WO2017125472A1 - Procédé de détermination d'une courbe actuelle de valeurs de seuil pour un capteur à ultrasons d'un véhicule automobile, système d'évaluation, système d'aide à la conduite ainsi que véhicule automobile - Google Patents

Procédé de détermination d'une courbe actuelle de valeurs de seuil pour un capteur à ultrasons d'un véhicule automobile, système d'évaluation, système d'aide à la conduite ainsi que véhicule automobile Download PDF

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Publication number
WO2017125472A1
WO2017125472A1 PCT/EP2017/051049 EP2017051049W WO2017125472A1 WO 2017125472 A1 WO2017125472 A1 WO 2017125472A1 EP 2017051049 W EP2017051049 W EP 2017051049W WO 2017125472 A1 WO2017125472 A1 WO 2017125472A1
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WIPO (PCT)
Prior art keywords
threshold curve
ultrasonic sensor
threshold
curve
motor vehicle
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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PCT/EP2017/051049
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German (de)
English (en)
Inventor
Michael Hallek
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Schalter und Sensoren GmbH
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Valeo Schalter und Sensoren GmbH
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Publication of WO2017125472A1 publication Critical patent/WO2017125472A1/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
    • G01S15/87—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
    • 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
    • G01S7/52004—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
    • 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

Definitions

  • the invention relates to a method for determining a current threshold curve for an ultrasonic sensor of a motor vehicle, by which a predetermined threshold
  • Sensitivity of the ultrasonic sensor is adjusted and compared with which amplitudes of echoes in a receiving signal received by the ultrasonic sensor for measuring a distance between the motor vehicle and an object located in an environment region of the motor vehicle.
  • the invention also relates to an evaluation device for a driver assistance system of a motor vehicle, a driver assistance system for a motor vehicle and a motor vehicle.
  • ultrasonic sensors by means of which distances between a motor vehicle and objects located in its surroundings can be measured.
  • the objects detected by the ultrasonic sensor and their distances can be provided to a driver assistance system of the motor vehicle, for example a parking assistance system.
  • Ultrasonic sensors work according to the echo delay principle. This means that a transmission signal in the form of a
  • the transmission signal is reflected in the surrounding area of the motor vehicle and is received as a received signal again from the ultrasonic sensor.
  • the received signal has a multiplicity of echoes which originate from reflections of the transmitted signal in the surrounding area.
  • the echoes can be so-called Zielechos, which of a reflection of
  • Transmission signal originate at an object, or be false echoes or ground echoes, which originate from a reflection of the transmission signal to a ground or a roadway of the motor vehicle.
  • a threshold curve is usually specified, by which a sensitivity of the ultrasonic sensor is adjusted.
  • the threshold curve is used to compare amplitudes of the echoes in the received signal. When the amplitude of an echo exceeds the threshold curve, the echo is identified as a target echo. If the amplitude of the echo falls below the threshold curve, the Echo identified as a bottom echo or clutter.
  • Ultrasonic sensor is known for example from the document DE 10 2005 059 907 A1.
  • Object detection can be done. In other words, an attempt is made to find a compromise in a sensitivity of the ultrasonic sensor.
  • Ultrasonic sensor can be detected.
  • This object is achieved by a method, an evaluation, a driver assistance system and a motor vehicle according to the independent
  • An inventive method is used to determine a current
  • Threshold curve for an ultrasonic sensor of a motor vehicle is a Threshold curve for an ultrasonic sensor of a motor vehicle.
  • Threshold curve is set a predetermined sensitivity of the ultrasonic sensor.
  • the threshold value curve is used to compare amplitudes of echoes in a received signal received by the ultrasonic sensor for measuring a distance between the motor vehicle and an object located in a surrounding area of the motor vehicle.
  • a first threshold curve for the ultrasonic sensor is given and based on at least two, of the
  • Ultrasonic sensor receives received signals, checked by the first
  • Threshold curve the predetermined sensitivity is set.
  • the first threshold curve is determined as the current threshold curve if the predetermined threshold is set by the first threshold curve. Otherwise, a second threshold curve is determined as the current threshold curve.
  • a received signal is received by the ultrasonic sensor.
  • the received signal has a multiplicity of echoes with different echo propagation times, as a result of which a delay-dependent or delay-dependent time is available
  • the echoes come from reflections of a transmission signal component of a transmission signal at positions in the Ambient area relative to the motor vehicle. These echoes may, for example, be so-called destination echoes and originate from reflections of the transmit signal components on objects in the surrounding area. In addition, the echoes can be so-called false echoes or ground echoes, which reflections of the
  • a current threshold curve is determined with which the amplitudes of the echoes in the received signal are compared. If the amplitude of an echo exceeds the threshold curve, this echo is identified as the target echo and evaluated. Thus, for example, based on the transit time of the destination echo, a distance of the object detected on the basis of the destination echo to the motor vehicle can be determined. If the amplitude of an echo falls below the threshold curve, then this echo is interpreted as a bottom echo and rejected, for example, or not evaluated.
  • the threshold curve should be set so that the predetermined
  • Sensitivity can be achieved. This means that the amplitudes of the
  • Road surface for example, for asphalt
  • soil echoes can be reliably filtered out, while on the other hand, they are incorrectly recognized as target echoes in another, second road surface, such as gravel. This means that the sensitivity is dependent on the
  • Sensitivity can be set, the first threshold curve for the ultrasonic sensor is initially set. Then, based on the at least two, of the
  • Received signals received by the ultrasonic sensor checks whether the predetermined sensitivity can be provided by the ultrasonic sensor operated with the first threshold curve. In other words, this means that it is checked whether the ultrasonic sensor with the first threshold curve has the predetermined sensitivity and is thus set correctly, or whether the ultrasonic sensor is set too sensitive or too insensitive. If, on the basis of the review, at least two, detected by the ultrasonic sensor received signals that can be provided by the first threshold curve, the predetermined sensitivity, this first threshold curve as the current threshold curve for the
  • the sensitivity test shows that the predetermined threshold can not be set by the first threshold curve and the ultrasonic sensor reacts too sensitively or too insensitive, for example, the second threshold curve will be the current one
  • the received signals are in particular received signals, which the
  • Ultrasonic sensor receives in a measuring cycle. These receive signals are first used for checking and determining the current threshold curve. After determining the current threshold curve, at least one of these received signals can be evaluated by comparing this received signal for detecting objects with the current threshold curve, and the target echo detected on the basis of the comparison in the received signal for determining the
  • the ultrasonic sensor does not have to be converted into a special configuration mode, but is checked for the predetermined sensitivity during a measurement cycle.
  • Ultrasonic sensor detected objects and their distances relative to the motor vehicle can then be a driver assistance system of the motor vehicle, such as a parking assistance system, are provided.
  • the sensitivity can be adapted to different environmental conditions in a particularly simple manner by determining the current threshold curve for the ultrasonic sensor.
  • the current threshold value curve is determined by a vehicle-side, ultrasound sensor-external evaluation device.
  • This vehicle-side, ultrasound-sensor-external evaluation device is in particular a vehicle-side control unit (ECU - Electronic Control Unit), which can communicate with the ultrasonic sensor.
  • the evaluation device can communicate with a large number of ultrasonic sensors of the motor vehicle and individually determine and set the optimum threshold curve for each ultrasonic sensor.
  • the review or the evaluation of received by an ultrasonic sensor received signals, in particular exclusively, by the Ultrasonic sensor external evaluation, which then determines the current, optimal threshold curve for the respective ultrasonic sensor.
  • the invention is based on the finding that the sensitivity of the ultrasonic sensor is also dependent on an installation height and an installation angle, and thus on the transmission and reception direction of the
  • Ultrasonic sensor As a result, for example, areas in the
  • Threshold curve would be done by the ultrasonic sensor, it could not distinguish between desired and unwanted reflections without a special adjustment, for example, without hardware changes.
  • determining the optimum threshold curve for an ultrasonic sensor on the part of the evaluation device which can be provided in a particularly simple manner information such as installation height and mounting angle of this ultrasonic sensor, can be omitted in an advantageous manner adjustments of the ultrasonic sensor. Because of this
  • a transmission signal emitted by the ultrasonic sensor and reflected in the surrounding area is received by the ultrasonic sensor and received as a second of the at least two received signals from the ultrasonic sensor emitted by a further ultrasonic sensor and reflected in the surrounding area transmission signal.
  • the first received signal is thus received on a direct signal path. This means that the received signal originates from a reflection of that transmission signal in the surrounding area, which itself was transmitted by the ultrasonic sensor for which the current threshold curve is to be determined.
  • Receive signal is received on an indirect signal path.
  • the received signal originates from a reflection of a transmission signal in the surrounding area, which was emitted by a further or different ultrasonic sensor, for example an adjacent ultrasonic sensor.
  • the ultrasonic sensor for which the current threshold curve is determined, is designed to distinguish the received signal received on the direct signal path from the received signal received on the indirect signal path.
  • These two signal paths are used as indicators of whether the predetermined threshold can be set by the first threshold curve. It will be Echo information extracted from the received signal of the direct signal path and the associated indirect signal path, compared and compared to
  • the echo information a number of echoes, a delay of the echoes, and an amplitude of the echoes can be extracted.
  • a first number of echoes is detected in the first received signal, a second number of echoes detected in the second received signal, and the first number and the second number used to check whether the predetermined sensitivity is set by the first threshold curve.
  • Receive signal for detecting the first number of echoes with the first
  • Threshold curve are compared and amplitudes of the echoes in the second
  • Receiving signal for detecting the second number of echoes are compared with a comparison with the first threshold curve reduced threshold curve.
  • the invention is based on the finding that receive signals which are received on the indirect signal path, a lower signal strength, for example, lower echo amplitudes have, as received signals which are received on the direct signal path. Therefore, the received signal, which was received on the direct signal path and therefore has the greater signal strength, is compared with the predetermined first threshold curve. In this case, all echoes whose amplitudes exceed the first threshold curve are detected in the first received signal, the sum of the echoes forming the first number.
  • the echo signals received on the indirect signal path are compared to the first
  • Threshold curve lowered threshold curve compared may, for example, provide a sensitivity increased by about 40 percent for the ultrasonic sensor, for example by at least one threshold value of the first threshold curve, in particular all threshold values of the first threshold curve
  • Threshold curve is lowered.
  • all echoes whose amplitudes exceed the reduced threshold curve are added up to the second number.
  • the first and the second number are compared with each other, wherein it can be evaluated based on a deviation between the first and the second number, whether by the first threshold curve, the predetermined
  • Sensitivity is set. It can be provided that only echoes with predetermined maturities, ie echoes, which from a predetermined Distance range originate, be scored or echoes for different
  • the first threshold curve is given as the current threshold curve, if the first number is approximately equal to the second number and the first number and the second number are not equal to zero, the second threshold curve determined by increasing at least one threshold of the first threshold curve and as the given current threshold curve, if the first number is greater than the second number, and the second threshold curve by reducing at least one
  • Threshold of the first threshold curve determined and as the current
  • the first number was detected by comparing the echo amplitudes of the first received signal with the first threshold curve and the second number by comparing the echo amplitudes of the second received signal with the reduced threshold curve.
  • the first and second numbers are approximately equal. This means that the first and second received signals are approximately the same
  • the ultrasonic sensor has the appropriate, predetermined sensitivity for detecting objects in the surrounding area.
  • the first threshold curve is thus specified as the current threshold curve.
  • the first number is greater than the second number. That is, the direct signal path shows more echo information than the indirect signal path. This means that the ultrasonic sensor is set too sensitive. The sensitivity is thus reduced by increasing at least one threshold value of the first threshold curve and thus determining the second threshold curve.
  • Threshold curve is then given as the current threshold curve.
  • the second number is greater than the first number. That is, the indirect signal path shows more echo information than the direct signal path. This is interpreted as a sign that the ultrasonic sensor is set too insensitive.
  • at least one threshold value of the first threshold curve is then reduced, and thus the second Threshold curve determined. This second threshold curve is called the current one
  • Threshold curve specified In a fourth case, the direct and indirect signal paths show the same echo information, which is zero. This means that the first and the second signal path show no echo information. This also means that no ground echoes are detected by the ultrasonic sensor and the
  • Ultrasonic sensor can be adjusted more sensitive. In order to increase the sensitivity of the ultrasonic sensor, in turn, at least one threshold value of the first threshold curve is lowered and thus determines the second threshold curve. Thus, by a simple comparison of the echo information of the two
  • Receive signals are determined the optimal threshold curve for the ultrasonic sensor.
  • individual threshold value curve sections of the first threshold curve can be changed separately or independently of each other in order to achieve the
  • Distance ranges are specified and the distance ranges associated threshold value curve sections are adjusted separately. For example, to increase the sensitivity of the ultrasonic sensor thresholds, which a
  • a limit threshold curve associated with a maximum sensitivity and a threshold threshold curve associated with a minimum sensitivity are specified, wherein one of the threshold threshold curves is specified as the first threshold curve and based on the at least two
  • Received signals confirmed and determined as the current threshold curve or the other limit threshold curve is specified as the second threshold curve and determined as the current threshold curve.
  • Limit threshold curve is specified as the current threshold curve. If, however, it has been detected that the ultrasound sensor is set too sensitive by the limit threshold curve assigned to the maximum sensitivity, then the limit threshold curve assigned to the maximum sensitivity.
  • Threshold threshold is switched. It is also possible to specify the limit threshold curve associated with the minimum sensitivity and to check, on the basis of the comparison of the echo information of the two received signals, whether the predetermined sensitivity can be set by this limit threshold curve. If so, the limit threshold curve associated with the minimum sensitivity is set as the current threshold curve, and thus the ultrasonic sensor is operated with the minimum sensitivity. If it is detected that the ultrasound sensor operated with the minimum sensitivity is too insensitive, the sensitivity of the ultrasonic sensor will be reduced
  • Ultrasonic sensor increases and the maximum sensitivity associated
  • Limit threshold curve is specified as the current threshold curve.
  • Threshold curve determined by shifting one of the threshold threshold curves. So if based on the two received signals was determined by the first
  • Threshold curve predetermined Grenzschwellwertkurve the predetermined sensitivity can not be adjusted, the predetermined threshold threshold curve as the first threshold curve is shifted, for example, reduced or increased. This shifted limit threshold curve is set as the second threshold curve.
  • an adaptive threshold curve can be determined in a particularly simple manner. Also, individual threshold curve sections of the threshold threshold curve specified as the first threshold curve can be shifted separately.
  • Limit threshold curves may be determined, for example, during a configuration mode of the ultrasonic sensor.
  • Maximum sensitivity associated limit threshold curve can be determined while the motor vehicle during the configuration mode of the ultrasonic sensor
  • the motor vehicle is moved during the configuration mode of the ultrasound sensor via a gravel path and / or via cobblestones.
  • These two Grenzschwellwertkurven can be determined once, for example, from the vehicle-side evaluation, and deposited on an in-vehicle storage device.
  • the limit threshold curves for the ultrasonic sensor are predetermined as a function of an installation height and / or an installation angle of the ultrasonic sensor on the motor vehicle.
  • the invention is based on the knowledge that the occurrence of ground reflections also depends, in particular, on an installation height and a mounting angle of the ultrasonic sensor. Due to the installation height and the
  • Installation angle in particular a transmission direction and a receiving direction of the ultrasonic sensor are specified. These values for the installation height and / or the
  • Installation angle can, for example, in the configuration mode of
  • Ultrasonic sensors are communicated to the evaluation, which then the installation height and / or the installation angle when once determining the Boundary threshold curves taken into account. So, for every ultrasonic sensor in
  • the current threshold value curve determined in a preceding measuring cycle of the ultrasound sensor is specified as the first threshold curve in a subsequent measuring cycle of the ultrasound sensor, and it is checked whether the predetermined threshold is set by the first threshold curve.
  • it can be detected when the motor vehicle changes from a roadway with a first road surface, for example asphalt, to a second road surface, for example gravel, and the current threshold curve is adapted accordingly. It can therefore be advantageous for each road surface, the correct, current
  • Threshold curve for setting the predetermined sensitivity can be specified.
  • the invention also relates to an evaluation device for a driver assistance system of a motor vehicle, which is designed to carry out a method according to the invention.
  • the evaluation device is in particular a vehicle-side, ultrasound-sensor-external evaluation device, which is designed to communicate with the ultrasonic sensor. The checking of the sensitivity as well as the specification of the first and the second threshold curve are taken over in particular exclusively by the evaluation device.
  • the invention also relates to a driver assistance system for a motor vehicle having at least two ultrasonic sensors and an evaluation device according to the invention.
  • each ultrasonic sensor can emit a transmission signal and that in the
  • Ambient area reflected, own transmit signal received as a direct received signal and receive the reflected in the surrounding area transmission signal of the other ultrasonic sensor as an indirect received signal.
  • Receiving signals are provided to the evaluation device, which then Performs the sensitivity check individually for each ultrasound sensor.
  • the driver assistance system is designed in particular as a parking assistance system.
  • a motor vehicle according to the invention comprises an inventive
  • the motor vehicle is designed in particular as a passenger car.
  • Embodiments and their advantages apply correspondingly to the evaluation device according to the invention, the driver assistance system according to the invention and for the motor vehicle according to the invention.
  • Fig. 1 is a schematic representation of an embodiment of a
  • FIG. 2 is a schematic representation of a flowchart of a
  • Fig. 3-5 are schematic representations of threshold curves.
  • FIG. 1 shows a motor vehicle 1 according to an embodiment of the present invention
  • the motor vehicle 1 is in the present embodiment as a
  • the motor vehicle 1 comprises a
  • Driver assistance system 2 which is designed for example as a parking assistance system.
  • a driver of the motor vehicle 1 By means of the driver assistance system 2, a driver of the motor vehicle 1
  • the driver assistance system 2 comprises an evaluation device 3, which is formed in particular by a vehicle-side control unit.
  • the driver assistance system 2 comprises at least one ultrasonic sensor 4a, 4b, 4c, 4d, 4e, 4f, 4g, 4h, wherein the ultrasound sensor external evaluation device 3 is adapted to communicate with the ultrasonic sensors 4a to 4h.
  • the driver assistance system 2 comprises eight ultrasound sensors 4a to 4h, four ultrasonic sensors 4a to 4d being arranged in a front region 5 of the motor vehicle 1 and four further ultrasound sensors 4e to 4h being arranged in a rear region 6 of the motor vehicle 1. From the ultrasonic sensors 4 a to 4 h, a surrounding area 7 of the motor vehicle 1 can be monitored and an object 8 can be detected in the surrounding area 7 of the motor vehicle 1.
  • the ultrasonic sensors 4 a to 4 h are designed to detect a distance of the object 8 to the motor vehicle 1.
  • the ultrasonic sensors 4a to 4h can emit a transmission signal 9a, 9b and receive the transmission signal 9a, 9b reflected in the surrounding area 7 as reception signal 10a, 10b.
  • each ultrasonic sensor 4a to 4h is designed to receive the transmission signal 9a, 9b emitted by itself and reflected in the surrounding area 7 as a reception signal 10a, 10b on a direct signal path.
  • Receive signal 10b can be received, which comes from a reflection of the self-emitted transmission signal 9b in the surrounding area 7.
  • Ultrasound sensors 4a to 4h emitted and reflected in the surrounding area 7 transmit signal 9a, 9b received as a receive signal 10a, 10b on an indirect signal path again. Specifically, this means that the ultrasonic sensor 4 a can receive the reception signal 10 b, which originates from the reflection of the transmission signal 9 b emitted by the ultrasonic sensor 4 b in the surrounding area 7.
  • the ultrasonic sensor 4 a can receive the reception signal 10 b, which originates from the reflection of the transmission signal 9 b emitted by the ultrasonic sensor 4 b in the surrounding area 7.
  • Ultrasonic sensor 4b can receive the reception signal 10a, which is received by the
  • the received signals 10a, 10b in this case have a plurality of echoes, wherein the echoes can be destination echoes which originate, for example, from the reflection of the transmission signal 9a, 9b at the object 8, or which can be ground echoes, for example from the reflection of the transmission signal 9a , 9b originate on a surface of a roadway for the motor vehicle 1.
  • the echoes can be destination echoes which originate, for example, from the reflection of the transmission signal 9a, 9b at the object 8, or which can be ground echoes, for example from the reflection of the transmission signal 9a , 9b originate on a surface of a roadway for the motor vehicle 1.
  • Receive signal 10a, 10b are reliably identified either as a target echo or as false echoes.
  • each ultrasonic sensor 4a to 4h should have a predetermined sensitivity.
  • the evaluation device 3 is designed to set the predetermined sensitivity for each of the ultrasonic sensors 4a to 4h, shown here by way of example for the ultrasonic sensor 4a, individually. To adjust the sensitivity determines the
  • Evaluation device 3 a current threshold curve for the ultrasonic sensor 4a, with which the amplitudes of the echoes are compared in the received signal 10a. If an amplitude of an echo exceeds the current threshold curve, the echo is interpreted as the target echo. Otherwise, the echo is interpreted as a false echo.
  • the evaluation device 3 To determine the current threshold curve, the evaluation device 3, as shown in Fig. 3, initially a first threshold curve 13 before.
  • the first threshold curve 13 here corresponds to a threshold threshold value curve 1 associated with a maximum sensitivity of the ultrasonic sensor 4a. Then is detected by the evaluation device 3 based on the received signals 10a, 10b, whether by the first threshold curve thirteenth the predetermined sensitivity is set. If so, the first threshold curve 13 is given as the current threshold curve. If not, will be a second
  • Threshold curve 14 is determined and this specified as the current threshold curve.
  • the second threshold curve 14 here corresponds to a threshold threshold curve 12 associated with a minimum sensitivity of the ultrasonic sensor 4a.
  • the threshold curves 13, 14 have a duration-dependent or distance-dependent profile of threshold values S. This means that the
  • Thresholds S are plotted over the term t. From the transit time t of the echo, a position or the reflection relative to the motor vehicle 1 can be determined.
  • the threshold curves 13, 14 can be subdivided into four threshold curve sections B1, B2, B3, B4.
  • a first threshold curve section B1 can be assigned to a first distance range which, for example, has distance values between 0 cm and 80 cm. This means that with the first
  • Threshold Curve Section B1 Amplitudes of echoes from this first one
  • a second threshold curve section B2 can be assigned to a second distance range, which for example
  • a third threshold curve section B3 can be assigned to a third distance range, so that with the third
  • Threshold Curve Section B3 Amplitudes of echoes from this third
  • the threshold values S of the third distance range are again increased compared to the threshold values S of the second distance range.
  • amplitudes of echoes from this fourth distance range can be compared.
  • the threshold threshold curves 1 1, 12 can For example, depending on a mounting height of the ultrasonic sensor 4a on the motor vehicle 1 and / or a transmitting or receiving direction or a mounting angle of the ultrasonic sensor 4a and / or depending on various predetermined road surfaces for the motor vehicle 1 are predetermined and deposited for example in a vehicle-mounted storage device ,
  • the threshold threshold curves 1 1, 12 can For example, depending on a mounting height of the ultrasonic sensor 4a on the motor vehicle 1 and / or a transmitting or receiving direction or a mounting angle of the ultrasonic sensor 4a and / or depending on various predetermined road surfaces for the motor vehicle 1 are predetermined and deposited for example in a vehicle-mounted storage device , The
  • Ultrasonic sensor 4a can be determined. In this case, for each ultrasonic sensor 4a to 4h individual Stahlschwellwertkurven 1 1, 12, for example, depending on the particular installation height and / or the respective transmitting and receiving direction, are predetermined.
  • the evaluation device 3 can communicate with the memory device in which the individual limit threshold curves 1 1, 12 are stored, and depending on the received signals 10 a, 10 b one of
  • the maximum sensitivity associated Grenzschwellwertkurve 1 1 can be provided as a first threshold curve 13, and checked whether the limit threshold curve 1 1, the predetermined sensitivity is reached. If it has been found that the ultrasonic sensor 4a is set too sensitive with the threshold threshold curve 1 1 as the first threshold curve 13, the sensitivity can be reduced stepwise by:
  • first the threshold curve 15 by moving the
  • Ultrasonic sensor 4a is set too sensitive by threshold curve 15, one after the other, the threshold curves 16, 17, 12 than the second
  • Threshold curves 14 are determined until one of the threshold curves 16, 17, 12 provides the predetermined sensitivity for the ultrasonic sensor 4a.
  • the second threshold curve 14 is thus determined by shifting the first threshold curve 13.
  • Threshold curve 14 are determined by the threshold value curve sections B1 to B4 of the first threshold curve 13 specific limit threshold curve 1 1 are adjusted separately.
  • the threshold threshold curves 1 1, 12 different courses. If, for example, it was detected by the evaluation device 3 on the basis of the received signals 10a, 10b that the first threshold curve 13 is detected primarily in FIG is too sensitive to the third distance range, the threshold values S of the first threshold curve 13 can be increased more clearly in the third distance range than in the other distance ranges. In other words, here, for determining the second threshold curve 14, the third threshold curve section B3 of the first one
  • Threshold curve 13 is raised more than the other threshold curve sections B1, B2, B4.
  • a flow chart for checking whether the first threshold curve 13 sets the predetermined sensitivity is shown in FIG.
  • the received signals 10a, 10b received on the direct and the indirect signal path are received by the ultrasonic sensor 4a in a first step S1.
  • the received signal 10a received by the ultrasonic sensor 4a on the direct signal path is compared with the first threshold curve 13. Based on the comparison can
  • Echo information to be extracted In particular, as the echo information, a first number of echoes is extracted in the received signal 10a whose amplitudes exceed the first threshold curve 13.
  • the received signal 10b received by the ultrasonic sensor 4a on the indirect signal path is compared with a threshold value curve reduced with respect to the first threshold curve 13. In this case, as an echo information of the received signal 10b, a second number of echoes in the received signal 10b are extracted whose amplitudes exceed the reduced threshold curve.
  • a second method step S2 it is checked whether the echo information, in particular the first and the second number, are equal to zero, that is to say at all
  • Echo information in the received signals 10a, 10b are present.
  • the absence of echo information is an indication that the ultrasonic sensor 4a also no
  • the second threshold curve 14 is determined as the current threshold curve, in which at least one threshold value is reduced compared to the first threshold curve 13. If, however, the echo information, that is to say the first and the second number, are not equal to zero, it is checked in a third method step S3 whether the echo information is the same. This means that it is checked whether the first number is equal to the second number. If the first number is equal to the second number, the first threshold curve 13 is provided as the current threshold curve as a second result E2, since the predetermined threshold of the ultrasonic sensor 4a can be set by means of the first threshold curve 13. If the two numbers are not equal, is in a fourth Method step S4 checks whether the direct received signal 10a more
  • Echo information shows as the indirect received signal 10b. It is therefore checked whether the first number is greater than the second number. If the first number is larger than the second number, as a result E3, the sensitivity of the ultrasonic sensor 4a is reduced.
  • the second threshold curve 14 is determined by increasing at least one threshold value S of the first threshold curve 13. But if the second number is greater than the first number, it is assumed that the ultrasonic sensor 4a is set too insensitive. Therefore, once again, the first result E1 is provided and the sensitivity of the ultrasonic sensor 4a is increased.

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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)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de détermination d'une courbe actuelle de valeurs de seuil pour un capteur à ultrasons (4a) d'un véhicule automobile (1) par le biais de laquelle une sensibilité prédéfinie du capteur à ultrasons (4a) est réglée et avec laquelle sont comparées des amplitudes d'échos dans un signal de réception (10a) reçu par le capteur à ultrasons (4a) pour la mesure d'une distance entre le véhicule automobile (1) et un objet (8) se trouvant dans une zone environnante (7) du véhicule automobile (1), une première courbe de valeurs de seuil (13) étant prédéfinie pour le capteur à ultrasons (4a) et il est vérifié à l'aide d'au moins deux signaux de réception (10a, 10b) reçus par le capteur à ultrasons (4a) si la sensibilité prédéfinie est réglée par la première courbe de valeurs de seuil (13), la première courbe de valeurs de seuil (13) étant déterminée en tant que courbe actuelle de valeurs de seuil dans la mesure où la sensibilité prédéfinie est réglée par la première courbe de valeurs de seuil (13) et, dans le cas contraire, une seconde courbe de valeurs de seuil (14) est déterminée en tant que courbe actuelle de valeurs de seuil. L'invention concerne en outre un système d'évaluation (3), un système d'aide à la conduite (2) ainsi qu'un véhicule automobile (1).
PCT/EP2017/051049 2016-01-21 2017-01-19 Procédé de détermination d'une courbe actuelle de valeurs de seuil pour un capteur à ultrasons d'un véhicule automobile, système d'évaluation, système d'aide à la conduite ainsi que véhicule automobile Ceased WO2017125472A1 (fr)

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DE102016101006.5A DE102016101006B4 (de) 2016-01-21 2016-01-21 Verfahren zum Bestimmen einer aktuellen Schwellwertkurve für einen Ultraschallsensor eines Kraftfahrzeugs, Auswerteeinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102016101006.5 2016-01-21

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WO2017125472A1 true WO2017125472A1 (fr) 2017-07-27

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3754370A1 (fr) * 2019-06-21 2020-12-23 Aisin Seiki Kabushiki Kaisha Dispositif de détection d'objets

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005059907A1 (de) 2005-12-15 2007-06-21 Robert Bosch Gmbh Ultraschallsensor
EP2634596A1 (fr) * 2012-02-29 2013-09-04 Robert Bosch Gmbh Procédé d'enregistrement d'objets dans l'environnement d'un véhicule automobile

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005052633B4 (de) 2005-11-04 2017-03-02 Robert Bosch Gmbh Verfahren zur Kalibrierung eines Ultraschallsensors und Ultraschallabstandsmessvorrichtung

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005059907A1 (de) 2005-12-15 2007-06-21 Robert Bosch Gmbh Ultraschallsensor
EP2634596A1 (fr) * 2012-02-29 2013-09-04 Robert Bosch Gmbh Procédé d'enregistrement d'objets dans l'environnement d'un véhicule automobile

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3754370A1 (fr) * 2019-06-21 2020-12-23 Aisin Seiki Kabushiki Kaisha Dispositif de détection d'objets

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