• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
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    • 专利摘要:
    Method for detecting objects (26) from the environment of a vehicle (1) using at least one ultrasonic sensor (16), an ultrasonic sensor (16) emitting ultrasonic pulses ( 52) and receiving the ultrasound echoes and having a viewing range (20) in which it recognizes the objects (26) by their returned echo (56), a threshold for eliminating the ground echoes (54), - the ultrasound echoes having an amplitude greater than the threshold being classified as echoes (56) of an object (26), characterized in that the threshold is adaptively adapted by selecting the threshold for a predefined rate of the ground echo (54) is falsely classified as an echo (56) of an object (26) and the ground echoes (54) of echoes of echoes (56) of an object (26) being removed by filtering, a) using a tracking filter to filter out stochastic soil echoes (54) and / or b) using an optimal filter to eliminate iner the ground echoes (54) doppler shift.
    公开号:FR3036809A1
    申请号:FR1670268
    申请日:2016-05-26
    公开日:2016-12-02
    发明作者:Albrecht Klotz；Christian Pampus；Michael Schumann
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The present invention relates to a method for detecting objects in the environment of a vehicle using at least one ultrasonic sensor emitting ultrasound pulses and receiving ultrasonic echoes. and having a range of vision in which it recognizes the objects by their returned echo, a threshold to eliminate the ground echoes, ultrasonic echoes of amplitude greater than the threshold being classified as echoes of an object. The invention also relates to a device for implementing such a method, a driving assistance system equipped with such a device and a vehicle with such a driving assistance system. STATE OF THE ART In the automotive field, various driving assistance systems are used to assist the driver in performing various driving maneuvers. These are for example parking assistance systems storage in a parking space. These systems detect (capture) the environment using sensors fitted to the vehicle to detect possible parking locations in the environment and assist the driver in his storage maneuver of the vehicle in a parking space. Other driver assistance systems warn the driver, for example of the presence of objects in a blind spot.
    [0002] For their operation, the driver assistance systems require data relating to the environment of the vehicle and for this they use several sensors, including ultrasonic sensors. Ultrasonic sensors emit ultrasound signals and receive echoes reflected by objects in the environment. From the time of travel of an ultrasound signal and knowing the speed of sound in the air, the distance separating the sensor and the reflective object is calculated. Such a sensor has a range of vision in which it recognizes the objects. The range of vision is given by the range of radiation of the ultrasonic sensor (ultrasonic transducer). The sound is emitted in a cone of sound that has an opening angle 3036809 2. The opening angle of the sensor is the range in which the sound pressure is reduced by -3 dB relative to the sound pressure measured on the main axis of the sensor. The angle of aperture of the sound cone depends on the physical data as well as the dimensions of the membrane, the realization of the horn as well as the frequency of ultrasound used; for low ultrasound frequencies, a larger opening angle is thus obtained. Beside the opening angle of the sound cone, the viewing range of the ultrasonic sensor depends decisively on the characteristic curve representing a threshold as a function of time. Only echoes of ultrasound whose amplitude is greater than this threshold will be recognized by the sensor as echoes. This threshold or the characteristic curve is chosen as a function of time, to eliminate the reflections of the ultrasound signal by the roadway or the ground (referred to in the following soil echoes) which occur frequently within a certain time window. that is, in a range of distance. Such a time-dependent threshold is for example known from DE 196 45 339. If the threshold is set too low, there will be a large number of ground echoes which will be misinterpreted as corresponding to an object. If, on the other hand, the threshold is set too high, this greatly limits the range of vision of the sensor because the weaker ultrasound echoes returned by the objects at the edge of the sound cone will no longer be recorded.
    [0003] DE 103 23 639 A1 discloses a method of detecting objects by adaptively adapting the detection properties of a detection facility (capture facility). The detection device operates first with its maximum range, ie its maximum sensitivity. If it is found that with the detection parameters thus adjusted, parasitic data, for example sporadic reflections from the gravel, are received, the parameters of the characteristics of the detection installation are modified by reducing the range of detection in space until no more stochastic noise data is captured.
    [0004] DE 10 2004 047 485 A1 discloses a driving assistance system comprising sensors for measuring a parking space. It is planned to exploit not only a single echo captured by the sensors. Instead, several echo signals are identified in the signal received by the sensor and used to exploit them. The echo signals are operated using a tracking filter that eliminates echo signals from ground reflections. DE 10 2011 075 484 A1 discloses a method for improving the range of an ultrasonic measurement signal. The document describes the transmission of modulated signals which are then detected. An optimal filter is used consisting of using an optimal filter adapted to the different speeds. DE 102 59 902 A1 discloses a method and an installation for determining the distance of objects. To exploit the received signals, we subtract an empty signal which contains the parasitic components such as noise and jamming. In addition, an adjustment of the threshold is made for the detection which allows a predefined rate of fault alarm.
    [0005] The optimum choice of the threshold determines the viewing range of the ultrasonic sensor. The disadvantage of this state of the art is not to optimize the threshold to have the largest range of vision of the ultrasonic sensor. SUMMARY AND ADVANTAGES OF THE INVENTION The object of the present invention is to overcome the drawbacks of the state of the art and relates to a method for detecting objects of the environment of a vehicle using at least one ultrasonic sensor emitting ultrasonic pulses and receiving ultrasound echoes and having a range of vision in which it recognizes the objects by their echo returned, a threshold eliminating the ground echoes, the echoes of ultrasound of an amplitude greater than the threshold being classified as echoes of an object, this method being characterized in that the threshold adaptively adapts by choosing the threshold so that a predefined rate of ground echoes is falsely classified as echoes of an object and the ground echoes among ultrasound echoes classified as echo of an object being filtered out, a) using a tracking filter to filter out stochastic ground echoes and / o b) using an optimal filter to eliminate Doppler shift echoes. According to the method, the threshold is preset so that the viewing range of the ultrasonic sensor is as large as possible. For this, the threshold must be reduced to the minimum possible. Usually the threshold is chosen so that no ground echo is falsely classified as an echo from an object. For this, the threshold takes its maximum as a function of time and in a time range in which the probability of ground echo is highest. In order to detect (recognize) objects, the time-dependent echo signal is compared from an ultrasound echo to the time-dependent threshold. If the amplitude of the echo signal exceeds the threshold amplitude, the received ultrasound echo will be classified as an echo from an object. According to the method, the threshold is narrowly reduced to have a predefined rate of ground echo whose amplitude exceeds the threshold and which will thus be firstly classified as echoes from an object. The threshold is not predefined in a fixed way, but it is adapted in a current way. This means that it will, for example, be reduced from a predefined initial value of the threshold until the predefined rate of ground echo to be classified as echo from an object is reached. This rate is the number of ground echoes which for each ultrasonic pulse emitted by the ultrasonic sensor will have an amplitude greater than the threshold and will thus be falsely classified as echoes from an object. If, for example, for every tenth ultrasound pulse emitted, a ground echo is recorded as being an echo of an object, then the rate is 0.1, that is, 10%. If statistically, for each ultrasound pulse emitted, an echo of soil is recorded as being an echo of an object, the rate is equal to 1, that is to say 100%. The rate can also be greater than 1 or 100%. In this case, the amplitude of the echo signal exceeds several times the threshold and during the travel time of each exceeding of the threshold a distance is assigned to the ultrasonic sensor. If the ground echo rate is higher than the preset value, the threshold is increased again. For the regulation of the threshold it is possible to use any method of regulation. For example, the methods known from the radar technique, such as the CFAR (constant rate of false alarms) and the CA-CFAR (constant rate of false alarm rate cells) method, can be used. For the operation of a characteristic driving assistance system, such as, for example, the blind spot assistant or the storage assistant, it is nevertheless necessary to eliminate with certainty the ground echo. because, for example, if a ground echo is classified as coming from an object during the storage maneuver, this detection can trigger a braking action and in the case of a blind spot assistant, it can generate an inappropriate warning. This is why it is necessary to filter after the capture of the echo. The filtering according to variant a) uses a tracking filter to filter out soil echoes arriving stochastically. The tracking filter checks over an important time interval how the echo behaves. If an echo occurs only sporadically, it means that it will be detected once and it will no longer appear for the following ultrasound pulses, so that with great probability it is a disturbance or parasite which must be removed by filtering. In addition, the tracking filter checks how the distance calculated from the travel time of the ultrasound signal behaves. If the calculated distance remains constant, although the vehicle and its sensor have meanwhile moved, it is also with a high probability, an echo of soil. If several ultrasound sensors are distributed over the vehicle and if their vision ranges overlap at least partially, the plausibility of the measurement results of an ultrasonic sensor can be checked with the measurement results of the other ultrasonic sensors. If, for example, neighboring ultrasonic sensors capture echoes whose calculated distance also does not change as the vehicle moves, this greatly increases the probability that it is an echo of the ground. If the viewing ranges of at least two ultrasound sensors overlap at least partially, trilateration can be performed for the detected objects and for filtering the objects with the tracking filter the relative distance from the vehicle, but also the direction. If the distance and direction of an object in front of or behind the vehicle does not change although the vehicle is in motion, then it is an echo of the ground that must be eliminated, that is to say filter. Preferably, the ultrasound signals emitted are modulated. For this purpose, for example, Chirp signals are used; these are signals of a certain duration whose frequency varies during this time. In a rising Chirp signal, the ultrasound frequency will for example increase continuously while for a descending Chirp signal, the frequency will decrease continuously. In order to eliminate the para- sites, it is preferentially provided to use an optimal filter (tuned filter) which adjusts itself to the modulated signal. The optimal signal makes it possible, in a simple manner, to filter out the signals whose shape or modulation does not correspond to the emitted modulated signal. The ground echoes which are reflections of the emitted ultrasound pulses will not first be separated by filtering because these echoes will also exhibit modulation. But if the vehicle moves, there is also the Doppler effect that shifts the frequency of the ultrasound signals. The Doppler effect depends on the direction; for ultrasonic echoes parallel to the flow direction, the Doppler shift is maximum while the ultrasonic signals perpendicular to the direction of movement have no Doppler effect. Doppler shift is used to filter out ground echoes in a targeted manner with an appropriately tuned optimum filter. It is used that ground echoes usually arrive directly in front of the vehicle or directly behind the rear of the vehicle; the ground echoes arrive parallel to the traffic direction and thus completely display the Doppler effect. It is thus preferable to modulate the transmitted ultrasound pulses and to use an optimal filter to pass only the modulated signals without Doppler shift. Depending on the speed of the vehicle and the increasing Doppler effect, the range of vision of the ultrasonic sensors increases in an area that is substantially perpendicular to the direction of travel and in an area that is substantially parallel to the direction of travel. of circulation. As the vehicle speed increases, more and more echoes will be removed from the area parallel to the direction of travel. The echoes of the area perpendicular to the direction of movement may however pass the filter. Preferably, the bandwidth of the modulated ultrasound pulses is increased as a function of the speed. A Chirp signal corresponds to a bandwidth of the frequency interval in which the frequency of the ultrasound pulse varies. Increasing the bandwidth reduces the separating power of the optimal filter so that the damping of the echoes which arrive parallel to the direction of flow does not increase too much and that echoes of objects located directly in the direction of circulation. By selecting the bandwidth of the modulated ultrasound pulses and adjusting the corresponding optimal filter, the range of vision of the ultrasonic sensor is controlled. If a range of vision limited to a range perpendicular to the direction of flow is desired, the bandwidth of the modulated ultrasound pulses is reduced. If, on the other hand, it is desired that the viewing range of the ultrasonic sensor be extended to a range in the direction of flow, the range of vision is increased by increasing the bandwidth of the modulated ultrasound pulses. For example, the bandwidth is varied from 1 kHz to 10 kHz and the frequency of the ultrasound carrier transmitted is typically in the range of 40 kHz to 60 kHz.
    [0006] In particular, it is possible to combine filtering with the tracking filter with trilateration and adapting the bandwidth of the modulated ultrasound pulses. For example, an ultrasound sensor oriented in the flow direction records an echo, the trilateration is unsuccessful because the echo of neighboring ultrasound sensors is not detected, so it is probably then either an echo of the floor, 3036809 8 is an object located in the middle of the viewing range of the ultrasonic sensor, that is to say, an object that is directly in front of or behind the vehicle. With a series of modulated ultrasound pulses whose bandwidth is reduced from one ultrasound pulse to another, the optimal filter makes it possible to progressively eliminate soil echoes tainted by the Doppler effect. . Thus, the combination of a tracking filter with trilateration and the adaptation of the bandwidth of the modulated ultrasound pulses will be done by performing, in a first filtering step, a trilateration of an echo with the ultrasonic sensors. - 10 neighboring sounds and to the extent that trilateration is not possible, in a second filtering step is emitted modulated ultrasound pulses with a bandwidth reduced from one pulse to another; then ultrasound echoes that are no longer recognized for ultrasonic pulses with reduced bandwidth will be classified as 15 ground echoes and will be filtered out. The adjustment of the threshold is preferably based on the speed of the vehicle. The adjustment of the threshold is preferably done so that for a stationary vehicle, a rate of 0.1 echo of ground is reached per pulse of emitted ultrasound and this rate increases with the speed of the vehicle. up to 5 ground echoes per ultrasound pulse emitted. Preferably, the rate is at a maximum of two ground echoes per emitted ultrasound pulse, and in a particularly preferred manner, this rate is at a maximum of one ground echo per ultrasound pulse emitted. Preferably, the maximum value is reached for a vehicle speed of 50 km / h. The range of vision of the ultrasonic sensor is defined, not only by the threshold, but also by the sound pressure which decreases towards the edges of the sound cone. Thus, for the low ultrasound frequencies, there will be a larger aperture angle of the sound cone and thus a larger viewing range of the ultrasonic sensor. It is preferentially provided to predefine the viewing range of the ultrasonic sensor by adjusting the ultrasound frequency. The frequency of the ultrasound is preferably varied within a range of from 20 to 80 kHz, and preferably from 40 to 60 kHz, and even more preferably from 45 kHz to 55 kHz, and the low ultrasound frequencies, we will have larger viewing ranges and for high ultrasound frequencies we will have smaller vision ranges.
    [0007] It is also possible to influence the range of vision of the ultrasonic sensor by intervening in the adaptive setting of the threshold. The range of vision is increased by decreasing the threshold and inversely, the range of vision is decreased by increasing the threshold. An opening angle can also be defined for the viewing range, this aperture angle corresponding to a cone in which the sensor can detect an object. The opening angle of this range of vision will increase if low and low frequencies are used. Within this range of vision, as described for the Doppler effect on a moving vehicle, subdividing the ultrasonic pulse modulated ultrasonic pulses into the range of the ultrasonic transducer can be further subdivided by using a small bandwidth. strongly dampen ultrasound echoes from an area parallel to the direction of travel. According to another development, the object of the invention is a device for detecting objects in the environment of a vehicle comprising a control apparatus and at least one ultrasonic sensor. The device executes the method described above and the corresponding features of the method apply to the device and vice versa. In particular, the control apparatus performs the method as described above. The invention also relates to a driving assistance system comprising the devices described above for detecting objects in the environment of the vehicle. The driver assistance system of the device for picking objects in the vehicle environment comprises a plurality of ultrasonic sensors oriented parallel to the direction of movement of the vehicle, that is to say in the direction of movement or in the opposite direction. The driver assistance system further detects objects in the blind spot of the vehicle to warn the driver 3036809 and / or to detect free parking spaces when passing in front of them. In a particular development, the driver assistance system comprises eight ultrasonic sensors with four ultrasonic sensors in the flow direction and four ultrasonic sensors oriented in the opposite direction. The invention also relates to a vehicle equipped with such a driving assistance system. DESCRIPTION AND ADVANTAGES OF THE INVENTION The method according to the invention makes it possible to maximize the range of vision of an ultrasonic sensor. The range of vision of an ultrasonic sensor is defined by its angle of sound and the reception characteristic curve, that is to say the threshold. Advantageously, the threshold is adjusted adaptively. Thus, the threshold is greatly reduced to allow the arrival of parasitic signals, in particular of ground signals according to a certain rate. Nevertheless, the objects in the environment of the vehicle will be detected with certainty, because filtering is advantageously used to eliminate the ground echoes that have been falsely recognized as the echoes of an object.
    [0008] In the process of the invention thus without modifying the ultrasonic sensors will have larger viewing ranges with a larger aperture angle. Advantageously, due to the larger viewing range or larger aperture angle, the number of sensors needed to peripherally monitor the environment is reduced. Thus, the sensors installed at the front of the vehicle serve not only to detect the distance of an obstacle in front of the vehicle, but at the same time to detect and measure parking spaces of the vehicle.
    [0009] Thanks to the greater range of vision of an ultrasonic sensor installed for example at the front or at the rear of the vehicle, the dead angle is also monitored, thus realizing a blind spot assist. (also called abbreviated service wizard) without having more side-oriented sensors.
    [0010] 3036809 11 Alternatively or additionally, with the same number of sensors, thanks to the greater range of vision, we will have a better functionality. Because of the greater range of vision of different ultrasonic sensors, the viewing ranges of neighboring ultrasonic sensors 5 may at least partially overlap. In the overlapping range, not only the distance but also the direction of the objects can be determined by trilateration. The quality of the data provided by the environmental sensors is thus significantly improved. In particular, the accuracy of the measurements of a parking space is increased. Drawings The present invention will be described hereinafter in more detail using examples of methods and devices for grasping objects in the environment of a vehicle using ultrasonic sensors. shown in the accompanying drawings, in which: FIG. 1 shows the ultrasonic sensor vision range of a device according to the state of the art, FIG. 2 shows the range of vision of a device according to the invention for the seizure of objects in the environment of the vehicle, Figure 3 shows the elimination of ground echoes in the case of a moving vehicle, Figure 4a shows a vehicle equipped with 12 ultrasonic sensors, Figure 4b shows a vehicle equipped with 8 ultrasonic sensors, and figure 5 shows the timing diagram of a threshold with adaptive adjustment.
    [0011] DESCRIPTION OF EMBODIMENTS FIG. 1 shows a device 12 'for grasping objects 26 in the environment of a vehicle 1 according to the state of the art. The device 12 'comprises several ultrasonic sensors 16', 18 '. The representation of FIG. 1 shows, by way of example, an ultrasonic sensor 16 'at the front of the vehicle which is facing forward and an ultrasonic sensor 18' oriented towards the right side. Ultrasonic sensors 16 ', 18' are connected to a control apparatus 14 '. Figure 1 shows how the vehicle 1 passes in front of a parking space 24 whose locations are measured with the ultrasonic sensor 18 'facing towards the side. The ultrasonic sensor 30 368080 12 detects the border 28 limiting the parking space 24 on the side as well as two objects 26 which here are stationary vehicles limiting the parking space 24 at the front and the rear. back. As shown in FIG. 1, the ultrasonic sensor 18 'has a viewing range 22' for measuring the parking space 24. A corresponding viewing range 20 'of the forward-facing ultrasonic sensor 16' allows where appropriate, detecting objects 26 which delimit the front and the rear of the parking space 24; since the viewing range 20 'is limited, the ultrasonic sensor 16' does not make it possible to measure the depth of the parking space 24. In the description given below, examples of embodiment of the In the invention, similar references to the foregoing will be used to denote analogous or identical components whose description will not be repeated. FIG. 2 shows a vehicle 1 equipped with a device 12 according to the invention for grasping objects 26 in the environment of the vehicle 1. The device 12 comprises, by way of example, two ultrasonic sensors 16, 18 installed in the front part of the vehicle. The ultrasonic sensor 16 is oriented forward and the other ultrasonic sensor 18 is oriented towards the side. The ultrasonic sensors 16, 18 are connected to a control apparatus 14. Fig. 2 shows the forward-facing ultrasonic sensor 16 having a viewing range 20 and the right-side oriented ultrasonic sensor 18 having A viewing range 22. The viewing areas 20, 22 represent the area in which the objects 26 in the vehicle environment can be recognized by the ultrasonic sensors 16, 18 using the reflected ultrasound echoes. The viewing ranges 20, 22 are significantly enlarged by the reduction of the threshold that the amplitude of an ultrasound echo must exceed to be recognized as an echo of an object 26. As the 20, 22, the forward-facing ultrasonic sensor 16 can measure the parking space 24 because it can recognize the two objects 26 which delimit the parking space 24 as 3036809 13 that the border 28 which characterizes the depth of the parking space 24. The representation of FIG. 2 also shows that the viewing ranges 20, 22 of the two ultrasonic sensors 16, 18 overlap partially in an overlap range 29. In this range In the situation shown in FIG. 2, it is possible to determine not only the distance of the objects 26, but also the direction of the objects 26 with respect to u vehicle 1.
    [0012] FIG. 3 shows a vehicle 1 equipped with the device 12 according to the invention comprising two ultrasonic sensors 16, 18 and the control device 14. The vehicle 1 moves in the direction of circulation 50. The ultrasonic sensor 16 emits Ultrasound pulses 52 reflected by the objects 26. The echoes 56 returned by the objects 26 are recognized by the ultrasonic sensor 16 so that the control apparatus 14 can determine the distance of the object 26 from the signal travel time. In addition to the echoes 56 returned by the objects 26 in the environment of the vehicle 1, it is also possible to have reflections generated by the roadway such as, for example, a ground echo 54. If the amplitude of the ground echo 54 exceeds the threshold, it will first be treated by the control device 14 as if it were an echo 56 sent by an object 26. But for the operation of the vehicle assistance system 1, it is However, it is necessary to be able to safely remove the ground echoes 54. If the vehicle 1 moves in the flow direction 50, the ultrasound signal is affected by the Doppler effect. This means that the ultrasound pulses or echoes that are parallel to the flow direction 50 have their frequency shifted by the Doppler effect.
    [0013] Preferably, the ultrasonic pulse 52, emitted, for example in the form of a Chirp signal, is modulated, and, for example, in the case of a rising Chirp signal, the frequency of the ultrasound will be increased by function of time. Then, it is filtered using an optimal filter designed for the modulated Chirp signal of the ultrasound pulse 52. This allows the echo 56 of the object 26 and the ground echo 54 to be separated, since 3036809 14 object 26 is in a direction relative to the vehicle 1 which is perpendicular to the flow direction 50. The echo 56 does not thereby undergo the Doppler shift. On the other hand, the ground echo 54 arrives on the ultrasonic sensor 16 of a direction which is parallel to the flow direction 50 so that the ground echo 54 has an offset Doppler. The filtering, in particular using the optimal filter makes it possible to separate the ground echo 54 shifted by Doppler effect. Preferably, a tracking filter is then used to eliminate other ground echo 54 by using the distance and / or the position relative to the movement of the vehicle 1. The filtering may be fully or partially implemented in the Preferably, the filter with the optimum filter is already filtered with appropriate means in the ultrasonic sensors 16, 18 and the filtering with the tracking filter is carried out in the control unit 14. The filtering subdivides the viewing range 20 of the ultrasonic sensor 16 into substantially two lands 58, 60; the first range 58 is substantially parallel to the flow direction 50 and the second range 60 is substantially perpendicular to the flow direction 50. The filtering performed in particular using an optimum filter damping echoes Doppler effect, including the ground echoes 54 shifted by the Doppler effect sufficiently so that the viewing range 20 of the ultrasonic sensor 16 is substantially limited to the second zone 60 which is perpendicular to the flow direction 50.
    [0014] Figures 4a and 4b each show a vehicle 1 equipped with a driving assistance system 10 with a device 12 according to the invention for grasping the objects 26 in the environment of the vehicle 1. The two embodiments of the device 12 are distinguished by the number of ultrasonic sensors 16-19.
    [0015] In the alternative embodiment of FIG. 4a, the device 12 comprises altogether 12 ultrasonic sensors 16-19; four ultrasonic sensors 16 are installed at the front of the vehicle 1 and four ultrasonic sensors 17 at the rear of the vehicle 1. The ultrasonic sensors 16 and 17 are each oriented parallel to the direction of circulation, 35 that is, the ultrasonic sensors 16 are oriented in the direction of circulation and the ultrasonic sensors 17 are oriented in the direction opposite to the direction of flow. The front of the vehicle is additionally equipped with two ultrasonic sensors 18 oriented towards the side of the vehicle 1; it is the same for the rear of the vehicle 1 equipped with two ultrasonic sensors 19 partially oriented towards the side. FIG. 4a shows, by way of example, a viewing range 20 of an ultrasonic sensor 16 oriented in the direction of flow, a viewing range 21 of an ultrasonic sensor 17 oriented in the direction opposite to the direction of circulation. , a viewing range 22 of an ultrasonic sensor 18 facing towards the side and a viewing range 23 of an ultrasonic sensor 19 partially oriented towards the side. The side-oriented ultrasonic sensors 18 and the ultrasonic sensors 19 partially oriented towards the side are usually used to monitor the blind spot and to detect the parking places. The ultrasonic sensors 16 and 17 oriented in the direction of flow and in the opposite direction are usually used to measure the distance between the vehicle 1 and obstacles, particularly in the context of a storage maneuver of the vehicle 1 in a parking space . As shown in FIG. 4a, the viewing ranges of the ultrasonic sensors 16-19 are sufficiently large to have overlapping ranges 29. In the embodiment of FIG. 4a, the overlap ranges 29 are used to improve the quality of the data provided by the sensors. Thus, in the viewing range 29 the position of an object can be determined by trilateration. The embodiment variant shown in FIG. 4b corresponds to that of FIG. 4a, with the exception that the ultrasound transducers 18 oriented towards the side and the ultrasonic sensors 19 oriented partially towards the side have been removed, so that the device 12 in FIG. 4b has only eight ultrasonic sensors 16, 17. The respective viewing areas 20, 21 of the ultrasonic sensors extend at least partially to the side without requiring additional ultrasonic sensors 18, 19 sideways (see Figure 4a). This information can be used as part of the parking location measurement or to warn of the presence of an object in the blind spot. The vehicle 1 represented in FIG. 4b which includes a driving assistance system 10 equipped with the device 12 can thus warn the driver of the existence of objects in the blind spot or to detect free parking spaces 5 at the vehicle. passing through these locations without the need for other ultrasonic sensors. Figure 5 shows a chronogram of the evolution of the adaptive threshold. The time t is represented on the X axis and the amplitude A on the Y axis. To recognize the echo of an object 26, the amplitude A 10 of the echo signal must be greater than the amplitude threshold. Figure 5 shows a characteristic ground echo signal 30. This ground echo signal 30 has its maximum amplitude in the range 32. The range 32 corresponds to a time interval or a distance away from an ultrasonic sensor 16, 18.
    [0016] Usually, according to the state of the art, the threshold 40 is preset so that the ground echo signal 30 (i.e. its amplitude) in no way exceeds the threshold 40. As shown in FIG. As shown in FIG. 4, the threshold 40 is chosen high enough so that even if the condition of the roadway is bad, for example if there is gravel, all the generated soil echoes will be eliminated with certainty. . In addition, Figure 5 shows an adapted threshold 42 for a stationary vehicle, that is to say, whose speed is zero. The adapted threshold 42 is significantly less than the threshold 40, which means that the sensitivity of the ultrasonic sensor is significantly increased. The sensor will thus be able to record ultrasound echoes reflected by objects at the edge of the sound cone, for which the pressure of the sound will already be significantly reduced. The reduction of the threshold by the adapted threshold 42 makes it possible, even in isolation, for the amplitude of the ground echo signal 30 to be briefly above the adapted threshold 42. These ground echoes falsely classified as being an echo of an object will then be eliminated by filtering. Figure 5 also shows an adapted threshold 44 for vehicle traffic speeds greater than zero. This adapted threshold 44 will again be significantly reduced by taking into account that, from the statistical point of view, for each ultrasound pulse emitted, the amplitude of the ground echo signal exceeds once the threshold and thus a Ground echo for each ultrasound pulse emitted will be classified as an echo of an object. This false detection rate is taken into account because at higher traffic speeds, the ground echoes will be processed by a tracking filter. Fig. 5 also shows that all thresholds or characteristic lines are time dependent and the amplitude maximum is in the range 32 in which the amplitude of the ground echo signal 30 is greatest. The thresholds or characteristic curves thus decrease both in the direction of t = 0 and t o.
    [0017] 15 3036809 18 NOMENCLATURE OF MAIN ELEMENTS 1 Vehicle 14 Control unit 5 16 Ultrasonic sensor installed at the front of the vehicle 17 Ultrasonic sensor installed at the rear of the vehicle 16 18 Ultrasonic sensor 18 Sensor facing the side of the vehicle 19 Ultrasonic sensor partially angled to side 10 20 Vision range 22 Ultrasonic sensor viewing range 18 23 Ultrasonic sensor viewing range 19 24 Parking location 26 Environment object 15 28 Border 29 Overlap range Preset threshold 42 Threshold adapted for a stopped vehicle 44 Threshold adapted for a moving vehicle 20 50 Direction of movement 52 Ultrasonic pulse 54 Ground echo 56 Echo of an object 58 First range practically parallel to the direction of travel 25 58-60 Range of subdivision of the viewing range 20 of the ultrasonic sensor 16 60 Second range perpendicular to the flow direction 30
    权利要求:
    Claims (8)
    [0001]
    CLAIMS 1 °) Method for detecting objects (26) from the environment of a vehicle (1) using at least one ultrasonic sensor (16-19), an ultrasonic sensor (16-19) emitting ultrasound pulses (52) and receiving the ultrasound echoes and having a viewing range (20-23) in which it recognizes the objects (26) by their returned echo (56), a threshold (42, 44); ) for eliminating ground echoes (54), - echoes of ultrasound having an amplitude greater than the threshold (42, 44) being classified as echoes (56) of an object (26), characterized in that adapting the threshold (42,44) adaptively by selecting the threshold (42,44) for a predefined rate of ground echoes (54) to be falsely classified as echoes (56) of an object (26). ) and the ground echoes (54) of echo echoes (56) of an object (26) being filtered out, a) using a tracking filter to filter out the echoes of ground (54) stochastic, and / or b) using an optimal filter to eliminate Doppler shift echoes (54).
    [0002]
    Method according to Claim 1, characterized in that the threshold (42, 44) is adapted as a function of the speed of the vehicle (1).
    [0003]
    3) Method according to claim 2, characterized in that the threshold (42, 44) is adapted so as to obtain for a vehicle (1) stopped, a rate of 0.1 ground echo (54) per pulse of ultrasound (52) transmitted and for an increasing speed of the vehicle (1), this rate increases up to 5 ground echoes (54) by ultrasonic pulses (52) emitted.
    [0004]
    Method according to Claim 2, characterized in that at least two ultrasonic sensors (16-19) having at least partially overlapping viewing ranges (20-23) are used, and for the objects 3036809 recognized (26) trilateration is carried out and by filtering objects (26) are rejected in front of and behind the vehicle (1) whose relative position relative to the vehicle (1) remains unchanged despite the own movement of the vehicle (1).
    [0005]
    5. Process according to claim 1, characterized in that the ultrasonic pulses (52) emitted by at least one ultrasonic sensor (16-19) are modulated and the optimum filter passes the modulated signals without any offset. Doppler.
    [0006]
    Method according to claim 5, characterized in that the bandwidth of the modulated ultrasonic pulse (52) is increased as a function of the increasing speed of the vehicle (1).
    [0007]
    Method according to claim 5, characterized in that the viewing range (20) of at least one ultrasonic sensor (16-19) is set by the choice of the ultrasonic pulse bandwidth. modulated (52), this viewing range (20) for a bandwidth reduction being limited to a second range (60) perpendicular to the flow direction (50) and increasing the bandwidth, it increases the viewing range of a first range (58) in the direction of travel (50).
    [0008]
    Method according to Claim 1, characterized in that the viewing range (20-23) of at least one ultrasonic sensor (16-19) is adjusted by the selection of the threshold (42, 44), the range of vision (20-23) increases by the reduction of the threshold (42, 44) and conversely the range of vision (20-23) is reduced by increasing the threshold (42, 44). Apparatus (12) for gripping objects (26) in the environment of a vehicle (1) having a control apparatus (14) and at least one ultrasonic sensor (16-19), characterized in that it is designed to apply the method of any one of claims 1 to 8, the ultrasonic sensor (16-19) emitting ultrasonic pulses (52) and receiving ultrasound echoes and having a viewing range (20-23) in which it recognizes the objects (26) by their returned echo (56), a threshold (42, 44) for removing the ground echoes (54), the echoes ultrasound having a magnitude greater than the threshold (42, 44) being classified as echoes (56) of an object (26), and the method of: adapting the threshold (42, 44) adaptively by selecting the threshold (42, 44) for a predefined rate of ground echoes (54) to be misclassified as echoes (56) of an object (26) and the ground echoes (54) as classified ultrasound echoes as an echo (56) of an object (26) being filtered out, a) using a tracking filter to filter out stochastic ground echoes (54) and / or b) using an optimal filter to eliminate ground echoes (54) with doppler shift. Driving assistance system (10) comprising a device (12) for object grasping (26) in the environment of a vehicle (1) according to claim 9. (11) Driving assistance (10) according to Claim 10, characterized in that it comprises a plurality of ultrasonic sensors (16-17) which are oriented parallel to the traffic direction (1) and the driving assistance system. (10) detects objects (26) from the blind spot to warn and / or detects free parking spaces past them. Vehicle (1), characterized in that it is equipped with a driving assistance system according to claim 10 or 11.
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    同族专利:
    公开号 | 公开日
    GB201609309D0|2016-07-13|
    CN106199614B|2021-08-31|
    DE102015209878B3|2016-02-18|
    FR3036809B1|2019-06-21|
    GB2539798B|2021-03-10|
    GB2539798A|2016-12-28|
    CN106199614A|2016-12-07|
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    法律状态:
    2017-05-22| PLFP| Fee payment|Year of fee payment: 2 |
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    2018-08-17| PLSC| Search report ready|Effective date: 20180817 |
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    2021-05-21| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102015209878.8A|DE102015209878B3|2015-05-29|2015-05-29|Method and device for detecting objects in the environment of a vehicle|
    DE102015209878.8|2015-05-29|
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