WO2011054606A1 - Procédé, dispositif émetteur/récepteur et système de reconnaissance d'objets - Google Patents

Procédé, dispositif émetteur/récepteur et système de reconnaissance d'objets Download PDF

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Publication number
WO2011054606A1
WO2011054606A1 PCT/EP2010/064362 EP2010064362W WO2011054606A1 WO 2011054606 A1 WO2011054606 A1 WO 2011054606A1 EP 2010064362 W EP2010064362 W EP 2010064362W WO 2011054606 A1 WO2011054606 A1 WO 2011054606A1
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WO
WIPO (PCT)
Prior art keywords
transmitting
receiving
receiving device
transceiver
sensitivity characteristic
Prior art date
Application number
PCT/EP2010/064362
Other languages
German (de)
English (en)
Inventor
Frank Hoenes
Bjoern Herder
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2011054606A1 publication Critical patent/WO2011054606A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/003—Bistatic sonar systems; Multistatic sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • G01S15/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
    • 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
    • G01S7/52004—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/527—Extracting wanted echo signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/939—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details vertical stacking of sensors, e.g. to enable obstacle height determination

Definitions

  • the present invention relates to a method, a transceiver and a system for recognizing objects.
  • Methods and systems for detecting objects, especially obstacles are used, for example, in motor vehicles to assist the driver in navigating.
  • the driver is warned acoustically or optically, especially when approaching the obstacles.
  • To detect an approach to the obstacles are transmitting / receiving devices, such as ultrasonic sensors are used.
  • Ultrasonic sensors can use ultrasound to detect the presence of objects or obstacles within a limited detection area or range and also measure the distance to the objects.
  • a method for the vehicle data dependent distance measurement is known from DE 196 45 339 A1.
  • a distance measuring device is described in DE 102 61 018 A1.
  • the principle of the pulse-echo method is used.
  • the detection range of the individual ultrasonic sensor is determined by its directional characteristic or emission characteristic.
  • FIG. 1 shows a schematic representation of a radiation characteristic A of an ultrasonic sensor 1.
  • FIG. 1 particularly shows the sound distribution in a horizontal section through the sound lobe generated by the ultrasonic sensor 1.
  • the areas B1 -B4 of the radiation characteristic A or directional characteristic show areas of different sound intensity.
  • Such ultrasonic sensors are arranged in particular in the rear and front region of a motor vehicle. For the most complete possible coverage of the area behind or in front of the motor vehicle, a plurality of ultrasound sensors per vehicle side are installed, the detection areas of which overlap in particular.
  • the ultrasonic sensors transmit alternately.
  • a respective receiving ultrasonic sensor may receive both reception signals generated by reflection of own transmitted transmission signals on an object and reception signals generated by reflection of transmission signals transmitted by other ultrasonic sensors to the object and evaluate.
  • the first-mentioned received signals are also referred to as direct echo, since the transmitting ultrasonic sensor and the receiving ultrasonic sensor are identical. Accordingly, the second-mentioned reception signals are also referred to as cross echo, because the receiving ultrasonic sensor and the transmitting ultrasonic sensor are different.
  • the received echoes, direct echoes and cross echoes are evaluated by means of a sensitivity characteristic. Only the echoes whose amplitudes are above an evaluation threshold determined by the sensitivity characteristic are processed further.
  • the sensitivity characteristic can be constant or variable over the entire detection distance.
  • a variable sensitivity characteristic is used in particular in order to be able to hide echoes from the floor clutter or attachments to motor vehicles, both of which can only occur in certain distance ranges.
  • a sensitivity characteristic is used per ultrasonic sensor.
  • the echoes are conventionally evaluated depending on which ultrasonic sensor is receiving.
  • inventive method with the features of claim 1, the inventive transmitting / receiving device with the features of claim 8 and the inventive system with the features of claim 10 or 1 1 each have the advantage that the received signals, in particular the cross echo dependent from the transmitting transceiver, for example an ultrasonic sensor. be evaluated.
  • the individual transmission / reception properties of the different direct and cross-echo reception paths can be optimally covered.
  • adjacent transmitting / receiving devices of a system for example a driver assistance system of a motor vehicle, are installed at different heights, angles of attack and distances from each other in the motor vehicle, it can lead to misinterpretations in the cross-echo evaluation without the use of the invention since the transmission / reception properties can vary greatly depending on the transmitting transceiver.
  • the sensitivity characteristic as a function of at least one property of the transmitting transceiver, the probability of such a misinterpretation is reduced.
  • an evaluation unit which causes the execution of at least part of a method as explained above on a program-controlled device.
  • the evaluation unit is preferably designed as an ASIC or as a computer program product.
  • a computer program product such as a computer program means can be provided or supplied, for example, as a storage medium, such as a memory card, USB stick, floppy, CD-ROM, DVD or even in the form of a downloadable file from a server in a network. This can be done, for example, in a wireless communication network by the transmission of a corresponding file with the computer program product or the computer program means.
  • a transmitting / receiving device for recognizing objects which has:
  • a transmission means for transmitting a transmission signal; a receiving means for receiving a received signal generated by reflection of a transmission signal of a further transceiver on an object, and an evaluation means for evaluating the received signal as a function of a provided sensitivity characteristic for the reception, the sensitivity characteristic being dependent on at least one property of the transmitting further transmission / Receiving device is provided.
  • the transmitting / receiving device is designed in particular as an ultrasonic sensor.
  • a system or an arrangement for detecting objects which has at least three inventive transmitting / receiving devices as explained above and an electronic control device for controlling the transmitting / receiving devices.
  • a system or an arrangement for detecting objects which comprises at least three transceivers and one electronic control unit.
  • the respective transmitting / receiving device has a transmitting means for transmitting a signal and a receiving means for receiving a received signal generated by reflection of a transmission signal of another transmitting / receiving device on an object.
  • the electronic control unit is set up for controlling the transmitting / receiving devices, wherein the control device has an evaluation means for evaluating the received signal as a function of a provided sensitivity characteristic for the reception, wherein the sensitivity characteristic is provided as a function of at least one property of the transmitting transceiver.
  • the respective means, the transmitting means, the receiving means and the evaluation means can be implemented at least partially hardware or software technology.
  • the respective means can be designed as a device, for example as a computer or microprocessor, as a device or as part of a system, for example as a computer system.
  • the respective means may be designed as a computer program product, as a function, as a routine, as part of a program code or as an executable object.
  • the system is designed, for example, as a driver assistance system in a motor vehicle. Furthermore, a vehicle is proposed which has an inventive system for recognizing objects as explained above.
  • a vehicle is a passenger car (passenger car), a truck (truck), a commercial vehicle (commercial vehicle) or a trailer for a motor vehicle.
  • an arrangement which has an inventive system for recognizing objects as explained above.
  • the assembly is installed, for example, on a ramp to which trucks approach for loading and unloading.
  • the inventively determined distance between the truck and the ramp can then be displayed by means of a traffic light.
  • the respective received signal is evaluated as a function of a sensitivity characteristic curve provided for the respective receiving transceiver.
  • the respective sensitivity characteristic curve is provided as a function of at least one property of the transmitting transmitting / receiving device and of at least one property of the receiving transmitting / receiving device.
  • each transmission / reception pairing of transmitting / receiving devices i. H. for each pairing of transmitting transmitting / receiving device and receiving transmitting / receiving device, set its own sensitivity characteristic, which takes into account all important or preferably all factors influencing the reception properties of the respective transmission / reception pairing.
  • all influencing variables can be ideally covered.
  • the at least one property of the transmitting transceiver comprises:
  • a distance of the transmitting transmitting / receiving device from the receiving transmitting / receiving device a mounting height of the transmitting / receiving device in a motor vehicle, a relative arrangement of the transmitting transmitting / receiving device to a reflective surface of the motor vehicle, an angle of attack of the transmitting / Receiving device, a mounting angle between the transmitting transmitting / receiving device and the receiving transmitting / receiving device and a funnel geometry of the transmitting transmitting / receiving device.
  • the at least one property of the receiving transceiver comprises:
  • a distance of the receiving transmitting / receiving device from the transmitting transmitting / receiving device a distance of the receiving transmitting / receiving device from the transmitting transmitting / receiving device, an installation height of the transmitting / receiving device in a motor vehicle, a relative arrangement of the receiving transmitting / receiving device to a reflective surface of the motor vehicle, an angle of attack of the transmitting / receiving device , An installation angle between the receiving transmitting / receiving device and the transmitting transmitting / receiving device and a funnel geometry of the receiving transmitting / receiving device.
  • the properties of the transmitting transmitting / receiving device and / or the receiving transmitting / receiving device can be covered according to the invention a large variance of mounting positions in the motor vehicle. This allows detection gaps to be taken into account without restricting performance. Furthermore, bottom clutter detection can be realized without sacrificing performance. In particular, disturbing rejections of attachments, in particular license plate carrier, trailer hitch, radiator grille, external spare wheels or the like, can be hidden according to the invention. This is possible according to the invention without sacrificing performance due to a compromise parameterization in areas not directly affected.
  • a plurality N of transmitting / receiving devices is provided.
  • the respective transmitting / receiving device stores a plurality N-1 of transmitter-dependent sensitivity characteristics, one of the N-1 transmitter-dependent sensitivity characteristics being selected as a function of a transmitted control signal upon receipt of a respective received signal.
  • the control signal is transmitted, for example, from the transmitting transceiver or the control unit.
  • the respective receiver can listen to the communication on the bus and thus determine the current transmitter.
  • the transmitter-dependent Sensitivity characteristics are stored directly in the respective receiving transceiver.
  • the corresponding sensitivity characteristic can be selected by means of a control signal or a receive command depending on the currently transmitting transceiver.
  • the transmission signal is assigned a respective sensitivity characteristic curve for the respective receiving transmitting / receiving device. Furthermore, the respective associated sensitivity characteristic is transmitted to the corresponding receiving transceiver before or after transmission of the transmission signal.
  • the sensitivity characteristic can also be transmitted before or after the transmission signal from the transmitting transmission / reception device to the receiving transmission / reception device. This reduces the necessary storage capacity in the respective transceiver.
  • a main sensitivity characteristic is provided.
  • a respective derivation of the main sensitivity characteristic curve by means of a factor or offset specific to the respective transceiver device, a plurality N of transmitter-dependent sensitivity characteristics are generated.
  • the main sensitivity characteristic per receiver can be selected, wherein the adaptation is carried out by an offset or a factor corresponding to the transmitting transceiver.
  • the main sensitivity characteristic can be defined per sending transceiver. A subsequent adjustment then takes place by an offset or a factor matching the respective transmitting / receiving device.
  • a plurality N of transmitting / receiving devices is provided.
  • control device has a memory device which stores N transmitter-dependent sensitivity characteristics for the N transceivers.
  • evaluation means of the control device is adapted to select the respective transmitter-dependent sensitivity characteristic for the evaluation of the received signal upon receipt of a respective received signal by a receiving transmitting / receiving device.
  • the sensitivity characteristic is selected depending on the transmitting transceiver there. In addition, this selection can also take place as a function of the receiving transceiver.
  • the signals between the respective transmitting / receiving device and the control unit are preferably transmitted via a communication bus or a bus system.
  • the signal transmission via the communication bus is preferably analog.
  • Fig. 1 is a schematic representation of a radiation characteristic of an ultrasonic sensor
  • FIG. 2 shows a schematic flow diagram of an exemplary embodiment of the method according to the invention for recognizing objects
  • FIG. 3 shows a schematic block diagram of an exemplary embodiment of a transmitting / receiving device according to the invention for detecting objects
  • FIG. 4 shows a schematic block diagram of a first exemplary embodiment of a system for recognizing objects according to the invention
  • Fig. 5-7 is a schematic block diagram of a second embodiment of a system for detecting objects according to the invention. 8 shows a schematic block diagram of a motor vehicle with a third exemplary embodiment of a system for recognizing objects according to the invention.
  • FIG. 9 is a schematic block diagram of a fourth embodiment
  • Figure 2 shows a schematic flow diagram of an embodiment of the inventive method for detecting objects 01 -03.
  • the exemplary embodiment of the method according to FIG. 2 is described with reference to FIGS. 3 and 4 and has the following method steps 201 - 203:
  • a transmission signal S is transmitted by a transceiver 1 -6 of a plurality of transceivers 1 -6.
  • Step 202
  • a received signal E generated by reflection of the transmission signal S at an object 01 -03 is received by at least one further transmitting / receiving device 1 -6. Consequently, the method according to the invention requires three different transceivers 1-6.
  • the respective received received signal E is evaluated in response to a provided sensitivity characteristic K for the reception. In this case, only those received signals E are fed to a further processing which are above a threshold determined by the respective sensitivity characteristic K.
  • the sensitivity characteristic K is provided as a function of at least one transmitting transceiver 1 -6.
  • the respective sensitivity characteristic is preferably provided as a function of at least one property of the transmitting transceiver 1 - 6 and at least one property of the receiving transceiver 1 - 6.
  • the at least one property of the transmitting transceiver 1 -6 comprises a distance of the transmitting transceiver 1 -6 from the receiving transceiver 1 -6, an installation height of the transceiver 1 -6 in a motor vehicle 10 , an angle of incidence of the transceiver 1 -6, an installation angle between the transmitting transceiver 1 -6 and the receiving transceiver 1 -6 and a funnel geometry of the transmitting transceiver 1 -6.
  • the characteristics of the receiving transceiver 1 -6 include a distance of the receiving transceiver 1 -6 from the transmitting transceiver 1 -6, an installation height of the transceiver 1 -6 in a motor vehicle 10, an angle of attack of the transmitting / receiving device 1 -6, a mounting angle between the receiving transmitting / receiving device 1 -6 and the transmitting transmitting / receiving device 1 -6 and a funnel geometry of the receiving transmitting / receiving device 1 -6.
  • a plurality N, with N> 3, of transmitting / receiving devices 1 -6 is preferably provided.
  • the respective transceiver 1 -6 stores a plurality N-1 of transmitter-dependent sensitivity characteristics K for cross-echoes, wherein upon receipt of a respective received signal E one of the N-1 transmitter-dependent sensitivity characteristics K in response to one of the transmitting transceiver 1 -6 transmitted control signal is selected.
  • a sensitivity characteristic for a direct echo is stored and selected if the transmitting transceiver 1 -6 corresponds to the received transceiver 1 -6.
  • the respective transmit signal S can be assigned a respective sensitivity characteristic K for the respective receiving transceiver 1 -6.
  • the respective associated sensitivity characteristic K is transmitted to the corresponding receiving transceiver device 1 -6 before or after the transmission of the transmission signal S.
  • a main sensitivity characteristic can also be used.
  • the plurality N of transmitter-dependent sensitivity characteristics K is then replaced by a respective one Derived derivative of the main sensitivity curve by means of a specific for the respective transceiver 1 -6 factor.
  • FIG. 3 shows a schematic block diagram of an exemplary embodiment of a transmitting / receiving device 1 according to the invention for detecting objects 01 -03.
  • the transmitting / receiving device 1 is designed, for example, as an ultrasonic sensor.
  • the ultrasonic sensor 1 has a transmitting means 1 1, a receiving means 12 and an evaluation means 13.
  • the transmitting means 1 1 is adapted to transmit a transmission signal S.
  • the transmission signal S is designed, for example, as a pulsed ultrasonic signal.
  • the receiving means 12 is suitable for receiving a received signal E generated by reflection of a transmission signal S of a further transmitting / receiving device 1 -6 on the object 01 -03.
  • the evaluation means 13 is set up to evaluate the received signal E as a function of a provided sensitivity characteristic K for the reception.
  • the sensitivity characteristic K is provided as a function of at least one property of the transmitting further transceiver 1 -6.
  • FIG. 4 shows a schematic block diagram of a first embodiment of a system 7 for detecting objects 01 -03 according to the invention.
  • the system 7 is arranged in particular in a motor vehicle 10, for example on a front bumper 10a of the motor vehicle 10.
  • the system 7 has a plurality of transceivers 1-6.
  • the respective transmitting / receiving device for example the transmitting / receiving device 1, has a respective emission characteristic A1 (see FIG. 4
  • the respective transmitting / receiving device 1 is designed in particular as in the exemplary embodiment according to FIG.
  • the evaluation means 13 can also be arranged centrally in the system 7.
  • the evaluation means 13 is preferably integrated in an electronic control unit of the motor vehicle.
  • FIG. 4 particularly shows the horizontal detection properties of the system 7 in an installation situation in the bumper 10a of the motor vehicle 10.
  • the three objects or obstacles 01-03 shown are located at the same distance from the bumper 10a. Due to the directional characteristic A1 -A3 of the individual transmitting / receiving devices or ultrasonic sensors 1 -3 and the installation situation, the echoes received by the ultrasonic sensor 2 differ considerably in their amplitude.
  • the difference depends in particular on which of the ultrasonic sensors 1 -3 is currently transmitting.
  • the echoes received by the ultrasonic sensor 2 it is necessary for the echoes received by the ultrasonic sensor 2 to be evaluated with different sensitivity characteristics, in particular depending on which of the ultrasonic sensors 1 -3 is currently transmitting.
  • the amplitude of the echo is highest when the ultrasonic sensor 2 has sent itself. Thereafter, the amplitude follows when the ultrasonic sensor 3 has sent. The amplitude is smallest when the ultrasonic sensor 1 has sent.
  • the transmitting / receiving devices 1 -3 transmit.
  • the receiver according to the example in FIG. 4 is the transceiver 2. Consequently, the transceiver 2 in each case receives a cross echo from the transceiver 1 and the transceiver 3. Furthermore, the transceiver 2 receives a direct echo, which was generated by reflection on the object 02.
  • the table below shows all possible combinations.
  • DE indicates a direct echo.
  • KE denotes a cross echo.
  • the first digit in the respective cross echo denotes the transmitter and the second numeral designates the receiver.
  • FIGS. 5 to 7 show schematic block diagrams of a second exemplary embodiment of the system 7 for detecting objects O.
  • FIGS. 5 to 7 show by way of example the vertical detection regions of two ultrasonic sensors 1 and 2 which are arranged in the bumper 10 a of the motor vehicle 10.
  • FIG. 5 shows the direct echo of the ultrasound sensor 1.
  • FIG. 6 shows the direct echo of the ultrasound sensor 2.
  • FIG. 7 shows the cross echo which arises when the ultrasound sensor 1 transmits and the ultrasound sensor 2 receives the reflection of the transmission signal at the objects O, for example, chipped gravel on a roadway.
  • the ultrasonic sensor 1 is installed relatively high in the bumper 10.
  • a sound lobe or emission characteristic A1 of the ultrasound sensor 1 extends only slightly into the region of the rolling chip O lying on the road. Accordingly, the amplitudes of the direct echoes reflected by the chippings O are relatively small.
  • the ultrasonic sensor 2 is installed relatively low in the bumper 10a.
  • the sound lobe or emission characteristic A2 of the ultrasonic sensor 2 extends far into the region of the rolling chip O lying on the roadway.
  • the direct echoes received by the ultrasonic sensor 2, which are generated at the rolling chip O, have a corresponding higher amplitude than the direct echoes of the ultrasonic sensor 1.
  • the amplitudes of the cross echo received by the ultrasonic sensors 1 and 2 are correspondingly higher or lower than the amplitudes of the direct echoes.
  • FIG. 8 shows a schematic block diagram of a motor vehicle 10 with a system 7 according to the invention for recognizing objects.
  • the system 7 has, for example, six ultrasonic sensors 1 to 6 installed on the front bumper 10a of the motor vehicle 10. Furthermore, the system 7 has four built-in at the rear bumper 10 b of the motor vehicle 10 ultrasonic sensors (not provided with reference numerals).
  • the ultrasonic sensors are connected by means of a communication bus 14 with an electronic control unit 8 of the motor vehicle 10.
  • the electronic control unit 8 has a central evaluation unit or a central evaluation means 13 (not shown) for evaluating the respective received signals of the ultrasonic sensors.
  • FIG. 9 shows a schematic block diagram of a fourth exemplary embodiment of the system 7 for recognizing objects according to the invention.
  • the embodiment of Figure 9 in particular the operation of the present invention in a critical Verbau the ultrasonic sensors 1 -6 next to an attachment 15.
  • the attachment 15 is, for example, a front bumper 10a of the motor vehicle 10 fixed number plate carrier 15th
  • a cross echo of the ultrasound sensor 3 to the ultrasound sensor 2 may result in undesired detection of the license plate carrier 15.
  • the sensitivity characteristic in this distance range is raised so far that echoes originating from the number plate carrier 15 are filtered out with the amplitude evaluation.
  • the filtering is marked in Figure 9 as Ausblend Scheme AB1.
  • the increase of the sensitivity characteristic causes the detection performance in the blanking area AB1 to be reduced before the pair of the ultrasonic sensors 2 and 3.
  • it is necessary for the ultrasonic sensor 2 to apply another sensitivity characteristic for the evaluation of echo amplitudes originating from the ultrasonic sensor 1.

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

Abstract

Le procédé selon l'invention est constitué des étapes suivantes : envoi d'un signal d'émission par une pluralité de dispositifs émetteurs/récepteurs; réception d'un signal de réception généré par réflexion du signal d'émission sur un objet par au moins un autre dispositif émetteur/récepteur; et exploitation du signal de réception respectif en fonction d'une caractéristique de sensibilité prédéfinie pour la réception, la caractéristique de sensibilité étant prédéfinie en fonction d'au moins une propriété du dispositif émetteur/récepteur qui émet.
PCT/EP2010/064362 2009-11-03 2010-09-28 Procédé, dispositif émetteur/récepteur et système de reconnaissance d'objets WO2011054606A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009046338.0A DE102009046338B4 (de) 2009-11-03 2009-11-03 Verfahren, Sende-/Empfangseinrichtung und System zum Erkennen von Objekten
DE102009046338.0 2009-11-03

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WO2011054606A1 true WO2011054606A1 (fr) 2011-05-12

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DE102012106693A1 (de) * 2012-07-24 2014-01-30 Valeo Schalter Und Sensoren Gmbh Ultraschallsensoranordnung mit einem Ultraschallsensor im Kühlergrill, Kraftfahrzeug und entsprechendes Verfahren
DE102017120670B3 (de) 2017-09-07 2018-11-29 Valeo Schalter Und Sensoren Gmbh Verfahren zur Höhenerkennung eines Objektes in einem Umgebungsbereich eines Fahrzeugs mit einem Unterbodensensor sowie Fahrerassistenzsystem
DE102018203924A1 (de) * 2018-03-15 2019-09-19 Robert Bosch Gmbh Verfahren und Vorrichtung zur Erkennung einer Fahrbahnoberflächenbeschaffenheit
DE102018207274A1 (de) 2018-05-09 2019-11-14 Robert Bosch Gmbh Ultraschallsensorsystem und Verfahren zum Erkennen von Objekten im Umfeld eines Fahrzeugs, sowie Fahrzeug mit einem Ultraschallsensorsystem

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