WO2015090849A1 - Procédé pour faire fonctionner une pluralité de capteurs à ultrasons d'un véhicule automobile, dispositif de détection à ultrasons et véhicule automobile - Google Patents

Procédé pour faire fonctionner une pluralité de capteurs à ultrasons d'un véhicule automobile, dispositif de détection à ultrasons et véhicule automobile Download PDF

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Publication number
WO2015090849A1
WO2015090849A1 PCT/EP2014/075250 EP2014075250W WO2015090849A1 WO 2015090849 A1 WO2015090849 A1 WO 2015090849A1 EP 2014075250 W EP2014075250 W EP 2014075250W WO 2015090849 A1 WO2015090849 A1 WO 2015090849A1
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WO
WIPO (PCT)
Prior art keywords
sensor
ultrasonic
transmission signal
ultrasonic sensor
receiving
Prior art date
Application number
PCT/EP2014/075250
Other languages
German (de)
English (en)
Inventor
Tobias Geiger
Sebastian ZUTHER
Anto Joys YESUADIMAI MICHAEL
Viktor LOEWENSTEIN
Original Assignee
Valeo Schalter Und Sensoren Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2015090849A1 publication Critical patent/WO2015090849A1/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
    • G01S15/87—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
    • G01S7/523—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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/66—Sonar tracking systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • 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
    • 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
    • G01S7/52001—Auxiliary means for detecting or identifying sonar signals or the like, e.g. sonar jamming 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
    • G01S7/52004—Means for monitoring or calibrating

Definitions

  • the invention relates to a method for operating a plurality of
  • Ultrasonic sensors of a motor vehicle in which the ultrasonic sensors for emitting respective transmission signals are controlled by a control device and an object detected by an ultrasonic sensor, located in an environment of the motor vehicle object is interpreted by the controller only as an actually existing object when a counter value, which indicates the number of detections of this object reaches a predetermined threshold.
  • the invention also relates to an ultrasonic sensor device, which relates to
  • Ultrasonic sensors for motor vehicles are already known from the prior art in a variety of configurations. They are usually used to assist the driver in maneuvering the motor vehicle, in particular during the
  • the ultrasonic sensors carry out parking operations.
  • distances to obstacles are measured, which are located in the environment of the motor vehicle.
  • the ultrasonic sensors belong here to a driver assistance device, which as
  • Ultrasonic sensors work according to the echo delay principle: The distance measurement is carried out in ultrasound technology by means of an echo delay method or echosounding method.
  • the ultrasonic sensor transmits a transmission signal - ultrasound - and receives a received signal, which is also a sound signal and a signal component of the
  • ultrasonic waves are emitted, reflected by an object and again received and evaluated by the same ultrasonic sensor and / or an adjacent ultrasonic sensor of the same motor vehicle.
  • the distance and possibly also the relative position and / or a relative speed relative to the motor vehicle are then determined.
  • the ultrasonic sensors would influence each other.
  • An ultrasonic sensor could then receive the sound signal of another ultrasonic sensor, and the measurement results could be falsified.
  • the ultrasonic sensors are driven in the prior art in a certain order one after the other for the transmission of respective transmission signals, so that the
  • Ultrasonic sensors sequentially emit the respective ultrasonic signals. Once this sequence has been passed through from the first ultrasonic sensor to the last ultrasonic sensor, a measuring cycle is completed. These measuring cycles are repeated periodically.
  • ultrasonic sensors of other vehicles emit ultrasonic signals that represent false echoes for their own ultrasonic sensors and thus can influence the measurement.
  • the ultrasonic sensor device must now detect and filter out the false echoes so that they do not lead to a false display. This can be done by means of a plausibility check: An ultrasonic sensor must detect the object at approximately the same distance over a predetermined number of measuring cycles so that this object can be interpreted as an actually existing object and thus confirmed by the system. Only then is the object reported to the driver.
  • this plausibility check has the disadvantage that a time of a total of several measurement cycles must elapse until the object can actually be detected and reported to the driver.
  • reaction time to newly emerging objects that enter the detection range of the ultrasonic sensors is thus correspondingly large.
  • This problem is for example based on the following calculation: Within a measuring cycle, a time window of, for example, 20 ms is defined for each ultrasonic sensor within which this ultrasonic sensor will be
  • the duration of a single measurement cycle is 120 ms. If several measuring cycles are required for the confirmation of a target object, then there can be a total of several hundred
  • This object is achieved by a method by a
  • An inventive method is used to operate a plurality of
  • Ultrasonic sensors of a motor vehicle are controlled by means of a control device for transmitting respective transmission signals.
  • An object detected by one of the ultrasound sensors for the first time and located in an environmental region of the motor vehicle is then confirmed by the control device with a corresponding detection signal or interpreted as an actually existing object and displayed to the driver, for example, when a counter value indicating the number of detections thereof Indicates object reaches a predetermined threshold.
  • the control device when transmitting a transmission signal through one of the ultrasonic sensors, at least one other of the ultrasonic sensors than
  • Receiving sensor for receiving a signal portion of the one of the transmitting
  • Ultrasonic sensor emitted and reflected in the surrounding area
  • Transmission signal is operated, being checked to the at least one receiving sensor based on the received signal component, if this receiving sensor detects the object, and in the case of detection of the counter value is increased.
  • Object confirmation and indirect target echoes are used, which are received by other than the transmitting ultrasonic sensor.
  • the confirmation of a new object can be done very quickly, yet reliably. This is based on the finding that if at about the same time two adjacent sensors each detect a target echo, it is very likely that it is an object.
  • the "increase" of the counter value means in particular an increment of the
  • the counter value is preferably incremented, ie increased by "1".
  • the transmitting ultrasonic sensor when transmitting the transmission signal by the transmitting ultrasonic sensor a total of at least two of the ultrasonic sensors as receiving sensors for receiving a respective signal component of the in the
  • Ambient range reflected transmission signal to be operated For each of the at least two receiving sensors is then checked on the basis of the respective received signal component, whether the respective receiving sensor detects the object. In the case of a respective detection then the common counter value is increased.
  • transmitting the transmission signal by an ultrasonic sensor thus several ultrasonic sensors can be operated as a reception sensors, are received by which target echoes and evaluated with regard to the confirmation of the object. The reaction time to new objects can thus be reduced to a minimum.
  • the at least two reception sensors preferably also include the transmitting ultrasonic sensor itself. This means that the one ultrasonic sensor which transmits the transmission signal can also be operated as a reception sensor, which receives the target echoes to the transmitted transmission signal.
  • At least one ultrasonic sensor which is arranged directly adjacent to the transmitting ultrasonic sensor, is preferably operated as the reception sensor. If an ultrasonic sensor emits the transmission signal, the echoes are received by a directly adjacent ultrasonic sensor as a reception sensor. If a target object is located in the surrounding area, it can be detected by at least two adjacent ultrasonic sensors, with the measured distances being very close to each other. This insight is now being used to help the
  • Ultrasonic sensor adjacent sensor is operated as a receiving sensor and this receives target echoes. If such an echo is received, the counter value can be increased.
  • At least two ultrasound sensors separate from the transmitting ultrasound sensor are operated as receiver sensors. If additionally the transmitting ultrasonic sensor as
  • At least three ultrasonic sensors can receive the target echoes which are used to confirm the object.
  • the threshold value can thus be 3 or 4 or 5. The object can thus be confirmed very quickly by the control device.
  • the counter value is preferably increased only on condition that a distance to the object detected by this receiver sensor in this measurement is within a predetermined value range is a reference value.
  • Said reference value is preferably defined as a distance value, which is detected by the transmitting ultrasonic sensor as a receiving sensor for the same transmission signal. So if the object is being sent by the sender during the same measurement
  • the counter value is only increased in the detection by the other sensor when a difference of the respective measured distance values is less than a certain limit. Only thus can it be ensured that the
  • Ultrasonic sensors and detect the same object.
  • the confirmation of the object can thereby be made particularly plausible and yet very fast.
  • Ultrasonic sensor is emitted. Further plausibility check can be carried out if the transmitting ultrasonic sensor emits several transmission signals in succession and for each transmission signal at least one detection by one
  • Receiving sensor is present:
  • the transmitting ultrasonic sensor sends at least a first and a second
  • the counter value is preferably increased in the detection of the second transmission signal only on the condition that a through this Receiving sensor to the second transmission signal detected distance to the object in a predetermined (and different from the above range of values)
  • Value interval is. This plausibility check is based on the knowledge that, as experience has shown, a certain period of time must elapse between the times at which the two transmission signals are transmitted, and the object can also move relative to the motor vehicle. So that the respective target echoes of the two measurements can be interpreted as coming from one and the same object, the measured distance values must lie together within a certain interval. However, due to the greater time interval, this value interval is preferably larger than the above-mentioned value range which is implemented in a single measurement.
  • the value interval is preferably defined by a distance value, which is detected by the same receiving sensor to the first transmission signal. If a first distance value is measured by the reception sensor for the first transmission signal and a second distance value is measured for the second transmission signal, then the value interval is defined by the first distance value. The second distance value must then lie within this value interval by the first distance value, so that this detection also leads to the increase of the counter value. The confirmation of the object can thus be made particularly reliable.
  • the value interval in particular the size of the value interval, is preferably determined as a function of a time interval between the transmission of the first and the second transmission signal, i. between the time of transmission of the first transmission signal on the one hand and the time of transmission of the second
  • Ultrasonic sensor is emitted. If for this further transmission signal a
  • Receiving sensor detects the object, can plausibility for another
  • Measuring window can be defined and the counter value can be increased under the condition that a detected by this receiving sensor to the further transmission signal distance to the object in this new measurement window.
  • This measurement window is preferred defined separately to the above range of values and said value interval.
  • This measurement window is preferably determined as a function of a relative speed between the motor vehicle and the object, which is determined as a function of the distance values recorded for the first and the second transmission signal.
  • Distance values for the first and second transmission signal can thus be a
  • Relative speed between the motor vehicle and the object can be determined. Depending on this relative speed, it is then possible to determine the distance in which the object is likely to be located between the two measurements. If a further measurement is performed between the two measurements by another ultrasonic sensor, it must be recorded during this measurement
  • Distance value are at least in a certain measurement window to the previously determined distance, so that this detection can be used to confirm the object. Overall, the confirmation of the object can be so very fast, but still reliable.
  • the invention also relates to an ultrasonic sensor device for a motor vehicle, having a plurality of ultrasonic sensors, and to a control device which is designed to carry out a method according to the invention.
  • An inventive motor vehicle in particular a passenger car, comprises an ultrasonic sensor device according to the invention.
  • Embodiments and their advantages apply correspondingly to the ultrasonic sensor device according to the invention and to the motor vehicle according to the invention.
  • FIG. 1 is a schematic representation of a motor vehicle with a
  • FIGS. 2 and 3 are diagrams for explaining a method according to a
  • the motor vehicle 1 is for example a passenger car.
  • the motor vehicle 1 comprises an ultrasonic sensor device 2, which is for example a parking aid or a parking assistance system.
  • the ultrasonic sensor device 2 serves to assist the driver in performing parking operations. It includes for this purpose a plurality of ultrasonic sensors 3a to 3f, which at the front
  • Bumpers 4 are distributed, as well as a plurality of ultrasonic sensors 5a to 5f, which are arranged distributed on the rear bumper 6.
  • Ultrasonic sensors 3, 5 are electrically coupled to a central control device 7.
  • the control device 7 is used to control the ultrasonic sensors 3, 5 and also receives measurement data from the ultrasonic sensors 3, 5 and determined in dependence on these measurement data, the distances between the motor vehicle 1 and in one
  • control device 7 for example, a speaker 10 and / or a
  • the ultrasonic sensor device 2 may also be an automatic or semi-automatic parking assistance system by means of which a parking space is automatically detected and a suitable parking path is automatically calculated, along which the motor vehicle 1 can then be guided automatically or semi-autonomously in the parking space.
  • the ultrasonic sensor device 2 takes over both the longitudinal guidance and the transverse guidance of the motor vehicle 1, while in semi-automatic or semi-automatic systems, the ultrasonic sensor device 2 only automatically assumes the lateral guidance and thus the steering, while the driver has to accelerate and brake himself.
  • the driver both the longitudinal guide and the Transverse guide itself must take over, but notes regarding the steering by the ultrasonic sensor device 2 are output.
  • the ultrasonic sensors 3, 5 are operated in so-called measuring cycles, which are repeated periodically.
  • the front ultrasonic sensors 3a to 3f are thereby operated independently of the rear ultrasonic sensors 5a to 5f.
  • the ultrasonic sensors 3a to 3f or 5a to 5f of each vehicle side can be actuated successively to emit a respective transmission signal and thus to carry out a distance measurement.
  • the ultrasonic sensors 3a to 3f arranged on the front bumper 4 are activated one after the other and, in parallel or simultaneously, the rear ultrasonic sensors 5a to 5f also transmit respective transmission signals one after the other.
  • Control device 7 a predetermined number of detections of this object 9 are present.
  • a counter value is implemented with which the number of detections of the object 9 or the target echoes of the object 9 are counted.
  • echoes of direct measurements are used but also echoes of cross measurements in which one of the ultrasonic sensors 3a to 3f (or 5a to 5f) emits a transmission signal 12 and respective signal components 13 of the transmission signal 12 reflected on the object 9 be received by at least one other of the ultrasonic sensors 3a to 3f (or 5a to 5f), here the adjacent sensor 3b, and in particular by the transmitting ultrasonic sensor (here 3c).
  • At least one other of the ultrasonic sensors 3a to 3f and optionally also the transmitting ultrasonic sensor 3a to 3f is operated as a reception sensor which receives the reflected signal components 13 or the target echoes. The detections then each lead to the increment of the common counter value.
  • the counter value In order for the object 9 to be confirmed, the counter value must reach a predetermined threshold. This can for example be in a value range of 3 to 5.
  • a method according to a first embodiment of the invention will be explained in more detail below with reference to FIG.
  • This method is performed on two adjacent ultrasonic sensors, for example the ultrasonic sensors 3b and 3c.
  • the ultrasonic sensor 3c sends out the transmission signal 12 to perform a single distance measurement.
  • a measured distance or a distance D is plotted on the y-axis; the time t is plotted on the x-axis.
  • Ultrasonic sensors 3b, 3c are then operated as receiving sensors, which can receive target echoes within a certain measuring time interval from time T1.
  • the ultrasonic sensor 3c then receives a target echo or a signal component 13 of the emitted and reflected at the object 9 transmission signal 12.
  • a distance value D1 is measured, as shown in Fig. 2.
  • T3 also receives the
  • Ultrasound sensor 3b a corresponding target echo or a signal component 13 and measures a distance D2. A first detection thus takes place at time T2; a second detection takes place at time T3. While the above counter value is incremented immediately due to the detection at time T2, the detection becomes the
  • Plausibilintestin time T3 by the controller 7 checks whether the measured distance D2 at time T3 within a predetermined range of values 14 by the distance value D1 as a reference value. If the distance value D2 lies within this value range 14, the counter value is incremented due to the detection at time T3.
  • the range of values 14 is based on the fact that the two detections at the times T2, T3 can be returned to one and the same object 9 only if the measured distances D1, D2 are relatively close to one another.
  • a transmission signal 12 is transmitted again by the ultrasonic sensor 3c. So it starts a new distance measurement.
  • this ultrasonic sensor 3c receives a corresponding target echo and detects a distance value D3.
  • a value interval 15 is defined by the distance value D1, which was detected by the ultrasonic sensor 3c at time T2. This value interval 15 is greater than the value range 14, since the time interval between the times T5 and T2 is greater than between the times T3 and T2. The size of this value interval 15 is determined depending on the time interval between the first transmission signal at time T1 and the second transmission signal at time T4. The counter value is incremented in this second measurement, provided that the measured distance value D3 is within this value interval 15. At a further time T6, the adjacent ultrasonic sensor 3b also receives a corresponding target echo and measures a distance value D4.
  • the adjacent ultrasonic sensor 3b also receives a corresponding target echo and measures a distance value D4.
  • Value range 14 defined by the distance value D3, and it is checked whether the distance value D4 is within the value range 14. Only then will the counter value be incremented. As is apparent from Fig. 2, the counter value is incremented four times in total. The confirmation of the object 9 thus takes place already after two measuring cycles or after two measurements with the ultrasonic sensor 3c.
  • the measured distance D is plotted on the y-axis, the time t on the x-axis.
  • the ultrasonic sensor 3c transmits a first transmission signal 12 here.
  • the adjacent ultrasonic sensor 3b receives a target echo and measures a distance value D5. The counter value is incremented.
  • the ultrasonic sensor 3b now transmits a corresponding transmission signal, whereupon the ultrasonic sensor 3c receives a target echo at the time T4 and measures a distance value D6.
  • the ultrasonic sensor 3c sends out a second transmission signal 12, whereupon at the time T6 the ultrasonic sensor 3b receives a target echo and measures a distance value D7.
  • the value interval 15 is defined by the distance value D5 for the plausibility of the distance value D7. If the distance value D7 lies within this value interval 15, the counter value is incremented.
  • the value interval 15 here is slightly larger than the value interval 15 according to FIG. 2, since the time interval between the times T5 and T1 is greater, to which the two
  • the value interval 15 is therefore always defined when there are two distance values D5, D7 (or D1 and D3 according to FIG. 2) which are detected by the same receiving sensor in successive measurements.
  • the distance value D6 or a detection at the time T4 is still present.
  • a measurement window 16 is defined here. For this purpose, from the distance values D5 and D7, which were detected by the same receiving sensor, and taking into account the time interval between the
  • Times T2 and T6 a relative speed between the motor vehicle 1 and object 9 determined. From this relative speed, a theoretical distance is determined in which the object 9 is expected to be at time T4. The measuring window 16 is then defined around this theoretical distance value.
  • Control device 7 then checks whether the distance value D6 actually measured at time T4 lies within this measurement window 16. If this criterion is met, the counter value is incremented.
  • Ultrasonic sensors 3a to 3f operated as receiving sensors, the reaction time of the ultrasonic sensor device 2 can be further reduced.
  • cross measurements are therefore carried out between the ultrasonic sensors 3b and 3c, these ultrasonic sensors 3b, 3c alternately emitting the respective transmission signals 12: the ultrasonic sensor 3c at time T1, the ultrasonic sensor 3b at time T3 and the ultrasonic sensor 3c at time T5 ,
  • two echo detections are required for the same measurement (here at the times T2 and T6) as well as for a detection at a different measurement (T4).
  • the method according to FIG. 3 can thus be as follows
  • Measurement 1 at times T1, T2 cross measurement from sensor 3c to sensor 3b;
  • Measurement 1 simple or direct measurement of sensor 3c to sensor 3c;
  • Measurement 2 Cross measurement from sensor 3c to sensor 3b;
  • Measurement 3 direct measurement from sensor 3c to sensor 3c.
  • Measurement 1 Cross measurement from sensor 3c to sensor 3b;
  • Measurement 2 direct measurement from sensor 3b to sensor 3b;
  • Measurement 3 Cross measurement from sensor 3c to sensor 3b.

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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

L'invention concerne un procédé pour faire fonctionner une pluralité de capteurs à ultrasons d'un véhicule automobile, dans lequel les capteurs à ultrasons sont commandés par un dispositif de commande pour transmettre des signaux d'émission respectifs et dans lequel un objet détecté par un capteur à ultrasons et se trouvant dans une zone environnante du véhicule automobile n'est interprété par le dispositif de commande comme un objet réellement existant que lorsqu'une valeur de compteur, qui indique le nombre de détections de cet objet, atteint un seuil prédéterminé. Lors de l'émission d'un signal d'émission par l'un des capteurs à ultrasons, on utilise au moins un autre des capteurs à ultrasons comme capteur de réception destiné à recevoir une partie du signal d'émission émis par le capteur à ultrasons et réfléchi dans la zone environnante, et on vérifie par rapport à l'au moins un capteur de réception, sur la base de la partie de signal qui est reçue, si le capteur de réception détecte l'objet et, en cas de détection, on augmente la valeur du compteur.
PCT/EP2014/075250 2013-12-21 2014-11-21 Procédé pour faire fonctionner une pluralité de capteurs à ultrasons d'un véhicule automobile, dispositif de détection à ultrasons et véhicule automobile WO2015090849A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013021844.6A DE102013021844A1 (de) 2013-12-21 2013-12-21 Verfahren zum Betreiben einer Mehrzahl von Ultraschallsensoren eines Kraftfahrzeugs, Ultraschallsensoreinrichtung und Kraftfahrzeug
DE102013021844.6 2013-12-21

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WO2015090849A1 true WO2015090849A1 (fr) 2015-06-25

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018091160A1 (fr) * 2016-11-18 2018-05-24 Valeo Schalter Und Sensoren Gmbh Système de surveillance d'une fonction d'un dispositif de détection d'un véhicule à moteur
US20210149046A1 (en) * 2017-06-30 2021-05-20 Gopro, Inc. Ultrasonic Ranging State Management for Unmanned Aerial Vehicles
EP4191280A1 (fr) * 2021-12-01 2023-06-07 Hyundai Mobis Co., Ltd. Dispositif et procédé permettant de réduire le bruit d'un capteur de mesure externe d'un véhicule

Families Citing this family (2)

* Cited by examiner, † Cited by third party
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DE102018109469A1 (de) * 2018-04-20 2019-10-24 Valeo Schalter Und Sensoren Gmbh Verfahren zum Warnen eines Fahrers vor einer Kollision mit einem Hindernis in einer Umgebung eines Kraftfahrzeugs mit Anpassung eines Hysteresewerts für die Hinderniserkennung, Sensorvorrichtung sowie Fahrerassistenzsystem
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