- the signal component of the ultrasound echo signal represented by the ultrasound echo signal data which is based on reflections of a plurality of successive ultrasound pulses on an immobile reflection object is represented in such a pixel arrangement by, for example, pixels located in successive raster columns at the same position.
- the signal component of the ultrasound echo signal represented by the ultrasound echo signal data due to reflections of a plurality of successive ultrasound pulses on a moving reflection object is represented in such a pixel arrangement, for example by pixels which are located at different positions in successive raster columns.
- the method of the invention involves applying a
- An image processing algorithm such as a two-dimensional filter (e.g., a two-dimensional Hamming filter) on the graphical representation and / or a graphically representable ultrasound echo signal data structure obtained as a result of determining the graphical representation.
- grouping multiple data points of the ultrasound echo signal data into one or more data point clusters is based at least in part on the graphical representation (e.g., the pixel array described above) and / or a graphically representable ultrasound echo signal data structure obtained as a result of determining the graphical representation.
- grouping multiple data points of the ultrasound echo signal data into one or more data point clusters includes applying a clustering algorithm to the graphical representation (e.g., the pixel array described above) and / or one as a result
- the clustering algorithm can be, for example, a hierarchical, a density-based or a partitioning clustering algorithm as well as a combination of different clustering algorithms be.
- An example of a density-based clustering algorithm is the DBSCAN (Density-Based Spatial Clustering of Applications with Noise) algorithm.
- grouping a plurality of data points of the ultrasound echo signal data into one or more data point clusters comprises
- a clustering algorithm to the ultrasonic echo signal data and / or data points of the ultrasonic echo signal data. This can be done, for example, by applying a clustering algorithm to the graphical representation (e.g., the pixel array described above) and / or a graphically-representable ultrasound echo signal data structure obtained as a result of determining the graphical representation.
- the graphical representation e.g., the pixel array described above
- a graphically-representable ultrasound echo signal data structure obtained as a result of determining the graphical representation.
- the characteristics comprise at least one or more of the following information:
- a data point cluster e.g., a data point cluster of data point clusters
- Information about a signal delay of the signal component of the ultrasonic echo signal represented by the ultrasound echo signal data, represented by the data points of a data point cluster (e.g., a data point cluster of the data point clusters).
- the characteristics are, for example, at least partially depending on the
- Ultrasound echo signal data determined (e.g., at least in part, as a function of one or more data points of the ultrasound echo signal data).
- the characteristics include, for example, amplitude, frequency and / or phase information.
- Amplitude information may be obtained, for example, by determining an average of the amplitude (eg, an average of the signal strength) of the signal portion of the ultrasonic echo signal represented by one or more data points of a data point cluster (eg, a data point cluster of data point clusters). By an average, for example, the median, the arithmetic mean and / or the geometric mean to be understood. For example, the characteristics include one or more such averages as Amplitude information, Such amplitude information, for example, allow conclusions about the signal component of a previously transmitted reflected by a reflection object
- Frequency information may be obtained, for example, by determining a frequency spectrum of the signal portion of the ultrasonic echo signal represented by one or more data points of a data point cluster and / or a frequency difference between the frequency of one or more data points of a data point cluster (eg, a data point cluster of data point clusters ) signal component of the ultrasonic echo signal and the frequency of a previously transmitted ultrasonic pulse are obtained.
- the characteristics include a representation of the frequency spectrum and / or the value of the frequency difference as
- Frequency information An analysis of the frequency spectrum can be, for example, evidence of a frequency shift due to the Doppler effect in a reflection on a moving
- Reflection object result.
- the presence of a frequency difference may directly indicate a frequency shift due to the Doppler effect of a reflection on a moving reflection object.
- the frequency shift is dependent on the movement speed and the direction of movement of the reflection object.
- Frequency information is thus advantageous, for example, to distinguish different fast-moving reflection objects from each other and to be able to classify accordingly.
- Phase information may be obtained, for example, by determining a phase change between the phase of the data passing through one or more data points of a data point cluster (e.g.
- phase of the signal portion of the ultrasonic echo signal represented by one or more other data points of the data point cluster may be determined by comparing the phases of the ultrasonic echo signal portions represented by multiple data points of a data point cluster of successive ultrasonic echo signal data blocks.
- a phase change may, for example, be due to a reflection on a moving reflection object. The phase change is dependent on the movement speed and the direction of movement of the reflection object. Phase information is thus advantageous, for example, to distinguish different fast moving reflection objects from each other and to be able to classify accordingly.
- the characteristic data can contain information about the reflection energy and / or signal propagation time of the (eg a data point cluster of the data point cluster) represented by a data point cluster (eg, at least substantially reflections on a reflection object declining) signal portion of the signal represented by the ultrasonic echo signal data
- Information about the reflection energy may be obtained, for example, by determining the value of the energy of the signal portion of the one of the .sup. (1) signal represented by a data point cluster (e.g., at least substantially due to reflections on a reflection object)
- Ultrasonic echo signal data representative ultrasonic echo signal can be obtained.
- the characteristics include one or more such energy values as information about the reflection energy. If necessary, these characteristics allow conclusions to be drawn about the reflection surface and / or the reflection angle.
- Signal propagation time information can be obtained, for example, by determining the signal propagation time of the data point cluster represented by one or more data points of a data point cluster (e.g.
- Signal component of the ultrasonic echo signal represented by the ultrasound echo signal data can be obtained.
- the minimum and maximum signal propagation times of the signal component represented by a data point cluster e.g., at least substantially due to reflections on a reflection object
- Ultrasonic echo signal can be determined.
- the characteristics include one or more values of such signal propagation time as signal propagation time information.
- These characteristic data are, for example, an indication of the position of the reflection object, such as the distance between the reflection object and the ultrasound sensor and / or ultrasound transmitter.
- these characteristics allow, for example, conclusions on outside dimensions of the reflection object (e.g., a height and / or width of the reflection object). For example, outside dimensions of a
- Reflection object at least partially determined and / or estimated depending on these characteristics (for example, by a comparison with corresponding characteristics when no reflection on a reflection object or a reflection takes place on another reflection object).
- outer dimensions of different reflection objects can be compared. This is advantageous, for example, to reflection objects with different outer dimensions
- the characteristic data can describe, for example, characteristic properties of the data point clusters. These include, for example, information about the location, distribution, shape, morphology, pattern, and extent of a data point cluster. For example, these characteristics allow a description and analysis of the backscatter pattern.
- information about the localization, distribution, shape, morphology, pattern and extent of a data point cluster is meant, for example, the geometric shape of a reflection pattern and / or the energy distribution in the different dimensions and / or the typical reflection paths of a particular object and / or object type , This is advantageous, for example, in order to be able to recognize typical reflection patterns for certain types of reflection objects.
- the classification of one or more of the reflection objects comprises one or more of the following steps: detection of one or more of the reflection objects,
- Reflection objects to an object class The detection of one or more of the reflection objects should, for example, be understood as the detection of the presence of one or more reflection objects in the detection area of the ultrasound sensor. This can be done, for example, based on the data point clusters. For example, it is assumed that the data points of a data point cluster at least substantially represent rejections of the ultrasound pulses on a reflection object attributable signal components of the ultrasound echo signal. Accordingly, one or more of the reflection objects are recognized, for example, when the data points become one or more
- An object class includes, for example, reflection objects of a certain type, for example, traffic objects of a certain type, such as pedestrians, cyclists, motor vehicles (e.g.
- the reflection objects e.g., the detected reflection objects
- the reflection objects are assigned (i.e., classified as an object of that object class) to an object class.
- such assignment of the reflection objects to an object class can be done, for example, by a machine learning algorithm and / or a machine learning technique.
- the assignment of the reflection objects to an object class can also be based on a given
- Decision tree done. For example, in a first stage of a decision tree for assigning the reflection objects to a traffic object class, it can be decided whether the respective reflection object is a pedestrian, a bicycle or a motor vehicle, and be assigned accordingly. This assignment may, for example, at least partially in response to an estimated and / or specific speed of the respective reflection object.
- Reflection object are taken.
- Traffic object class cyclists and reflection objects with an estimated speed greater than 25 km / h of traffic object class motor vehicles are assigned.
- characteristics of the reflection objects such as external dimensions and / or the position (such as the distance between the light source) and the position can be determined on the basis of the characteristic data
- Reflection object and the ultrasonic sensor and / or ultrasonic transmitter determined and / or estimated and taken into account in the assignment. Subsequently, in an optional further stage of the decision tree, if it has been decided that the respective reflection object is a motor vehicle, it may be decided whether it is a lorry or a truck
- Passenger car or a motorcycle / scooter The assignment can be further refined in optional further stages of the decision tree.
- a probability for the membership of the reflection objects to an object class is determined.
- the reflection objects are then assigned, for example, to the object class with the highest probability.
- the determination of the probability is advantageous, for example, in order to allow more accurate extrapolations, for example in the case of statistical evaluations (for example a traffic statistic and / or an averaging over time).
- the method further comprises estimating and / or determining (e.g., approximating) location and / or motion information of one or more of the reflection objects.
- the signal propagation time of a signal component of the ultrasound echo signal represented by the ultrasound echo signal data is dependent on the distance in which a reflection object from the ultrasound transmitter and / or the ultrasound sensor is located. Accordingly, you can
- Location information (eg the distance) of a reflection object can be estimated and / or determined, for example, based on the signal propagation time of a signal component of the ultrasound echo signal at least substantially reflected by the reflection object.
- Movement information can for example be estimated and / or determined based on frequency and / or phase information of a signal component of the ultrasound echo signal, which is at least substantially reflected by the reflection object, of the ultrasound echo signal represented by the ultrasound echo signal data.
- an analysis of the frequency spectrum of the signal component may, for example, give indications of a frequency shift due to the Doppler effect in a reflection on a moving reflection object.
- the presence of a frequency difference may also directly indicate a frequency shift due to the Doppler effect in a reflection on a moving reflection object.
- Frequency shift is dependent on the speed and the direction of movement of the reflection object, so that the speed and the direction of movement can be estimated and / or determined based on it.
- Motion information is a value of the velocity and / or a representation of the direction of the reflection object. According to an exemplary embodiment of the invention, the classification of the
- Ultrasound echo signal data at least in part depending on a machine learning algorithm and / or a machine learning technique.
- Machine learning may be in the form of supervised machine learning or unsupervised machine learning, for example.
- supervised machine learning for example, the result of the classifying is compared with reference results and / or data, and the
- the reference results and / or data may be from another sensor (e.g., an imaging sensor such as a camera) or other device, or may be obtained through laboratory testing
- reference results and / or data may be performed during an initial training phase or permanently.
- machine learning may also include pre-information such as e.g. take into account the static environment of the detection range of the ultrasonic sensor (for example, the number and course of lanes as well as immobile objects such as houses in the detection area).
- the method further comprises providing the result of classifying for one or more
- Such an application can be realized, for example, by a computer program executed on a processor.
- the result is communicated to the application and / or a device executing the application.
- These devices can be, for example, a server, for example a cloud and / or backend server and / or one or more further devices according to the invention and / or a control device (eg a control device for controlling a light source such as one from the company ICE Gateway GmbH distributed ICE Gateway) act.
- the inventive apparatus comprises communication means arranged to communicate the result of the classifying.
- Communication means as described above, a communication interface, such as a wireless communication interface or a wired communication interface.
- the application takes into account the results of classifying by a variety of devices of the invention.
- the device executing the application receives (receives) the results of classifying a plurality of devices of the invention.
- One possible application for classifying moving reflection objects is, for example, traffic counting and / or monitoring.
- the respective object class eg traffic object class
- the respective object class obtained as a result of the classification or a probability distribution of object classes of the recognized reflection objects
- a traffic and / or vehicle density of the lanes located in the detection area of the ultrasound sensor can be determined.
- location information can also be provided for this purpose, for example, to allow a traffic lane to precisely determine the traffic and / or vehicle density.
- further information about individual reflection objects such as a location and motion information, complementary to this data exist.
- a large-scale traffic counting and / or monitoring can be achieved, which incorporates the results of the classification at the respective locations of the plurality of devices according to the invention.
- Another possible application for classifying reflection objects is, for example, parking space monitoring.
- the respective object class eg vehicle type
- the respective object class obtained as a result of the classification and location information of the detected reflection objects can be provided.
- Detection range of the ultrasonic sensor parking lot for example, at least partially based on the provided results and, for example, further information about the parking lot (for example, location information, size information, etc.) and / or before
- results For example, it is determined that the parking lot is occupied when, at the location of the parking lot, an object of a predetermined object class is recognized for a predetermined period of time. Also for this purpose, the results of the classification can be optionally taken into account by a plurality of devices according to the invention. In one possible application, the detected objects or the status (e.g., occupied or vacant) of one or more parking spaces may be further processed by the apparatus of the invention and / or to others
- Devices are communicated (e.g., communicated to other device by means of communication from the device of the invention).
- the communication link is, for example, a direct connection (e.g., a peer-to-peer connection via a wireless local area network such as WLAN) or an indirect connection (e.g., a connection over the Internet).
- the other device is, for example, a mobile user device (e.g., a mobile phone such as a smartphone).
- a user may, by means of his user device (e.g., by means of a computer program running thereon such as an app), have one
- Another possible application is, for example, a controller. For example, if the provided result of the classification corresponds to a given result, then
- Control a control signal (e.g., a predetermined control signal) are output. It will be understood that the control signal may depend, at least in part, on other results and / or events (e.g., signals detected by other sensors and / or other sensor types). Such a control signal may be used, for example, to drive an actuator (for example a lighting device and / or a camera). For example, the actuator may be activated by the control signal when a moving
- the actuator is part of the device according to the invention.
- the inventive device comprises communication means arranged to communicate the control signal to the actuator.
- Communication means as described above, a communication interface, such as a wireless communication interface or a wired communication interface.
- a communication interface such as a wireless communication interface or a wired communication interface.
- Such an actuator is for example a lighting means and / or a control device for controlling a lighting means.
- Visualization for users is conceivable.
- a user visualization application provides a way to present the recognized data to a user, such as a Web site.
- results of the classification can also be used as feedback, for example in order to influence the grouping of a plurality of data points of the ultrasound echo signal data, the determination of characteristic data and / or the normalization of the ultrasound echo signal data.
- the method further comprises re-grouping a plurality of data points of a data point cluster into one or more new and / or existing data point clusters. This allows, for example, a correction of incorrectly grouped and / or separated data point clusters.
- the method further comprises:
- the other characteristics were determined at least partially as a function of other ultrasonic echo signal data.
- the further ultrasound echo signal data may represent an ultrasound echo signal detected by another ultrasound sensor.
- the further ultrasound echo signal data may represent, for example, the time profile of the signal strength of a further ultrasound echo signal, which is at least substantially dependent on reflections from
- Ultrasonic pulses of another ultrasonic transmitter and / or ultrasonic sensor comprises returning signal components.
- Ultrasonic echo signal data compared, summarized and / or enriched.
- the merging of the characteristic data with further characteristic data should be understood to mean that the characteristic data are compared, combined and / or enriched with the further characteristic data.
- the fused ultrasound echo signal data can, for example, with regard to different characteristics such as amplitude, signal delay, phase and frequency differences or more
- Characteristics such as reflection patterns are evaluated. Basically, fusing can take place both before classifying and after classifying.
- the merging is advantageous, for example, if it takes place before classifying in order to increase the data basis for the classification and thus to be able to improve the result of the classification, for example by using location information and / or
- Triangulation techniques and / or other signal-level fusion techniques One way of doing this is beamforming that determining location information of one or more
- Reflection objects based on fused ultrasound echo signal data e.g., multiple
- the method further comprises normalizing the ultrasound echo signal data.
- normalizing the ultrasound echo signal data comprises normalizing at least a first data point of the ultrasound echo signal data at least partially as a function of at least one second data point of the ultrasound echo signal data, wherein the first data point represents the value of the signal strength of the detected ultrasound echo signal at a first detection time, the second data point of the ultrasound echo signal data Represents the signal strength of the detected ultrasonic echo signal at an earlier second detection time, wherein normalized ultrasonic echo signal data comprising the normalized first data point is obtained as a result of normalizing the ultrasonic echo signal data.
- the first data point and the second data point are associated with the same signal propagation time and / or are, for example, in the same position in successive ultrasound echo signal data blocks.
- the ultrasound echo signal data By normalizing the ultrasound echo signal data, according to a first aspect, it should be understood, for example, that reflections of one or more previously emitted ultrasound pulses on immobile and / or quasi-stationary reflection objects result in the normalized ultrasound echo signal represented by the normalized ultrasound echo signal data according to the first aspect detected ultrasonic echo signal are at least partially reduced.
- This first aspect is advantageous, for example, when moving reflection objects (for example traffic objects in the context of traffic monitoring) are to be classified in order in this case to interfere with reflections on immobile and / or quasi-stationary reflection objects to reduce returning signal components.
- standardizing the ultrasound echo signal data in the present case is understood, for example, to be at least partially reduced to reflections of one or more ultrasound pulses previously emitted on moving objects in the normalized ultrasound echo signal represented by the normalized ultrasound echo signal data according to the second aspect compared to the detected ultrasound echo signal .
- This second aspect is advantageous, for example, when non-moving reflection objects (for example in the context of parking space monitoring) are to be classified.
- the normalization of at least the first data point of the ultrasound echo signal data according to the first and the second aspect takes place, for example, by determining a normalized first data point based at least on the first data point and the second data point. For example, a representation of a value of signal strength included in the normalized first data point is based on that of the first data point and the second data point
- Obtained ultrasound echo signal data which include at least the normalized first data point.
- normalizing at least the first data point includes at least one of:
- the method further comprises applying an analysis and compensation algorithm to the
- Ultrasonic echo signal data such as a multi-reflection analysis algorithm compensation and / or for propagation analysis / compensation. This is advantageous, for example, to compensate for different signal propagation times of the signal components due to reflections on a reflection object due to multiple reflections. This can be done, for example, by prior knowledge of the reflection patterns of different objects and / or learned information about reflection patterns, which enable compensation and / or further analysis.
- the device according to the invention is a control device for controlling a luminous means, comprises a control device for controlling a luminous means and / or is part of a control device for controlling a luminous means.
- the device according to the invention comprises means which are arranged to control one or more light sources.
- the control may be at least partially dependent on the result of classifying the ultrasound echo signal data.
- Control device is for example a control device for a traffic light system and / or one or more street lamps.
- Such a control device for controlling a luminous means of a lamp in the outer region is described for example in the patent application with the file reference DE 10 2014 102 678.0, which is incorporated herein by reference. Furthermore, such a device is for example a device manufactured by the company ICE Gateway under the product name ICE Gateway.
- a luminous means for example a luminous means connected to the device
- the luminous means are switched on, switched off and / or dimmed.
- the device according to the invention further comprises one or more
- Power supply means For example, the power supply means are set up with the
- the lighting means are controlled by controlling the power supply means.
- Power supply means a power converter, a controllable driver circuit and / or a controllable voltage converter (for example, a controllable DC-DC converter).
- the luminous means is preferably a DC-based luminous means.
- the illuminant is an LED (Light Emitting Diode) and / or an OLED (Organic Light Emitting Diode).
- the light source can also be an AC-based light source.
- the illuminant is a light bulb and / or a gas discharge lamp.
- the lighting means are controlled at least in part depending on the result of the evaluation of the ultrasonic echo signal data. For example, the light bulbs are turned on or turned up at certain results of the classification, and turned off or dimmed at other results of the classification.
- a device for controlling a lighting means with further
- Lighting system of a city which has a variety of devices for controlling a
- the device according to the invention can be arranged or arranged on or in a lamp in the exterior, in particular a street lamp.
- a lamp in the exterior in particular a street lamp.
- Device part of a lighting device such as a lamp, for example a lamp in the outdoor area, in particular a street lamp and / or a lamp of a traffic light system.
- a lighting device such as a lamp, for example a lamp in the outdoor area, in particular a street lamp and / or a lamp of a traffic light system.
- the device according to the invention within the lamp (eg in the lamp head or in the mast) and / or on the housing of the lamp (eg on the lamp head and / or on the mast) is mounted.
- the device according to the invention is arranged in the luminaire, on or on the luminaire, in the lantern and / or on the lantern.
- the device according to the invention is located at or in a bus stop, at or on a platform, at or in a public place, at a traffic light intersection, at or in a public building (for example at an entrance and / or
- Exit door and / or attached to measure the influx of objects (such as vehicles, passers-by and / or visitors).
- the system according to the invention further comprises one or more control devices for controlling a luminous means.
- the system according to the invention can alternatively or additionally comprise further external components (eg sensors, servers and / or devices).
- the system according to the invention is a lighting system (eg a city).
- the system according to the invention further comprises one or more further devices according to the invention and / or one or more servers.
- FIG. 1 is a block diagram of the electronic components of an exemplary embodiment
- FIG. 2 is a block diagram of an exemplary embodiment of a
- FIG. 3 shows a flow chart of an example of a method according to the invention
- Fig. 5a is a flow chart of an example of a modified DBSCAN clustering algorithm
- 5b is a flowchart of an example for determining the number of
- FIG. 6 is an exemplary graphical representation of one of
- FIG. 7 is an exemplary graphical representation of an ultrasonic echo signal represented by a plurality of consecutive ultrasound echo signal data blocks;
- 9a and 9b an exemplary representation of a graphical representation of
- Fig. 1 is a block diagram of an exemplary embodiment of the invention
- Processor 11 of device 10 is designed in particular as a microcontroller or microprocessor.
- Processor 11 executes program instructions stored in program memory 12 and stores, for example, intermediate results or the like in main memory 13.
- program memory 12 is a non-volatile memory such as a flash memory
- Main memory 13 is, for example, a volatile or nonvolatile memory, in particular a random access memory (RAM) such as a static RAM (SRAM), a dynamic random access memory (DRAM).
- RAM random access memory
- SRAM static RAM
- DRAM dynamic random access memory
- program memory 12 and main memory 13 are arranged together with processor 11 in a module, processor 11 is, for example, operationally with program memory 12 and
- Main memory 13 connected, for example via a bus.
- program instructions are stored which cause the processor 11 and / or device 10, when the processor 11 executes the program instructions, to be at least partially illustrated in FIG. 3 and / or FIG. 4 and / or FIGS. 5a and 5b Execute and / or control procedures.
- Device 10 includes an ultrasonic sensor 14.
- the ultrasonic sensor 14 is not a part of the device 10, but is separate from the device 10, for example.
- the ultrasonic sensor 14 is formed, for example, as a combined ultrasonic detector and ultrasonic transmitter.
- ultrasound sensor 14 is adapted to detect an ultrasound echo signal.
- the ultrasonic sensor 14, for example, communicates ultrasonic echo signal data to the processor 11, which is a representation of the time course of the signal strength of the detected
- the ultrasonic sensor 14 For detecting the ultrasonic echo signal, the ultrasonic sensor 14 has, for example, a piezoelectric transducer which converts an ultrasonic echo signal detectable at the position of the ultrasound sensor 15 into an electrical signal. Furthermore, the piezoelectric transducer which converts an ultrasonic echo signal detectable at the position of the ultrasound sensor 15 into an electrical signal. Furthermore, the piezoelectric transducer which converts an ultrasonic echo signal detectable at the position of the ultrasound sensor 15 into an electrical signal. Furthermore, the
- an ultrasonic sensor may include other components for processing the electrical signal (e.g., one or more filters such as one or more bandpass filters, a mixer such as a
- ultrasonic sensor 14 is set up, for example, one or more
- Ultrasonic sensor 14 also have a piezoelectric transducer, which converts an electrical signal into one or more ultrasonic pulses.
- the same piezoelectric transducer may be used for emission and detection.
- Processor 11 is, for example, operatively connected to ultrasonic sensor 14, for example via a bus.
- the optional wireless communication interface 15 is configured to communicate in accordance with one or more wireless communication techniques.
- the wireless communication interface 15 supports the communication via a local radio network and a mobile radio network.
- the wireless communication interface 15 is at least partially formed by a transceiver of the local radio network technology, a transceiver of the mobile radio technology and one or more antennas.
- a local radio network technique RF1D, NFC, Bluetooth and / or WLAN As disclosed above, an example of a local radio network technique RF1D, NFC, Bluetooth and / or WLAN; and an example of a mobile technology is GSM, UMTS and / or LTE.
- the wireless communication interface 15 may only be one of these wireless ones
- the processor 11 may communicate via the wireless communication interface 15 with other devices such as a server, a remote monitoring device, one or more separate ultrasonic sensors, and / or other devices of the invention.
- processor 11 is operatively connected to wireless communication interface 15, for example via a bus.
- the wireless communication interface 15 for example via a bus.
- Communication interface 15 receive or interrogate information from other devices and forward to processor 11 and / or receive information from processor 11 and send it to other devices.
- processor 11 controls the communication interface 15 at least partially.
- FIG. 2 is a block diagram of an exemplary embodiment of the inventive system 20.
- the system 20 includes the device 10 with the ultrasonic sensor 14 (not shown in FIG. 2).
- the system 20 may comprise further devices according to the invention, ultrasound sensors and / or ultrasound transmitters and one or more servers.
- Device 10 is mounted in system 20, for example, in a Sidefire configuration on a mast of a street lamp, and angularly (i.e., obliquely, that is, neither vertically nor horizontally) aligned with the road surface.
- angularly i.e., obliquely, that is, neither vertically nor horizontally aligned with the road surface.
- FIG. 3 is a flowchart 300 that exemplifies the steps of a method according to the invention.
- the steps illustrated in flowchart 300 are executed and / or controlled by means of the device 10, for example.
- the steps are at least partially executed and / or controlled by the processor 11 of the device 10.
- ultrasound echo signal data are obtained at the device 10, wherein the ultrasound echo signal data at least partially represent an ultrasound echo signal detected by the ultrasound sensor 14.
- the ultrasonic echo signal data is obtained at the device 10, for example, by detecting the ultrasonic echo signal by the ultrasonic sensor 14.
- the ultrasound echo signal data are, for example, a representation of the time profile of the signal strength of the ultrasound echo signal detected by the ultrasound sensor.
- Each data point of the ultrasonic echo signal data includes, for example, a representation of a value of the signal strength of the detected ultrasonic echo signal at a detection timing and a representation of the detection timing.
- Ultrasonic echo signal data represented ultrasonic echo signal 61 is shown in Fig. 6.
- everyone Signal point of the ultrasonic echo signal 61 corresponds to a data point of
- Ultrasonic echo signal 61 is a possible example of a first data point corresponding to a first signal point designated by the reference numeral 64.
- the first one includes
- Data point for example, a representation of the value of the signal strength s (ti) and a
- a possible example of a signal point corresponding to a second data point is provided with the reference numeral 65, so that the second data point, for example, a representation of the value of the signal strength s [tz] and a
- Representation of the second detection time t 2 includes.
- the second detection time t 2 is earlier in time than the first detection time tj.
- Ultrasonic echo signal data optional additional information such as frequency and / or
- Phase information (e.g., the frequency spectrum per data point and / or the phase position per data point).
- a plurality of data points of the ultrasonic echo signal data are grouped into one or more data point clusters.
- grouping a plurality of data points of the ultrasound echo signal data into one or more data point clusters may include applying a clustering algorithm to the data points of the ultrasound echo signal data.
- characteristic data are determined at least partially as a function of a data point and / or a plurality of data points of a data point cluster of the ultrasonic echo signal data.
- the characteristics are obtained.
- the characteristics include, as described above, for example, amplitude, frequency and / or phase information (eg, amplitude, frequency and / or phase information of one or more data points represented signal portion of the ultrasonic echo signal) and / or information about the morphology, the pattern and / or the location of one or more data point clusters.
- one or more of the reflection objects located in the detection range of the ultrasonic sensor 14 are classified at least in part based on the characteristics obtained as a result of the determination in step 303.
- the characteristics are chosen to allow classifying the reflection objects.
- classifying includes detecting one or more of the reflection objects.
- the recognition of the presence of one or more reflection objects in the detection area of the ultrasound sensor 14 should be understood. This can be done, for example, based on the data point clusters.
- the data points of a data point cluster at least substantially represent reflections of the ultrasound pulses on a reflection object attributable signal components of the ultrasonic echo signal. Accordingly, one or more of the reflection objects are recognized, for example, if the data points were grouped into one or more data point clusters in step 303.
- an object class includes reflection objects of a particular type, such as pedestrians, cyclists, or motor vehicles (e.g., motorcycles,
- the assignment of the reflection objects to an object class can be done on the basis of a given decision tree or by a machine learning algorithm and / or a machine learning technique.
- a machine learning algorithm receives the characteristics determined in step 303 as input and / or start data.
- the reflection objects are then assigned, for example, to the object class with the highest probability.
- FIG. 4 is a flowchart 400 that exemplifies the steps of a method according to the invention.
- the steps illustrated in flowchart 400 are executed and / or controlled by means of device 10, for example.
- the steps are at least partially executed and / or controlled by the processor 11 of the device 10.
- the device 10 emits one or more ultrasound pulses and / or causes the emission of the ultrasound pulses.
- the ultrasonic pulses are emitted at regular time intervals TR.
- the emission of the ultrasound pulses is initiated at regular time intervals TR.
- the emitted ultrasonic pulses are the same.
- the transmitted ultrasound pulses are based on a time-limited prototype pulse that is modulated and / or frequency-shifted to an ultrasound carrier frequency (eg, 44 kHz).
- the ultrasonic pulses are emitted by the ultrasonic sensor 14 in step 401.
- the processor 11 drives the ultrasonic sensor 14 to cause the ultrasonic sensor 14 to emit the ultrasonic pulses.
- ultrasound echo signal data are obtained at the device 10, wherein the ultrasound echo signal data at least partially represent an ultrasound echo signal detected by the ultrasound sensor 14.
- the ultrasonic echo signal data is obtained at the device 10, for example, by detecting the ultrasonic echo signal by the ultrasonic sensor 14.
- step 402 corresponds to step 301 described above in connection with flowchart 300 shown in FIG.
- the ultrasound echo signal data is, for example, a representation of the time profile of the signal strength of the ultrasound echo signal detected by the ultrasound sensor 14.
- the ultrasound echo signal represented by the ultrasound echo signal data includes, at least substantially, reflections from the ultrasound pulses emitted at step 401 on moving objects (e.g., objects 21 through 24 in Fig. 2) and stationary objects (e.g., object 25 in Fig. 2).
- An exemplary graphical representation 60 of the ultrasound echo signal data includes, at least substantially, reflections from the ultrasound pulses emitted at step 401 on moving objects (e.g., objects 21 through 24 in Fig. 2) and stationary objects (e.g., object 25 in Fig. 2).
- An exemplary graphical representation 60 of the ultrasound echo signal data includes, at least substantially, reflections from the ultrasound pulses emitted at step 401 on moving objects (e.g., objects 21 through 24 in Fig. 2) and stationary objects (e.g., object 25 in Fig. 2).
- Ultrasonic echo signal data represented ultrasonic echo signal 61 is, as described above, shown in Fig. 6.
- the ultrasonic echo signal data is divided into several
- Ultrasonic echo signal data blocks divided, for example, the processor 11 subdivided the
- Ultrasonic echo signal data in multiple ultrasound echo signal data blocks are the
- Ultrasonic echo signal data is divided into a plurality of ultrasonic echo signal data blocks such that the
- Ultrasonic echo signal data blocks represent successive periods of equal time segment length of the time course of the value of the signal strength of the detected ultrasonic echo signal, wherein a first ultrasonic echo signal data block the first data point and a second
- Ultrasonic echo signal data block comprises the second data point.
- each of the time periods begins with the transmission time of an ultrasonic pulse. This has the effect in the present case that the length of the period of each of the time periods
- the temporal profile of the signal strength of the detected ultrasonic echo signal represented by an ultrasound echo signal data block is in this case at least substantially reflected by reflections at the beginning of the respective time segment emitted ultrasound pulse is determined and is thus hereinafter referred to by way of example as an ultrasonic impulse response.
- the beginning of a period of time can be done for example by the exact knowledge of the transmission times.
- the processor 11 drives the ultrasonic sensor 14 to cause the ultrasonic sensor 14 to transmit the ultrasonic pulses
- the processor 11 knows the transmission timing of the ultrasonic pulses.
- corresponding transmission time data representing one or more transmission times of one or more ultrasonic pulses, in
- Program memory 12 may be stored.
- the transmission time of an ultrasonic pulse can also be determined.
- the ultrasound sensor 14 is a combined ultrasound detector and ultrasound transmitter, it may be determined by analysis of the remaining feedback of a transmitted ultrasound pulse into the ultrasound detector (e.g., feedback through common components of the ultrasound detector and ultrasound transmitter such as a duplexer).
- Ultrasonic echo data blocks represented ultrasonic echo signal 71 is shown in Fig. 7.
- the ultrasonic echo signal 71 corresponds to the ultrasonic echo signal 61 shown in FIG. 6.
- the three consecutive time sections 74, 75 and 76 each have the time period TR selected here by way of example and start in each case with one of the transmission times To, Ti and T 2 of an ultrasound pulse emitted in step 401. These time intervals 74, 75 and 76 and the time course of the signal strength of the signal shown therein
- Ultrasonic echo signal 71 correspond to an ultrasonic echo signal data block, respectively.
- the ultrasound echo signal data for example, in an optional in
- Flowchart 400 step not shown normalized normalizing the ultrasound echo signal data according to a first aspect is intended to mean, for example, that reflections of one or more previously emitted ultrasound pulses on immobile objects (eg object 25 in FIG. 2) return signal components in the normalized ultrasound echo signal represented by the normalized ultrasound echo signal data be at least partially reduced compared to the detected ultrasonic echo signal.
- immobile objects eg object 25 in FIG. 2
- the normalization of the ultrasonic echo signal data according to this first aspect will be described.
- the difference between the ultrasound echo signal data obtained in step 402 and the ultrasound echo signal data normalized according to the first aspect can then be formed, for example.
- normalizing according to the first aspect of at least a first data point of the ultrasound echo signal data comprises selecting at least a second data point at least partially in response to the first data point and determining a normalized first data point based at least on the first data point and the second data point.
- Various algorithms are possible for this, of which a possible algorithm is described below by way of example.
- the second data point is determined and / or chosen such that it is associated with the same signal propagation time At as the first data point and / or in the second
- Ultrasonic echo signal data block is located at the same position as the first data point in the first ultrasonic echo signal data block.
- further data points may be determined and / or selected such that they are each associated with the same signal propagation time At as the first data point and / or in their respective ultrasound echo signal data block at the same position as the first data point in the first ultrasound echo signal data block.
- Ultrasonic echo signal 71 is a possible example of a signal point corresponding to the first data point denoted by reference numeral 77.
- the first data point includes a representation of the value of the signal strength s (ti) and a representation of the first detection time ti.
- Signal point is provided with the reference numeral 78, so that the second data point, for example, a representation of the value of the signal strength s (tz) and a representation of the second
- Detection time tz includes.
- the second detection time t 2 is earlier in time than the first detection time ti.
- the time difference between the first detection timing ti and the first transmission timing TI and the time difference between the second detection timing t2 and the second transmission timing T2 correspond to At, respectively.
- At corresponds to the signal propagation time at the beginning of the respective one
- Time interval emitted ultrasonic pulse From the signal propagation time At, the distance d of the reflecting object can be determined, unless there is multiple reflection (for example, with the following
- both values of the signal strength s (ti) and s (t2), if there are no multiple reflections, respectively, are based on a reflection of the ultrasound pulse emitted at the beginning of the respective time segment on an object at the same distance d from the ultrasound sensor 14.
- the second data point and optionally the other data points can be determined at least partially as a function of a window function h (t).
- the window function specifies a time segment in which the second data point and possibly the other data points are located. The window function can do this specify a past time segment and / or a future time segment (eg by delaying the real-time processing of the ultrasound echo signal data).
- Data point, s (t 2 ) for the second data point) of the detected ultrasonic echo signal are then determined, for example, the mean value s (T lf At) and the variance T ⁇ At).
- the window function can do this give a weighting of the values of the signal strength represented by the first data point and the second data point and, if appropriate, the further data points.
- the first data point s "(ti) normalized according to the first aspect can then be determined, for example, according to the following formula: sCtJ - sCiyAt)
- Fluctuation variable which is also distance-dependent, at least partially reduced and / or compensated. This will compensate for and / or reduce the static
- Ambient effects ie the effects due to reflections on stationary and / or quasi-stationary objects.
- Objects as well as the environment in the detection range of the ultrasonic sensor 15 resulting effects and disturbances to minimize.
- This can e.g. slight changes (e.g., moving trees, opening windows, etc.), but also objects that permanently fit in or out of the environment (e.g., parked vehicles).
- a time window weighted function of several ultrasonic echo data blocks
- characteristics of the environment e.g basic reflections of the environment, the ground and fixed objects
- the general variability of the environment magnitude of the variation of the all-around Reflections, such as the movement of trees
- the normalization of at least the first data point described above is repeated for each data point of the ultrasound echo signal data.
- the first data point is in each case the data point to be standardized according to the first aspect.
- the second data point (and, if appropriate, each of the further data points) becomes dependent on the first one
- Obtained ultrasound echo signal data comprising at least the normalized first data point. If the normalization is repeated for each data point of the ultrasound echo signal data, normalized ultrasound echo signal data comprising the normalized data points (e.g., including exclusively normalized data points) is obtained as the result of normalizing (e.g., the first aspect)
- the following steps of the flowchart are continued, for example, with the normalized ultrasonic echo signal data.
- the normalization may alternatively or additionally be performed at another time (e.g., after step 404).
- Ultrasonic echo signal data are applied such as algorithms for
- a graphical representation of the ultrasound echo signal data is determined at least in part depending on the ultrasound echo signal data blocks.
- Representation is, for example, a two-dimensional representation of the ultrasound echo signal data.
- the graphical representation is and / or includes a pixel array having pixels arranged in a raster.
- the graphical representation and / or a graphically representable ultrasound echo signal data structure is obtained.
- a graphically representable ultrasonic echo signal data structure is, for example, a two-dimensional data field and / or a data array and / or a graphics file (e.g., a graphics file in an image data format such as the bitmap format, BMP format).
- the graphical representation in Fig. 8 is a pixel array 80 with in a grid arranged pixels.
- each pixel of the pixel array 80 is determined depending on a data point of the ultrasonic echo signal data.
- the gray level of a pixel is determined as a function of the value of the signal strength (alternatively also frequency and / or phase) represented by the respective data point.
- data points of successive ultrasonic echo signal data blocks are each represented by pixels of the pixel array 80 arranged in successive grid columns of the raster
- each time period represented by an ultrasonic echo signal data block is represented by the pixel
- each grid column of the grid of the pixel array 80 represents an ultrasonic pulse response of a previously emitted
- the signal propagation time At with the maximum value TR is plotted on the ordinate 81 running in the direction of the grid columns.
- the distance d of the reflection object can be determined unless there is a multiple reflection (for example, with the following formula: d- with sound velocity v).
- the ordinate can therefore also as
- impulse response axis distance axis or signal transit time axis.
- the transmission times (eg To, Ti, T 2 ) of the ultrasonic pulses are plotted as discrete times. It thus represents the number of each detected on an ultrasonic pulse
- Ultrasound impulse responses and can also be referred to as time axis.
- the position of each pixel in FIG. 8 is determined by the transmission timing of the
- Ultrasonic pulse which determines the beginning of the time portion of the ultrasonic echo signal data block of the respective data point, and determines the associated with the respective data point signal propagation time. Furthermore, the gray level of each pixel is determined, for example, as a function of the value of the signal strength represented by the respective data point.
- the ultrasound echo signal data in this two-dimensional representation can be e.g. processing with image processing algorithms.
- the graphical representation is, for example, the starting point for the further steps of the flowchart 400.
- a step 405 multiple data points of the ultrasound echo signal data are grouped into one or more data point clusters.
- grouping multiple data points of the ultrasound echo signal data into one or more data point clusters is based, at least in part, on the graphical representation determined in step 404 (eg, those described above
- Pixel arrangement and / or a graphically representable ultrasound echo signal data structure obtained as a result of determining the graphical representation in step 404.
- grouping multiple data points of the ultrasound echo signal data into one or more data point clusters includes applying a clustering algorithm to the graphical representation (e.g., the pixel array described above) and / or one as a result
- the clustering algorithm can be, for example, a hierarchical, a density-based or a partitioning clustering algorithm as well as a combination
- FIG. 5 a shows a flowchart 500 of a modified DBSCAN clustering algorithm as an example of a clustering algorithm.
- a suitable clustering algorithm for example, data points are grouped into one or more data point clusters, which represent at least substantially signal components of the ultrasound echo signal attributable to reflections on a particular reflection object. This is advantageous, for example, for distinguishing and evaluating (for example, by determining characteristic data in step 406) the reflections from signal components originating at different reflection objects in the detection region in the ultrasonic echo signal represented by the ultrasound echo signal data.
- 9a and 9b show an exemplary representation of a graphical representation of
- Pixel arrangement 90a with pixels arranged in a grid and is based on the representation in Fig. 8. Accordingly, on the in the direction of the grid columns Ordninate 91 is the
- the transmission times (for example To, Ti, T2) of the ultrasound pulses are plotted as discrete times.
- pixels are represented which have a signal component which is at least essentially due to the reflection at a specific reflection object
- Ultrasonic echo signal data represented represent ultrasonic echo signal.
- the result of applying the modified DBSCAN clustering algorithm shown in FIG. 5a to this Ultrasonic echo signal data is shown in Fig. 9b.
- the data points within the marker 93 have been at least partially grouped into the data point cluster 94.
- characteristic data are determined at least partially as a function of a data point and / or a plurality of data points of a data point cluster of the ultrasound echo signal data.
- the data point clusters are the data point clusters obtained as a result of grouping in step 405.
- step 406 corresponds to step 303 described above in connection with flowchart 300 shown in FIG. 3.
- the characteristics include, for example, one or more data points (eg, multiple data points of a data point cluster, eg, the data point cluster 94) certain amplitude, frequency and / or phase information.
- Amplitude information may be obtained, for example, by determining an average of the amplitude (e.g., an average of the signal strength) of the signal component of the signal represented by one or more data points (e.g., multiple data points of a data point cluster)
- Frequency information may be obtained, for example, by determining a frequency spectrum of the signal portion of the ultrasonic echo signal represented by one or more data points of a data point cluster and / or a frequency difference between the frequency of the signal echo signal represented by one or more data points (eg, multiple data points of a data point cluster) the frequency of a previously emitted
- Phase information can be obtained, for example, by determining a phase change.
- phase change may be accomplished by comparing the phases of one or more data points (e.g., signal points 77 and 78) with one another
- Ultrasonic echo signal data blocks (e.g., ultrasonic echo signal data blocks 74 and 75)
- represented signal components of the ultrasonic echo signal can be determined.
- the characteristics may include information about the reflection energy and / or signal propagation time of the data point cluster (e.g.
- Data point clusters 94 represented (e.g., at least substantially due to reflections on a reflection object) the signal component of the ultrasound echo signal data
- Information about the reflection energy can be obtained, for example, by determining the value of the energy of the signal component of the signal group represented by a data point cluster (eg, at least substantially due to reflections on a reflection object)
- Ultrasonic echo signal data representative ultrasonic echo signal can be obtained.
- Signal propagation time information can be obtained, for example, by determining the signal propagation time of the data point cluster represented by one or more data points of a data point cluster (e.g.
- Signal component of the ultrasonic echo signal represented by the ultrasound echo signal data can be obtained.
- the characteristics may describe, for example, characteristics of the data point clusters. These include, for example, information about the location, distribution, shape, morphology, pattern, and extent of a data point cluster.
- characteristic data may comprise further additional information, for example at least partially in dependence on otherwise processed ultrasound echo signal data (for example, with or without normalization, without or with propagation compensation, without or with
- the characteristics are obtained.
- the ultrasound echo signal data for example, in an optional in
- Flowchart 400 not shown step with further ultrasonic echo signal data and / or other characteristics are fused.
- the fusing can also take place at another location, for example before step 403 or before step 406.
- the further ultrasound echo signal data may represent an ultrasound echo signal detected by another ultrasound sensor.
- the further ultrasound echo signal data may represent, for example, the time profile of the signal strength of a further ultrasound echo signal, which is at least substantially dependent on reflections from
- Ultrasonic pulses of another ultrasonic transmitter and / or ultrasonic sensor comprises returning signal components.
- Ultrasonic echo signal data compared, summarized and / or enriched. Accordingly, the merging of the characteristic data with further characteristic data should be understood to mean that the characteristic data are compared, combined and / or enriched with the further characteristic data.
- Step 407 one or more of the reflection objects in the detection range of the ultrasonic sensor 14 are classified at least in part based on the characteristics obtained as a result of the determination. Step 407 corresponds, for example, to step 304 described above in connection with flowchart 300 shown in FIG. 3. Further, in step 407, for example, location and / or motion information of one or more of the reflection objects may be estimated and / or determined.
- Location information (eg a location vector and / or a distance) of a reflection object can be estimated based on the signal propagation time of a signal component of the ultrasound echo signal at least substantially reflected by the reflection object of the ultrasound echo signal represented by the ultrasound echo signal data
- Movement information eg a motion vector, a direction and / or a velocity
- movement information can be estimated (eg determined) on the basis of frequency and / or phase information of a signal component of the ultrasound echo signal at least substantially reflected by the reflection object.
- the results obtained in step 407 are provided, for example, for one or more applications.
- the results are provided for an application for parking space monitoring and / or traffic counting and / or monitoring.
- the respective object class (eg vehicle type) obtained as a result of the classification can be provided to the reflection objects recognized as being moved. For example, based on this, a traffic and / or vehicle density of the lanes located in the detection range of the ultrasound sensor can be determined.
- the respective object class eg the respective traffic object class
- location information of the detected reflection objects e.g., location information of the detected reflection objects.
- the status (eg occupied or free) of a parking area located in the detection range of the ultrasound sensor can be determined, for example, at least partially based on the provided results and, for example, further information about the parking space (eg location information, size information, etc.) and / or previously provided results. For example, it is determined that the parking lot is occupied when, at the location of the parking lot, an object of a predetermined object class is recognized for a predetermined period of time. Further possible applications are traffic logic, prediction, decision level, visualization for users (eg customers or users).
- the applications may be performed both locally by, for example, the device 10 and by one or more other devices.
- These further devices may be, for example, a server (eg a cloud and / or backend server) and / or one or more further devices 10 and / or a control device (eg a control device for controlling a light source such as one of the ICE Gateway GmbH distributed ICE Gateway] act.
- a server eg a cloud and / or backend server
- control device eg a control device for controlling a light source such as one of the ICE Gateway GmbH distributed ICE Gateway
- step 407 may alternatively or additionally be used as feedback to control preprocessing (e.g., in previous steps 401-406)
- Ultrasonic echo signal data and / or the ultrasound echo signal represented by the ultrasound echo signal data can be used.
- FIG. 5a shows a flow chart 500 exemplifying the steps of a modified DBSCAN algorithm.
- the steps illustrated in flowchart 500 are executed and / or controlled by means of the device 10, for example.
- the steps are at least partially executed and / or controlled by the processor 11 of the device 10.
- the steps of the flowchart 500 are applied to ultrasound echo signal data to group the data points of the ultrasound echo signal data into data point clusters.
- unprocessed data points are, for example, data points which are in the steps of
- a step 502 an arbitrary data point of the raw data points is selected as the reference data point, and then the number of data points in an epsilon neighborhood of the reference data point is determined (see step 503). Determining the number of data points in an epsilon neighborhood of the reference data point is exemplified in Fig. 5b.
- a step 504 it is checked whether the number of data points in epsilon neighborhood of the reference data point is larger than a predetermined threshold.
- the threshold is
- the threshold is 20. If the number of data points in epsilon neighborhood of the reference data point is not greater than the predetermined threshold, the Flowchart 500 continued with step 501. Otherwise, a new data point cluster is generated in step 505.
- a step 506 it is checked whether there are any more data points in the epsilon neighborhood of the
- step 507 data points not yet added to the data point cluster are added to the data point cluster.
- step 508 the epsilon neighborhood of the added data point is determined and this epsilon neighborhood is added to the epsilon neighborhood of the reference data point.
- the epsilon neighborhood of the reference data point becomes the epsilon neighborhood of step 507
- FIGs. 9a and 9b show an exemplary illustration of a graphical user interface
- Fig. 5b shows a flowchart 600 exemplifying the steps for determining the number of data points in epsilon neighborhood of a reference data point.
- the steps illustrated in flowchart 600 are executed and / or controlled by means of the device 10, for example.
- the steps are at least partially performed by the processor 11 of FIG.
- Device 10 executed and / or controlled.
- the steps of the flowchart 600 are performed in step 503 of the flowchart 500 to determine the number of data points in the epsilon neighborhood of a reference data point.
- a step 601 it is checked whether there are still unprocessed data points.
- unprocessed data points are, for example, data points which have not yet been taken into account in the steps of flowchart 600. If there are no raw data points, the flowchart 600 ends. Otherwise, in step 602, any unprocessed data point is selected, and then the Euclidean distance of the data point selected in step 602 to the
- step 604 the Euclidean distance determined in step 603 is divided by the value of the data point selected in step 602.
- a step 605 the value obtained as a result of the calculation in step 604 is compared with the value obtained as a result of multiplying a threshold value by the value of the reference data point.
- the threshold value is for example between 0 and 5, preferably between 0 and 1, particularly preferably between 0.1 and 0.2, for example the threshold value is 0.15. If the value obtained as a result of the calculation in step 604 is greater than or is equal to the value obtained as a result of the multiplication of the threshold value with the value of the reference data point, the flowchart 600 is continued with step 601.
- step 606 the data point selected in step 602 is added to the epsilon neighborhood of the reference data point and the number of data points in the epsilon neighborhood of the reference data point is incremented by one. Subsequently, the flowchart 600 is continued with step 601.
- certain embodiments of the invention allow for the novel use of ultrasound sensors to monitor complex environments (e.g., outdoor environments, especially on the road).
- complex environments e.g., outdoor environments, especially on the road.
- Covering reflections are new configurations, such as the so-called. Sidefire arrangement from the side of the road to monitor multiple lanes, possible. Even the most diverse target applications, such as traffic monitoring or parking space monitoring, are possible simultaneously with a sensor or a sensor network. In this case, the evaluation by the novel internal or graphical representation (for example in the form of a pixel arrangement), which a simultaneous analysis of the temporal and spatial relationships in the
- Ultrasonic sensors evaluation allows to be facilitated.
- ultrasonic sensors represents the far better alternative to sensors used in the prior art for economic and economic reasons, such as radar sensors.
- the results can even be improved and optimized by the higher number of multiple distributed sensors at several optimal locations.
- the exemplary embodiments of the present invention described in this specification are also to be understood as disclosed in all combinations with each other.
- the description of a feature encompassed by an embodiment is - unless explicitly explained to the contrary - not be understood in this case as meaning that the feature is essential or essential for the function of the exemplary embodiment.
- the sequence of the method steps described in this specification in the individual flowcharts is not mandatory, alternative sequences of the method steps are conceivable.
- the method steps can be implemented in various ways, so an implementation in software (by program instructions), hardware, or a combination of both to implement the method steps is conceivable.
- Formulation "and / or” shall be understood to mean that both the alternative and the combination should be disclosed, ie "A and / or B” means "(A) or (B) or (A and B)" of units, persons or the like in the context of this specification means several units, persons or the like.
- the use of the indefinite article does not exclude a plurality.A single device may perform the functions of several in the
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Abstract
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DE102015120659.5A DE102015120659A1 (de) | 2015-11-27 | 2015-11-27 | Klassifizieren eines oder mehrerer Reflektionsobjekte |
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US20200064444A1 (en) * | 2015-07-17 | 2020-02-27 | Origin Wireless, Inc. | Method, apparatus, and system for human identification based on human radio biometric information |
DE102017121581B4 (de) * | 2017-09-18 | 2019-05-09 | Valeo Schalter Und Sensoren Gmbh | Verwendung eines Verfahrens zum Verarbeiten mittels Ultraschall erhaltener Daten |
CN110164134B (zh) * | 2018-02-12 | 2021-08-13 | 华为技术有限公司 | 信息处理的方法和装置 |
CN109142514B (zh) * | 2018-09-29 | 2022-04-01 | 东北大学 | 一种基于脉冲涡流阵列的缺陷检测装置及方法 |
CN112241009A (zh) * | 2019-07-19 | 2021-01-19 | 广东美的白色家电技术创新中心有限公司 | 人体方位识别方法、装置及温度调控设备 |
CN112216113B (zh) * | 2020-10-16 | 2021-07-27 | 温州职业技术学院 | 基于密度峰值的交通流量数据聚类方法 |
CN113196098B (zh) * | 2021-03-25 | 2022-05-17 | 华为技术有限公司 | 一种基于回波数据的速度估计方法及装置 |
DE102022207295A1 (de) | 2022-07-18 | 2024-01-18 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren und Vorrichtung zur Überwachung eines Sichtfeldes eines stationären Sensors |
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US3214729A (en) * | 1961-05-18 | 1965-10-26 | Gen Signal Corp | Pulsed ultrasonic detector |
US4789941A (en) * | 1986-07-18 | 1988-12-06 | Bennett Nunberg | Computerized vehicle classification system |
US5040133A (en) * | 1990-01-12 | 1991-08-13 | Hughes Aircraft Company | Adaptive clusterer |
US5528234A (en) * | 1994-02-01 | 1996-06-18 | Mani; Siva A. | Traffic monitoring system for determining vehicle dimensions, speed, and class |
US5886648A (en) * | 1998-02-02 | 1999-03-23 | Proto-Vest, Inc. | Automated vehicle wash system with vehicle type recognition |
US20140266860A1 (en) * | 2013-03-14 | 2014-09-18 | Gaddi BLUMROSEN | Method and system for activity detection and classification |
DE102014102678B4 (de) | 2013-06-13 | 2016-09-15 | Ice Gateway Gmbh | Vorrichtung und Verfahren zum Steuern eines Leuchtmittels |
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2015
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2016
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