WO2022243232A1 - Erkennen von objekten mit ultraschallsensoren im fall von übersprechen - Google Patents
Erkennen von objekten mit ultraschallsensoren im fall von übersprechen Download PDFInfo
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- WO2022243232A1 WO2022243232A1 PCT/EP2022/063162 EP2022063162W WO2022243232A1 WO 2022243232 A1 WO2022243232 A1 WO 2022243232A1 EP 2022063162 W EP2022063162 W EP 2022063162W WO 2022243232 A1 WO2022243232 A1 WO 2022243232A1
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- ultrasonic
- echo
- channel
- reception
- amplitude
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- 238000002592 echocardiography Methods 0.000 claims abstract description 57
- 238000000034 method Methods 0.000 claims abstract description 55
- 238000001514 detection method Methods 0.000 claims description 89
- 230000005540 biological transmission Effects 0.000 claims description 26
- 238000005259 measurement Methods 0.000 claims description 18
- 238000012360 testing method Methods 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 230000002123 temporal effect Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012795 verification Methods 0.000 description 3
- 238000005352 clarification Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
Definitions
- the present invention relates to a method for detecting objects, in particular in the area surrounding a vehicle, using an ultrasonic sensor with at least one first and one second receiving channel for ultrasonic signals, objects being detected for receiving ultrasonic echoes on the first receiving channel.
- the present invention also relates to an ultrasonic sensor for detecting objects, in particular in the area surrounding a vehicle, having at least a first and a second receiving channel for ultrasonic signals, objects being detected for receiving ultrasonic echoes on the first receiving channel, and the ultrasonic sensor is designed to carry out the above method for recognizing objects.
- the present invention relates to an ultrasonic detection system for detecting objects, in particular in the surroundings of a vehicle, with a plurality of ultrasonic sensors with at least one first and one second receiving channel for ultrasonic signals and a control unit, which are connected to one another via a data connection, wherein for at least one of the ultrasonic sensors, objects are recognized for the reception of ultrasonic echoes on the first reception channel, and wherein the ultrasonic recognition system is designed to carry out the above method for recognizing objects with the at least one ultrasonic sensor.
- Ultrasonic sensors emit ultrasonic pulses, which are reflected as ultrasonic echoes by objects in the vicinity. These ultrasonic echoes can be received by the ultrasonic sensors in order to detect distances of the objects from the ultrasonic sensors from a time difference between the transmission of ultrasonic pulses and the reception of ultrasonic echoes.
- ultrasonic sensors are nowadays used in numerous vehicles in order to take on various functions, for example to close parking spaces to measure parking spaces, to monitor distances to obstacles during a parking process, or to monitor a blind spot of the vehicle while driving.
- ultrasonic sensors which simultaneously receive ultrasonic echoes on a number of channels.
- the channels are defined, for example, by a frequency shift and/or by other modulation (chirp up/chirp down) and are tuned to receive ultrasonic echoes in the respective channels, for example in a narrow frequency band.
- An ultrasonic sensor can thus, for example, receive and differentiate between ultrasonic pulses emitted simultaneously in the two channels or ultrasonic echoes based thereon.
- the ultrasonic pulses can be emitted, for example, by two adjacent ultrasonic sensors or by the receiving ultrasonic sensor and an adjacent ultrasonic sensor.
- the distance detection device for detecting the distance of objects based on wave signals that are emitted by the distance detection device and reflected by the objects known.
- the distance detection device comprises a transmitting/receiving device for transmitting and receiving the wave signals with at least one first and second spatially spaced transmitting and/or receiving unit, of which the first has at least one transmission function and the second at least one reception function.
- the two units are designed such that the second unit can receive the wave signals emitted by the first unit as crosstalk signals, and either the first unit or the second unit can receive the wave signals emitted by the first unit as reflection signals.
- the distance detection device also includes an interference determination device for determining at least one characteristic parameter of the crosstalk signals received in the second unit and for determining an interference based on the determined characteristic parameter.
- Document DE 10 2005 062 539 A1 relates to a method for calibrating a sensor system with transmitters and receivers mounted at a distance from one another on a vehicle for measuring the distance of the vehicle from a roadway boundary, with the steps: (a) Transmission of a transmission signal with a transmitter of the sensor system at a first time; (b) converting the received transmission signal into a reception signal with a receiver of the sensor system and determining a second point in time at which the reception signal exceeds a specific threshold value; (c) determining the propagation time of the transmission signal from the transmitter to the receiver from the time difference between the second point in time and the first point in time; (d) cyclically repeating steps (a) through (c) for a predetermined number of cycles; (e) determining a frequency distribution of the propagation times determined in step (c) and (f) generating a sensor distance value which correlates with the sensor propagation time between the transmitter and the receiver, based on the frequency distribution determined in step (e).
- EP 1 517 157 B1 discloses a method for distance measurement using at least two non-contact distance sensors, in particular using ultrasonic sensors.
- the distance sensors each have a transmitter for sending out measurement pulses and a receiver for receiving measurement pulse echoes, from the time difference the distance to an obstacle reflecting the measuring pulse is determined between the measuring pulse and the received measuring pulse echo.
- a measurement pulse is emitted with a time offset by a first and a second distance sensor for an initial measurement and the measurement pulse echoes are received by the first distance sensor.
- a tolerance reception time range around the received measurement pulse echoes is specified.
- first and second distance sensors send out a measuring pulse again with a time offset, with a different time offset between the measuring pulse for verification measurement sent by the first or second distance sensor compared to the first measurement, it is possible by correlating a measurement reception signal obtained during the first measurement and one at the Verification measurement received measurement signal received a directly reflected measurement pulse echo can be recognized when it is received in the verification measurement in a tolerance receiving time range.
- EP 2 090 897 B1 relates to a driver assistance system of a vehicle with a control unit which is in a data-exchanging operative connection via a data bus with a number of sensors arranged on the vehicle.
- a sensor signal is transmitted to generate a signal echo in such a way that a previously known logical address of one of the sensors is assigned to a predefined position of the same.
- the sensor signal is an ultrasonic signal.
- the invention is therefore based on the object of providing a method for detecting objects, in particular in the area surrounding a vehicle, with an ultrasonic sensor having at least a first and a second reception channel for ultrasonic signals, an ultrasonic sensor for carrying out the method and to specify an ultrasonic detection system with a plurality of ultrasonic sensors and a control unit for carrying out the method, which enable improved detection of objects with ultrasonic sensors and, in particular in the case of crosstalk, help to avoid incorrect detection of objects.
- the object is achieved according to the invention by the features of the independent claims. Advantageous refinements of the invention are specified in the dependent claims.
- a method for detecting objects, in particular in the area surrounding a vehicle, with an ultrasonic sensor having at least one first and one second reception channel for ultrasonic signals is thus specified, with objects being detected for the reception of ultrasonic echoes on the first reception channel, comprising the steps of receiving ultrasonic signals on the first and second receiving channels in accordance with at least one transmitted ultrasonic pulse, detecting a first ultrasonic echo having a first amplitude in the ultrasonic signal of the first receiving channel, checking the first ultrasonic echo for crosstalk based on the reception of the ultrasonic signals on the second receiving channel , and outputting a detection of an object for the detected first ultrasonic echo in the event of a negative result of the check for crosstalk.
- an ultrasonic sensor for detecting objects, in particular in the surroundings of a vehicle, with at least a first and a second reception channel for ultrasonic signals, objects being detected for the reception of ultrasonic echoes on the first reception channel, is also specified, the ultrasonic sensor being executed is to perform the above procedure for recognizing objects.
- an ultrasonic detection system for detecting objects, in particular in the area surrounding a vehicle, with a plurality of ultrasonic sensors with at least one first and one second receiving channel for ultrasonic signals and a control unit, which are connected to one another via a data connection, with a Recognition of objects for the reception of ultrasonic echoes on the first reception channel takes place, specified, the ultrasonic recognition system being designed to carry out the above method for recognizing objects with the at least one ultrasonic sensor.
- the basic idea of the present invention is therefore to verify ultrasonic echoes received on the first receiving channel based on ultrasonic signals that are received on the second receiving channel. If there is crosstalk from another channel, there is a corresponding ultrasonic echo on the first and second receiving channel.
- the crosstalk can also be detected when the basis is an ultrasonic signal that belongs neither to the first nor to the second reception channel and thus crosstalks to the first and to the second reception channel.
- a channel is used as the second reception channel, on which a further ultrasonic sensor emits ultrasonic pulses as the transmission channel, so that crosstalk from this channel to the first reception channel can be detected in a targeted manner.
- the received ultrasonic signals on the first and second receiving channels can be compared to determine whether there is a corresponding signal in the ultrasonic signal on the second receiving channel for the first ultrasonic echo of the first receiving channel. If a similar signal course or a similar ultrasonic echo is present on both receiving channels at the same time, this can be recorded as an indication of crosstalk.
- Crosstalk detection allows initial ultrasonic echoes based on crosstalk from another channel to be detected so that they are not processed as detected objects. With this, driving safety and the function of various driving support systems up to functions for autonomous driving can be improved.
- the ultrasonic detection system when several ultrasonic sensors are used together, it can happen that only one of the channels is used for receiving ultrasonic echoes with an ultrasonic frequency. This depends on a current configuration of the ultrasonic detection system and the resulting configuration of the ultrasonic sensors. Particularly in the case of such ultrasonic sensors in which receiving channels are not used to detect objects, this receiving channel can be used without restricting the function of the respective ultrasonic sensor or the ultrasonic detection system in order to identify first ultrasonic echoes based on crosstalk.
- the ultrasonic sensors of the ultrasonic detection system are preferably arranged along vehicle sides of the vehicle, for example along a front and/or a rear of the vehicle.
- the method is based on the reception of ultrasonic signals on the various reception channels.
- the reception channels usually also correspond to transmission channels on which the ultrasonic sensor or the ultrasonic sensors emit or emit ultrasonic pulses.
- the definition is in principle independent of sending or receiving, which is why channels are also generally spoken of. There is therefore no technical difference between receiving channels and transmitting channels.
- the channels are defined, for example, by a frequency shift and/or by other modulation (chirp up/chirp down) and are tuned to receive ultrasonic echoes in the respective channels, for example in a narrow frequency band.
- the ultrasonic sensor can be designed, for example, with different frequencies of the reception channels.
- the first receiving channel can be at a center frequency of 51 KFIz
- the second receiving channel is an upper or lower channel with, for example, 51+/-3 KFIz.
- the method is preferably repeated in order to be able to check all relevant ultrasonic echoes of the ultrasonic signals received on the first receiving channel for crosstalk.
- the ultrasonic sensors can each be connected to a control device on one side of the vehicle, for example on the front or the rear. Several autonomous ultrasonic detection systems can thus be formed and used on the vehicle.
- the vehicle preferably includes an ultrasonic detection system in which all ultrasonic sensors are connected to only one control unit.
- the ultrasonic sensors are connected to the control unit via the data connection.
- the data connection is preferably designed as a data bus to which all ultrasonic sensors and the control unit are connected. Different protocols and topologies can be used. Data bus systems that are widespread in the automotive sector are known as CAN, Flexray, LON or others.
- the above method can be carried out entirely in individual ultrasonic sensors. All that is required for this is a corresponding adjustment of the ultrasonic sensor to the desired reception channels.
- a setting several of the ultrasonic sensors can be operated together in an ultrasonic detection system, without changes having to be made in operation compared to known ultrasonic sensors.
- the setting can be performed currently, or as a fixed setting.
- the output of the detection of an object can be generated by the ultrasonic sensor by, for example, outputting the received first ultrasonic echo.
- an envelope curve of the received ultrasonic signal can also be output, with first ultrasonic pulses, which are based on crosstalk, being masked.
- the detection of an object for the detected first ultrasonic echo is output by the control unit if the result of the check for crosstalk is negative.
- known ultrasonic sensors with a plurality of reception channels can thus be used in order to carry out the method in the ultrasonic detection system.
- the checking of the first ultrasonic echo for crosstalk based on the reception of the ultrasonic signals includes on the second reception channel, a detection of a second ultrasound echo with a second amplitude, which corresponds to the detected first ultrasound echo, in the ultrasound signal of the second reception channel and a comparison of the first and second amplitudes, with the first ultrasound echo being detected as crosstalk if the first amplitude is less than is the second amplitude.
- the crosstalk can be identified by comparing the amplitudes of the detected ultrasonic echoes on the two receiving channels.
- First ultrasonic echoes that have a smaller amplitude on the first receiving channel than corresponding second ultrasonic echoes on the second receiving channel can thus be reliably identified as crosstalk from the second receiving channel to the first receiving channel.
- the first amplitude is greater than the second amplitude, it is ensured that no crosstalk is the basis of the first ultrasonic echo. The opposite applies to crosstalk from the first receiving channel to the second receiving channel.
- the detection of a second ultrasound echo with a second amplitude in the ultrasound signal of the second reception channel, which corresponds to the detected first ultrasound echo includes a detection of the reception of the second ultrasound echo within a reception interval starting from the reception of the first ultrasound echo.
- a corresponding second ultrasound echo must exist. This can be checked in that the second ultrasonic echo is received in a close time relationship to the first ultrasonic echo. This temporal relationship can be defined and checked by the reception interval.
- the reception interval is aligned, for example, with a point in time when the first ultrasonic echo was received, in particular symmetrically around a point in time when the amplitude of the first ultrasonic echo was greatest.
- Alternative positioning of the reception interval is possible.
- the width of the reception interval can be selected in order to ensure a close temporal relationship between the first and second ultrasonic echo.
- the reception interval can be four times, preferably twice, the length of a typical ultrasonic pulse emitted by the ultrasonic detection system.
- detecting the first ultrasonic echo as crosstalk when the first amplitude is smaller than the second amplitude includes detecting the first ultrasonic echo as crosstalk when the first amplitude is approximately one channel spacing between the first and second reception channel or more smaller than the second amplitude.
- the source of the crosstalk is known, in particular in the case of crosstalk due to the simultaneous use of a plurality of channels, so that the crosstalk can be detected by a corresponding amplitude difference, at least within a tolerance range.
- the crosstalk depends on the configuration of the channels, for example a frequency spacing and a channel width.
- a channel spacing in the range of 4-5 dB can result between the center frequency and the upper or lower channel.
- Crosstalk can thus be assumed if the first and second amplitudes differ by approximately the channel spacing, depending on the receiving channels used.
- the ultrasonic sensor is designed to detect objects for receiving ultrasonic echoes on the second receiving channel
- the method includes a step for checking the second ultrasonic echo for crosstalk based on the reception of the ultrasonic signals on the first receiving channel
- the checking of the second ultrasonic echo for crosstalk comprises detecting a first ultrasonic echo in the ultrasonic signal of the first receiving channel, which corresponds to the detected second ultrasonic echo, and comparing the second and the first amplitude, the second ultrasonic echo being detected as crosstalk if the second amplitude is smaller than the first amplitude is.
- a mutual check for crosstalk between the first and second receiving channel can thus be carried out.
- first and second ultrasonic echoes when corresponding first and second ultrasonic echoes occur on the first and second reception channel, only that ultrasonic echo which has the greater amplitude is output as identification of an object.
- time-delayed ultrasonic echoes on the first and second ultrasonic channel can be processed individually and output as detection of an object, while the first and second ultrasonic echoes only have a close temporal relationship the ultrasonic echo with the greater amplitude is output as detection of an object. If the channel distances between the first and second receiving channels are taken into account, first and second ultrasonic echoes with similar amplitudes, ie with amplitudes that differ by less than the channel distance, can each be output as correct detection of an object.
- the method includes a step for setting the first and second reception channel.
- This enables flexible use of ultrasonic sensors, for example for different applications or also to be able to check for crosstalk between different receiving channels.
- the second receiving channel can be switched between a higher and a lower frequency channel to alternately check for crosstalk from both channels.
- the first and the second reception channel for ultrasonic signals differ by a frequency shift and/or by a different modulation, for example as a chirp up or chirp down.
- a different modulation for example as a chirp up or chirp down.
- Chirp up and chirp down relate to signals whose frequency changes over time. A distinction is made between chirp up, where the frequency increases over time, and chirp down, where the frequency decreases over time.
- the ultrasonic detection system is designed to transmit the ultrasonic signals received with the at least one ultrasonic sensor on the first receiving channel to the control device, the control device being designed to detect a first ultrasonic echo with a first amplitude in the ultrasonic signal of the first receiving channel, and/or the ultrasonic detection system is designed to transmit the ultrasonic signals received with the at least one ultrasonic sensor on the second receiving channel to the control unit, with the control unit being designed in particular to include a second ultrasonic echo, which corresponds to the detected first ultrasonic echo, with a second amplitude in the ultrasonic signal of the to recognize the second receiving channel.
- the Ultrasonic sensors receive the ultrasonic signals and the control unit checks the first ultrasonic echo based on the reception of the ultrasonic signals on the second reception channel for crosstalk and outputs the detection of an object for the detected first ultrasonic echo with a negative result of the check for crosstalk.
- the ultrasonic sensor or ultrasonic sensors can transmit the received ultrasonic signals to the control device, for example as envelopes, the control device in this case recognizing the first ultrasonic echoes with the first amplitude in the transmitted ultrasonic signal of the first receiving channel.
- the ultrasonic sensor can transmit the ultrasonic signals of only one of the two receiving channels or both in the manner specified, with the control unit being able to detect first and/or second ultrasonic echoes in the ultrasonic signals from the first and second receiving channel.
- the at least one ultrasonic sensor is designed to detect a first ultrasonic echo with a first amplitude in the ultrasonic signal of the first receiving channel and to transmit the detected first ultrasonic echo to the control unit, with the at least one ultrasonic sensor preferably also being designed to have a to detect the detected first ultrasonic echo corresponding second ultrasonic echo with a second amplitude in the ultrasonic signal of the second receiving channel and to transmit the detected second ultrasonic echo to the control device, wherein the control device is designed to receive the first ultrasonic echo based on the reception of the ultrasonic signals on the second receiving channel check crosstalk.
- the method is carried out in a distributed manner, in which the ultrasonic sensors receive the ultrasonic signals and the control unit checks the first ultrasonic echo for crosstalk based on the reception of the ultrasonic signals on the second receiving channel and the detection of an object for the detected first ultrasonic echo if the result is negative the test for crosstalk outputs.
- the ultrasonic sensor or the ultrasonic sensors can thus transmit information regarding the detected first and/or second ultrasonic echoes to the control device, i.e. an amplitude level, a transit time and/or a reception time of the respective ultrasonic echo with an absolute time stamp.
- the two above configurations can be combined.
- only one of the variants is implemented in the ultrasonic detection system, ie all received ultrasonic signals are transmitted to the control unit, or for all received ultrasonic signals only the detected ultrasonic echoes are transmitted to the control unit.
- the ultrasonic detection system is designed to emit ultrasonic pulses on a first transmission channel with a first ultrasonic sensor and to carry out the method for detecting objects with an adjacent ultrasonic sensor, the first transmission channel preferably corresponding to the first reception channel.
- the ultrasonic signals of another ultrasonic sensor are therefore received, with it being ensured that no ultrasonic echoes based on crosstalk are emitted.
- the ultrasonic sensor which carries out the method for detecting objects, itself emits ultrasonic pulses on the first transmission channel.
- the ultrasonic detection system is designed to use a second ultrasonic sensor to emit ultrasonic pulses essentially simultaneously on a second transmission channel, with the second ultrasonic sensor being arranged adjacent to or preferably at a distance from the ultrasonic sensor that carries out the method for detecting objects, wherein particularly preferably the second transmission channel corresponds to the second reception channel. It is thus possible to specifically check for crosstalk by means of ultrasonic pulses emitted by the second ultrasonic sensor on the second transmission channel. If the second ultrasonic sensor is arranged at a distance from the ultrasonic sensor that carries out the method for detecting objects, crosstalk can already be reduced. The additional check for crosstalk can further reduce false detection of objects. In this case, the second ultrasonic sensor represents a source of crosstalk, with the detection of the crosstalk being able to reduce the output of a false detection of objects.
- the ultrasonic detection system is designed to change a configuration of the ultrasonic sensors as the first and/or second ultrasonic sensor and/or as an ultrasonic sensor that carries out the method for detecting objects during operation, in particular after one Measuring cycle for emitting ultrasonic pulses with the first and/or second ultrasonic sensor.
- the ultrasonic detection system can be adapted in order to be able to record the surroundings in the same way, independently of the function of the ultrasonic sensors in a measurement cycle for receiving ultrasonic echoes. In this case, only individual ultrasonic sensors can be partially changed in their configuration, or all ultrasonic sensors can be changed completely.
- FIG. 1 shows a schematic view of a vehicle with an ultrasonic detection system for detecting objects in an area surrounding the vehicle, according to a first preferred embodiment
- FIG. 2 shows a schematic diagram of the reception of a first and second ultrasonic echo on a first and second receiving channel with the ultrasonic detection system from FIG. 1 ,
- FIG. 3 shows a schematic diagram of the reception of a second ultrasonic echo on the second reception channel with the ultrasonic detection system from FIG. 1 ,
- FIG. 4 shows a schematic diagram of the reception of a first and second ultrasonic echo on a first and second reception channel the ultrasonic detection system of FIG. 1 , where the first ultrasonic echo is based on crosstalk,
- FIG. 5 shows a schematic diagram of the reception of a first ultrasonic echo on a first reception channel with the ultrasonic detection system from FIG. 1 ,
- FIG. 6 shows a flow chart of a method for detecting objects, which is carried out with the ultrasonic detection system from FIG. 1 .
- FIG. 1 shows a vehicle 10 with an ultrasonic detection system 12 according to a first preferred embodiment.
- the ultrasonic detection system 12 includes a control unit 14 and a plurality of ultrasonic sensors 16.
- the ultrasonic sensors 16 are arranged in two groups of six ultrasonic sensors 16 each along the front 18 and the rear 20 of the vehicle 10.
- the ultrasonic sensors 16 and the control device 14 are connected to one another via a data connection 22 .
- the data connection 22 is designed here as a data bus 22 to which all ultrasonic sensors 16 and the control unit 14 are connected. In this case, different protocols and topologies can be used, which are known as such in the prior art.
- the data bus 22 is designed according to one of the CAN, Flexray, or LON standards.
- Ultrasonic sensors 16 are designed to detect objects 24 in surroundings 26 of vehicle 10 and are arranged on vehicle 10 .
- Each of the ultrasonic sensors 16 is designed with an adjustable transmission channel for emitting ultrasonic pulses 28 with a radiation angle a, as shown explicitly in FIG.
- each of the ultrasonic sensors 16 is designed with a first and a second adjustable receiving channel for receiving ultrasonic signals, the objects 24 being detected at least for the reception of first ultrasonic echoes 30 on the first receiving channel.
- the first and the second reception channel differ by a frequency shift.
- the Receiving channels of the ultrasonic sensors can be set to a center frequency of about 51 KHz or an upper or lower channel with an upper or lower frequency of 51 +/- 3 KHz.
- a method for detecting the objects 14 in the surroundings 26 of the vehicle 10 with the ultrasonic detection system 12 of the first exemplary embodiment described with reference to FIG. 1 is described below.
- step S100 in which ultrasonic sensors 16 of the ultrasonic detection system 12 emit ultrasonic pulses 28 .
- An exemplary configuration for emitting the ultrasonic pulses 28 with the ultrasonic sensors 16 of the ultrasonic detection system 12 is shown in FIG.
- the configuration of the ultrasonic sensors 16 for the front 18 and the rear 20 is mirrored, which is why the further description is limited to the operation of the ultrasonic sensors 16 on the front 18 of the vehicle 10, but correspondingly for the ultrasonic sensors 16 on the rear 20 of the vehicle 10 is applicable.
- an upper, first ultrasonic sensor 16 which is also marked S1 emits ultrasonic pulses 28 with the frequency f1, which is the center frequency of the ultrasonic sensors 16 here.
- the frequency f1 thus defines a first transmission channel which is set for the first ultrasonic sensor 16, S1.
- a second ultrasonic sensor 16 which is additionally marked with S2, emits ultrasonic pulses 28 with the frequency f2 essentially at the same time, which is the lower frequency of the ultrasonic sensors 16 here.
- the frequency f2 thus defines a second transmission channel which is set for the second ultrasonic sensor 16, S2.
- the upper frequency f3 thus defines a third transmission channel which is set for the third ultrasonic sensor 16, S3.
- Step S110 relates to receiving ultrasonic signals on the first and second receiving channels in accordance with the ultrasonic pulses 28 emitted by the first and second ultrasonic sensors 16, S1, 16, S2.
- the first receiving channel of the ultrasonic sensor 16 is set to the center frequency f1 and the second receiving channel of the ultrasonic sensor 16 is set to the lower frequency f2.
- the first reception channel thus corresponds to the first transmission channel and the second reception channel corresponds to the second transmission channel.
- the detection of objects 24 is to be carried out on the basis of ultrasonic signals which are received on the first reception channel.
- Step S120 relates to the transmission of the ultrasonic signals received by ultrasonic sensor 16 on the first and second receiving channels to control unit 14.
- the ultrasonic sensor 16 transmits the received ultrasonic signals as envelope curves to the control unit 14.
- the received ultrasonic signal can be amplified in a known manner or otherwise processed in the ultrasonic sensor 16 in order to provide the envelope curve.
- Step S130 relates to detecting a first ultrasonic echo 30 with a first amplitude 32 in the ultrasonic signal of the first reception channel.
- the detection is based on a course of the envelope.
- the first ultrasonic echo 30 can be seen as a peak with a first amplitude in the envelope.
- the first amplitude 32 corresponds to a maximum value of the amplitude of the first ultrasonic echo 30 in the envelope, it being possible for the ultrasonic signal of the first reception channel to have further first ultrasonic echoes 30 .
- the first ultrasonic echo 30 with the first amplitude 32 is detected by the control unit 14.
- Step S140 relates to checking the first ultrasonic echo 30 for crosstalk based on the reception of the ultrasonic signals on the second receiving channel.
- a detection of a second ultrasonic echo 34 corresponding to the detected first ultrasonic echo 30 and having a second amplitude 36 in the ultrasonic signal of the second reception channel is also recognized by the control unit 14. As shown in FIG. 1, the second ultrasonic echo 34 with the second amplitude 36 is based on the ultrasonic pulse emitted by the second ultrasonic sensor 16, S2 28
- the detected second ultrasonic echo 34 corresponds in time to the detected first ultrasonic echo 30 .
- the receiving interval 38 is aligned with a point in time when the first ultrasonic echo 30 is received and is symmetrical about a point in time when the amplitude of the first ultrasonic echo 30 is greatest.
- the width of the receiving interval 38 is selected to ensure a close temporal relationship between the first and second ultrasonic echoes 30, 34 ensure.
- the amplitude 32, 36 of the two ultrasonic echoes 30, 34 is compared.
- the first ultrasonic echo 30 is recognized as crosstalk if the first amplitude 32 is less than the second amplitude 36 of the second ultrasonic echo 34 is.
- FIGS. 1-10 For clarification, the reception of a first and second ultrasonic echo 30, 34 with a first and second amplitude 32, 36 on the first and second reception channel is shown in FIGS.
- Figure 2 shows a reception of a first ultrasonic echo 30 with a first amplitude 32 and a second ultrasonic echo 34 with a second amplitude 36.
- the first ultrasonic echo 30 is detected at a distance of 0.5 m, while the second ultrasonic echo 34 at a distance of 0. 52m is detected, so that the second ultrasonic echo 34 is received within the reception interval 38 .
- the first amplitude 32 of the first ultrasonic echo 30 is greater than the second amplitude 36 of the second ultrasonic echo 34 .
- the first ultrasonic echo 30 is therefore not based on Crosstalk, but on the object 24, and is output accordingly in the subsequent step S150.
- FIG. 3 shows a scenario in which only a second ultrasonic echo 34 with a second amplitude 36 is received.
- the second ultrasonic echo 34 is detected at a distance of 0.52 m.
- a receiving interval 38 is not defined here since no first ultrasonic echo 30 was detected which could serve as a basis for positioning the receiving interval 38 . Since objects 24 are only detected for the first reception channel here, the second ultrasonic echo 34 is not processed further.
- FIG. 4 shows reception of a first ultrasonic echo 30 with a first amplitude 32 and a second ultrasonic echo 34 with a second amplitude 36.
- the first ultrasonic echo 30 is detected at a distance of 0.48 m, while the second ultrasonic echo 34 is detected at a distance of 0. 5m is detected, so that the second ultrasonic echo 34 is received within the reception interval 38 .
- the first amplitude 32 of the first ultrasonic echo 30 is smaller than the second amplitude 36 of the second ultrasonic echo 34.
- the first ultrasonic echo 30 is thus based on crosstalk, which is used in the prior art to detect a reflection of the ultrasonic signal 28 emitted by the second ultrasonic sensor 16, S2 as a ghost object 40 leads.
- crosstalk By detecting crosstalk, the output of the detection of an object 24 based on the first ultrasonic echo 30 is adjusted accordingly in the subsequent step S150, i.e. no detection of an object 24 is output.
- FIG. 5 shows a scenario in which only a first ultrasonic echo 30 with a first amplitude 32 is received.
- the first ultrasonic echo 30 is detected at a distance of 0.52m.
- No second ultrasonic echo 34 is detected in the receiving interval 38 .
- the first ultrasonic echo 30 is therefore not based on crosstalk, but on the object 24 and is output accordingly in the subsequent step S150.
- the "ghost object" 40 is therefore not in the area of the emission angle a of the ultrasonic pulse 28 of the second ultrasonic sensor 16, S2.
- Step S150 relates to outputting a detection of an object 24 for the detected first ultrasonic echo 30 in the event of a negative result of the check for crosstalk. Only for the cases described above, in which a detected first ultrasonic echo 30 was checked negatively for crosstalk, is there a corresponding output, which here includes the distance of the first ultrasonic echo 30 and its amplitude.
- the method is preferably repeated with steps S130 to S150 in order to detect further first ultrasonic echoes 30 on the first receiving channel and to check for crosstalk.
- Step S160 relates to changing the configuration of the ultrasonic sensors 16.
- the configuration of the ultrasonic sensors 16 on the front 18 can thus be adjusted to the configuration of the ultrasonic sensors 16 on the rear 20 of the vehicle 10 shown in FIG. 1 and vice versa, for example.
- the configuration of the ultrasonic sensors 16 can be changed after each measurement cycle, which in each case includes an emission of ultrasonic pulses 28 with the ultrasonic sensors 16 .
- step S120 can be omitted, and the detection of the first ultrasonic echo 30 with the first amplitude 32 in the ultrasonic signal of the first receiving channel in step S130 still takes place in the ultrasonic sensor 16 based on the received ultrasonic signal of the first receiving channel.
- the subsequent detection of the second ultrasonic echo 34 with the second amplitude 36 in the received ultrasonic signal of the second reception channel in step S140 is detected in a separate step in the ultrasonic sensor 16 and are transmitted by it to the control device 14.
- step S140 does not include the transmission of the second ultrasonic signals and also not the detection of the one corresponding to the first ultrasonic echo 30 second ultrasonic echoes 34 in the ultrasonic signal of the second receiving channel.
- step S140 does not include the transmission of the second ultrasonic signals and also not the detection of the one corresponding to the first ultrasonic echo 30 second ultrasonic echoes 34 in the ultrasonic signal of the second receiving channel.
- Just checking for crosstalk based on the comparison of the first and second ultrasonic echoes 30, 34 received by the ultrasonic sensor 16 takes place in the control unit 14.
- the method can be carried out correspondingly for the in Figure 1 above the second ultrasonic sensor 16, S2, if the ultrasonic sensor 16 has its first receiving channel at the lower frequency f2, at which the second ultrasonic sensor 16, S2 emits ultrasonic pulses, and its second receiving channel at the center frequency f1, on which the first ultrasonic sensor 16, S1 emits ultrasonic pulses, has been set.
- Corresponding definitions of the ultrasonic sensors 16 result.
- the method for detecting objects 24 described above with reference to the ultrasonic detection system 12 of the first exemplary embodiment can be carried out entirely with an ultrasonic sensor 16 .
- the corresponding steps of the method described above are carried out in the ultrasonic sensor 16, which, as described above, has a first and a second receiving channel for ultrasonic signals.
- the ultrasonic sensor 16 outputs an identification of the object 24 for the identified first ultrasonic echo 30 to the control device 14 if the result of the check for crosstalk is negative.
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- 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
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Priority Applications (2)
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EP22730082.9A EP4341719A1 (de) | 2021-05-19 | 2022-05-16 | Erkennen von objekten mit ultraschallsensoren im fall von übersprechen |
CN202280036152.XA CN117441111A (zh) | 2021-05-19 | 2022-05-16 | 在串扰情况下使用超声波传感器的对象识别 |
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DE102021112921.4 | 2021-05-19 | ||
DE102021112921.4A DE102021112921A1 (de) | 2021-05-19 | 2021-05-19 | Erkennen von Objekten mit Ultraschallsensoren im Fall von Übersprechen |
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PCT/EP2022/063162 WO2022243232A1 (de) | 2021-05-19 | 2022-05-16 | Erkennen von objekten mit ultraschallsensoren im fall von übersprechen |
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EP (1) | EP4341719A1 (de) |
CN (1) | CN117441111A (de) |
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WO (1) | WO2022243232A1 (de) |
Citations (7)
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DE19924755A1 (de) | 1999-05-29 | 2000-11-30 | Bosch Gmbh Robert | Abstandserfassungsvorrichtung |
DE102005062539A1 (de) | 2005-12-27 | 2007-07-05 | Robert Bosch Gmbh | Verfahren zur Kalibrierung eines Sensorsystems |
EP1517157B1 (de) | 2003-09-18 | 2007-07-18 | Robert Bosch GmbH | Verfahren und Vorrichtung zur Abstandsmessung |
EP2090897B1 (de) | 2008-02-18 | 2011-07-20 | Robert Bosch Gmbh | Adressierung von Sende- und Empfangseinheiten einer Ultraschallabstandsmesseinrichtung |
WO2015197231A1 (de) * | 2014-06-23 | 2015-12-30 | Robert Bosch Gmbh | Verfahren und vorrichtung zum erkennen eines gültigen ultraschallsignals in einem ultraschallsystem eines fahrzeugs |
WO2019096500A1 (de) * | 2017-11-15 | 2019-05-23 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum betreiben eines ultraschallsensors für ein kraftfahrzeug mit unterdrückung von störungen in einem zweiten empfangspfad, ultraschallsensor sowie fahrerassistenzsystem |
WO2019217306A1 (en) * | 2018-05-07 | 2019-11-14 | Texas Instruments Incorporated | Time of flight and code signature detection for coded ultrasonic transmission |
-
2021
- 2021-05-19 DE DE102021112921.4A patent/DE102021112921A1/de active Pending
-
2022
- 2022-05-16 WO PCT/EP2022/063162 patent/WO2022243232A1/de active Application Filing
- 2022-05-16 EP EP22730082.9A patent/EP4341719A1/de active Pending
- 2022-05-16 CN CN202280036152.XA patent/CN117441111A/zh active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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DE19924755A1 (de) | 1999-05-29 | 2000-11-30 | Bosch Gmbh Robert | Abstandserfassungsvorrichtung |
EP1517157B1 (de) | 2003-09-18 | 2007-07-18 | Robert Bosch GmbH | Verfahren und Vorrichtung zur Abstandsmessung |
DE102005062539A1 (de) | 2005-12-27 | 2007-07-05 | Robert Bosch Gmbh | Verfahren zur Kalibrierung eines Sensorsystems |
EP2090897B1 (de) | 2008-02-18 | 2011-07-20 | Robert Bosch Gmbh | Adressierung von Sende- und Empfangseinheiten einer Ultraschallabstandsmesseinrichtung |
WO2015197231A1 (de) * | 2014-06-23 | 2015-12-30 | Robert Bosch Gmbh | Verfahren und vorrichtung zum erkennen eines gültigen ultraschallsignals in einem ultraschallsystem eines fahrzeugs |
WO2019096500A1 (de) * | 2017-11-15 | 2019-05-23 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum betreiben eines ultraschallsensors für ein kraftfahrzeug mit unterdrückung von störungen in einem zweiten empfangspfad, ultraschallsensor sowie fahrerassistenzsystem |
WO2019217306A1 (en) * | 2018-05-07 | 2019-11-14 | Texas Instruments Incorporated | Time of flight and code signature detection for coded ultrasonic transmission |
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DE102021112921A1 (de) | 2022-11-24 |
EP4341719A1 (de) | 2024-03-27 |
CN117441111A (zh) | 2024-01-23 |
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