• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method for determining the position of a vehicle (1) comprising using an ultrasound terminal (20, 20 '), outputting an encoded ultrasound signal (40) with an ultrasonic sensor (12) ) of the vehicle (1), the signal (40) having a transmission code, receiving the encoded ultrasound signal (40) by the ultrasonic terminal (20, 20 '), outputting a position signal (42) by the ultrasonic terminal (20, 20 ') if the emission code is recognized by the ultrasonic terminal (20, 20'), receiving the position signal (42) with an ultrasonic sensor (12) of the vehicle (1), and determine the position of the vehicle with respect to the position of the ultrasound terminal (20, 20 ') by using the travel time between the emission of the coded ultrasound signal (40) and the receiving the position signal (42).
    公开号:FR3047089A1
    申请号:FR1750410
    申请日:2017-01-19
    公开日:2017-07-28
    发明作者:Marcus Schneider；Michael Schoenherr
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    Field of invention
    The present invention relates to a method for determining the position of a vehicle as well as an ultrasonic terminal and a driving assistance system applying the method.
    State of the art
    Driving assistance systems are known that assist the driver of a vehicle in performing repetitive driving maneuvers as well as storing the vehicle in a parking space or garage.
    Document DE 10 2012 220 052 A1 describes a known method according to which the driving maneuver is predefined by the driver in a learning mode so that he can then be called back by the driver. During the learning mode, between the starting position and the destination position, reference points outside the vehicle, such as ultrasonic transmitters, are taken into account. During the subsequent repetition of the driving maneuver, the ultrasound transmitter will be used to recognize the starting position.
    DE 10 2012 219 986 A1 describes a method for determining the position of the vehicle with respect to the destination position starting from the travel times of the ultrasound signals. An ultrasonic transmitter is provided in a fixed position with respect to the destination position and the vehicle has a plurality of ultrasonic receivers. The destination position is for example a charging station of an electric vehicle. The position of the vehicle can be determined more precisely that the number of sensors integrated in the vehicle is important. It is further provided that the ultrasound transmitter emits an ultrasound signal only after receiving a vehicle trip signal. The distance of the vehicle from the ultrasound transmitter is determined from the time between the emission of the trigger signal and the reception of the ultrasound signal.
    The invention relates to a method for determining the position of a vehicle consisting of: at least one ultrasonic sensor of the vehicle, the coded ultrasonic signal comprising an emission code, c) receiving the ultrasound signal coded by the ultrasound terminal, d) transmitting a position signal via the terminal of If the emission code is recognized by the ultrasound terminal, e) receive the position signal with at least one ultrasonic sensor of the vehicle, and f) determine the position of the vehicle with respect to the position of the vehicle. ultrasonic terminal using the travel time between the emission of the encoded ultrasound signal and the reception of the position signal.
    In other words, the subject of the invention is a method for determining the position of a vehicle according to which, in a first step, at least one ultrasound terminal is used. In a second step, an encoded ultrasound signal is emitted using at least one ultrasonic sensor of a vehicle, the encoded ultrasonic signal comprising a transmission code. On receipt of the ultrasound signal encoded by the ultrasound terminal, it emits a position signal if the emission code of the ultrasound terminal is recognized. The position signal will then be received by at least one ultrasonic sensor of the vehicle and the position of the vehicle relative to the position of the ultrasound terminal is determined using the travel time between the emission of the ultrasound signal. , encoded, and receiving the position signal. The transmission of the ultrasound signals, coded by the vehicle is preferably using ultrasonic sensors associated for example with the vehicle for its driving assistance system. Such ultrasound sensors emit and receive ultrasound. In the context of the present description, an ultrasonic pulse is a wave of ultrasound limited in time and which is for example emitted or received by an ultrasonic sensor. An ultrasound signal is considered a sound that has at least one ultrasound pulse. In general, an ultrasound signal consists of 1 to 256 pulses of ultrasound; preferably an ultrasound signal consists of 1 to 8 ultrasonic pulses. To transmit the information, in particular a code, the ultrasound is modulated. Suitable modulation methods are, for example, frequency modulation and amplitude modulation. Amplitude modulation consists of varying the amplitude, ie the intensity of the ultrasound in an ultrasound pulse or if the ultrasound signal consists of several ultrasound pulses, to vary the amplitude of the ultrasound. amplitude of an ultrasound pulse at the next ultrasound pulse. In the case of frequency modulation, the frequency of the ultrasound is varied, ie the level of the ultrasound, which is also done in an ultrasound pulse or if the ultrasound signal consists of several ultrasonic pulses, this variation is from an ultrasound pulse to the next ultrasound pulse.
    Preferably, for transmitting the information, in particular for transmitting the code, coded ultrasound signals are used which consist of a series of several ultrasound pulses and each of the ultrasound pulses is frequency modulated. Preferably, a single ultrasonic pulse is frequency modulated so that the frequency increases or decreases continuously in the ultrasonic pulse. The ultrasonic pulse whose frequency increases continuously is called "rising chirp" and the ultrasonic pulse whose frequency decreases continuously is called "descending chirp". The information is thus transmitted, in particular the codes, such as, for example, the emission code, using an encoded ultrasound signal, which consists of a succession of several ultrasonic pulses; each ultrasonic pulse is either a rising chirp or a descending chirp. The respective sequence of chirp amounts and descending chirp ultrasonic pulses thus represents the transmitted information or the transmitted code. In the context of the present description, the emission of a code is for example the transmission of the transmission code according to which the coded ultrasound signal will be transmitted; the coding is to appropriately modulate the ultrasound signal to carry the code as information. Correspondingly, the reception of the coded ultrasound signal means that the corresponding ultrasound signal is received by a suitable ultrasound receiver, for example an ultrasound sensor, and then decoding or demodulation is performed. to extract the transmitted information or the code transmitted by the ultrasound signal. The extracted information or the extracted code can then be processed. The received code can be compared to a previously registered code and when the known code is detected, this triggers a predefined action.
    Thus, in the context of the present invention, the expression "recognition of a code" means that the received ultrasound signal is compared to a registered code so as to establish concordance.
    Preferably, before transmitting the transmission code, a coded ultrasound signal is transmitted with an activation code, by at least one ultrasonic sensor of the vehicle; the ultrasonic terminal having recognized the activation code, switches from its energy saving mode to the active mode.
    In particular in the cases in which the ultrasonic terminal operates independently of an electrical network that is to say if it is powered by a battery, an accumulator and / or a solar cell, it is advantageous to provide a mode in which the energy consumption of the ultrasonic terminal is reduced compared to its normal operating mode. It is thus expected that the ultrasonic terminal automatically switches from its active mode to its energy saving mode if for a predefined duration, no transmission code has been detected. In cases where there is an electrical network, it is advantageous that the system is available to the maximum and in particular that it is maintained so as to react immediately, which means that there will be no mode of operation. 'energy saving.
    If the ultrasound terminal has an energy saving mode, preferably, after having recognized the activation code, an ultrasound signal, coded, comprising a confirmation code is issued and it is furthermore provided. the vehicle transmits the encoded ultrasound signal, including the transmission code only after acknowledging the confirmation code. This ensures that the ultrasound terminal is in active mode before the process continues with transmission of the transmission code. Preferably, it is furthermore planned to repeat the emission of the activation code if, within a predefined period, there will not have been received an ultrasound signal comprising the confirmation code. . The ultrasound signal with the activation code can be transmitted continuously until the activation code is recognized.
    Preferably, the method uses at least two ultrasound terminals and each terminal has its own emission code and / or its own activation code. The ultrasound terminals can be placed in different positions so that, on the one hand, the range in which the position of the vehicle can be determined is increased, and on the other hand, thanks to several ultrasound terminals, difficulties such as this are avoided. for example, obstacles, walls, hedges, garbage cans or similar obstacles that cut off areas in which it will not be possible to determine the position as the deployment of sound between the vehicle and the ultrasonic terminal will be blocked. Thanks to the individual code associated with each ultrasound terminal, in particular the individual emission code and the individual activation code, the vehicle will be able to distinguish the different ultrasound terminals, one with respect to the other. This also allows the use of several ultrasound terminals to identify the reference point at which the position of the vehicle is determined and is uniquely identified.
    Preferably, the transmission of the position signal is delayed to have, between the reception of the ultrasound signal, coded by the ultrasound terminal and the transmission of the position signal, a predefined waiting time; this waiting time is subtracted from the travel time. Thanks to the waiting time, the accuracy of the determination of the position is improved because the moment at which the position signal is emitted depends exclusively on the predefined waiting time and not on the internal processing time of the ultrasound terminal. This processing time by the ultrasonic terminal is necessary to decode the received ultrasound signals, and to compare the decoded information or the read code with the recorded code, for example the emission code of the ultrasound terminal. . As the treatment time depends on the technique used in practice in the ultrasonic terminal as well as where appropriate the selected code and environmental conditions, for example the quality of reception of the ultrasound signal, without the time waiting, it would have an indefinite duration, namely the processing time between the receipt of the ultrasound signal encoded by the ultrasonic terminal and the retransmission of the position signal. But as the vehicle determines its position relative to the ultrasonic terminal from the travel time between the emission of the coded ultrasound signal and the reception of the position signal, without having the waiting time, the time course will be tainted by a certain error that would affect the calculation of distance / distance.
    According to another characteristic, the subject of the invention is also an ultrasonic terminal comprising an ultrasound transmitter and an ultrasound receiver as well as a control device, the ultrasound terminal receiving the ultrasound signals encoded by a vehicle and operating them and sending a position signal to the vehicle to the recognition of an emission code.
    The ultrasonic terminal is preferably intended to be used in connection with the method according to the invention. Correspondingly, the features described in the process apply to the device and conversely the characteristics of the ultrasonic terminal apply to the method. The ultrasound transmitter and the ultrasonic receiver of the ultrasound terminal can be, according to an alternative embodiment, separate components or in the form of the combination of a transmitter and an ultrasound receiver . In addition, a plurality of ultrasonic sensors and / or receivers are provided so that the ultrasound terminal provides a wide range of visibility in which ultrasound signals can be received as well as an important transmission range for the ultrasound signal. emission of ultrasound signals.
    Preferably, the ultrasound terminal transmits the position signal to delay it so as to allow a predefined waiting time between the reception of the coded ultrasound signal and the transmission of the position signal.
    Preferably, the ultrasound terminal has an operating mode (active mode) in which it continuously receives coded ultrasound signals and operates them; it also has a mode of energy saving in which it receives coded ultrasound signals only in predefined time intervals and then exploits them, the ultrasonic terminal being further designed so that at the detection activation code, it switches from the energy saving mode to the operating mode or active mode.
    If the ultrasound terminal has a power saving mode, it preferably switches to a certain preset time in energy saving mode after the last detection of a transmission code.
    The energy saving mode is particularly advantageous for embodiments of the ultrasonic terminal which are not connected to an electrical network. The energy supply will then be from accumulator batteries, solar cells or a combination of several such means.
    Preferably, the ultrasound terminal recognizes other codes in the coded ultrasound signals and triggers the actions combined with these codes. For example, upon detection of a door code, a door associated with the ultrasonic terminal will be opened or closed. This door associated with the ultrasonic terminal is for example a garage door.
    The codes used are preferably individually set for each ultrasound terminal. The codes can be for example predefined codes fixedly but they can also transmit information in the context of ultrasound signals, coded, and which allow the use of encryption methods such as for example the RSA method. The use of such encryption methods is particularly necessary if it is necessary to have a high level of security, as for example for the transmission of a door code with which the door associated with the ultrasonic terminal is opened.
    According to another development, the subject of the invention is a driving assistance system comprising at least one ultrasound sensor for transmitting coded ultrasound signals and receiving position signals as well as a control device, the system driving aid transmitting an encoded ultrasonic signal comprising a transmission code, receiving a position signal and determining the position of the vehicle using the received position signal.
    The driver assistance system is used to apply the method. The driver assistance system is equipped and designed to be used with the ultrasound terminal described above and vice versa. Thus, the characteristics described in the context of the method and / or the ultrasonic terminal correspondingly apply to the driver assistance system and conversely, the characteristics described in the context of the driver assistance system s' apply correspondingly to the method and the ultrasonic terminal.
    The driving assistance system determines the position of the vehicle from the travel time between the transmission of the encoded ultrasound signal and the reception of the position signal. Preferably, a predefined waiting time of the travel time is deduced. The predefined waiting time is here identical to the expected waiting time for the ultrasound terminal.
    Preferably, the driver assistance system assists the driver for repetitive driving maneuvers and for this the driver assistance system has a learning mode in which he records a driving maneuver and a driving mode. application by which it executes the recorded driving maneuver. In the learning mode, a trajectory is defined along which the vehicle is guided between a starting position and a destination position. The position of the vehicle as well as the starting position and the destination position are defined with respect to the positions of at least one ultrasound terminal. This allows the vehicle, when using the driving assist system in the application mode, to re-determine the position of the vehicle with respect to the ultrasound terminal and drive the vehicle along the recorded path to the vehicle. destination position. Preferably, the guidance of the vehicle in the application mode is automatic and the driving assistance system provides both longitudinal guidance, acceleration, braking and also transverse guidance of the vehicle, it is to say that he takes control of the vehicle.
    Preferably, the driver assistance system transmits an encoded ultrasound signal with a door code. This allows the driver assistance system to open or close a door associated with the ultrasound terminal. In particular, the issuing of the door code can be done as part of the execution of a driving maneuver, for example a storage maneuver in a parking space, in a garage, so that firm driving assistance or opens, as the case may be, the garage door. Advantages of the invention The use of ultrasound terminals for determining the position is advantageous with respect to the passive terminals or the reference objects because the ultrasonic terminal itself emits ultrasonics as opposed to passive terminals or a reference object, which substantially doubles the scope of recognition. The ultrasound signal emitted by an ultrasonic sensor of the vehicle must simply reach the ultrasound terminal but it is not necessary that this signal has a sufficient amplitude to generate an ultrasound echo which would be recognized again by the ultrasonic sensor of the vehicle. This makes it possible to use coded ultrasonic signals, which have an emission code, and to distinguish unequivocally within the process, the ultrasound signals and the background or ultrasound signals of other devices or sensors. In addition, the use of coded ultrasound signals also makes it possible to distinguish among a plurality of ultrasound terminals and to solicit a particular terminal unambiguously.
    The waiting time defined for the ultrasonic terminals makes it possible to improve the position determination because in this way the time between the reception of the coded ultrasound signal and the transmission of the position signal is exactly predefined and does not depend on no environmental conditions or the practical technical realization of the ultrasonic terminal.
    The encoded ultrasound signals can also transmit other information, for example a driver assistance system can transmit a code to the ultrasound terminal and thereby open the garage door.
    Another advantage of using encoded ultrasound signals is that the ultrasound terminals become active and emit a position signal only if they recognize the respective emission code. This allows, in parallel with the determination of the position of the vehicle with the ultrasonic terminals, to also emit a position determination by relying on the ultrasound echo of emitting unencoded ultrasound signals or ultrasonic pulses, simple, and make them reflect through the objects of the vehicle environment. The ultrasound terminal according to the invention does not react to single ultrasound pulses so that the ultrasound echo received is uniquely associated with objects in the vehicle environment.
    In addition, the existence of the energy saving mode in connection with the activation code makes it possible to keep the current consumption by the ultrasonic barrier at a low level. This is facilitated in particular by a power supply by an ultrasonic barrier using renewable energy such as for example a solar cell combined with a rechargeable energy accumulator.
    drawings
    The present invention will be described hereinafter in more detail using a method for determining the position of a vehicle and an ultrasonic terminal for its implementation, shown in the accompanying drawings in which FIG. 1 shows a vehicle during a parking maneuver in a garage, FIG. 2 shows an ultrasound terminal, FIG. 3 is a schematic representation of the process flow, and FIG. 4 is a communication diagram. between a terminal and a vehicle.
    Description of embodiments
    FIG. 1 shows a vehicle 1 at the beginning of a journey 30. The vehicle 1 will be driven into a garage 32 which is a destination position 38.
    The vehicle 1 comprises a driving assistance system 10 with a control apparatus 14 and a plurality of ultrasonic sensors 12. The ultrasound sensors 12 emit and receive ultrasound. The control device 14 of the driver assistance system 10 assists the driver of the vehicle 1 to perform repetitive driving maneuvers. For this, the driver assistance system 10 has a learning mode and an application mode. The driver of the vehicle 1 has already executed a learning path by which the driver assistance system 10 has operated in learning mode. During the learning path, the vehicle 1 was driven by the driver along a path 36 to the destination position 38 in the garage 32. The position of the vehicle is located with respect to a reference point 16 of the vehicle 1 which, in the example shown, is between the wheels of the rear axle. The trajectory 36 recorded during the learning run is recorded in the control device 14 of the driver assistance system 10.
    To perform the driving operation again, the driving assistance system 10 is operated in the application mode, then the driving assistance system 10 takes control of the vehicle 1 and thus automatically drives it along the trajectory. 36 to its destination position 38. Both during the learning path in the learning mode of the driver assistance system 10 and also later in the repeated races performed in the application mode of the driver assistance system. When driving, it is advantageous to precisely determine the position of the vehicle 1. The position of the vehicle 1 is for example necessary in learning mode to unambiguously determine both the destination position 38 and the trajectory 36. application, the position of the vehicle is necessary to drive the vehicle 1 from its starting point of the trajectory 36 and then guide the vehicle 1 the the trajectory 36 to the destination position 38. If the position of the vehicle can not be determined or if it was tainted with too much error, the vehicle 1, at the repetition of the execution of the maneuver described above, will probably leave entry 30 or collide with a wall 34 as already explained.
    To accurately enter the position of the vehicle 1, at least one ultrasonic terminal 20, 20 'is installed in the environment in which the driver assistance system 10 must perform the driving maneuver. In the example shown in FIG. 1, two ultrasonic terminals 20, 20 'are used for this purpose.
    The determination of the position of the vehicle 1 with respect to one of the ultrasonic terminals 20, 20 'is initiated by the driver assistance system 10 in that with at least one of the ultrasonic sensors 12 an ultrasound signal, coded 40, is transmitted which contains a transmission code. The ultrasound terminal 20 comprises an ultrasonic receiver 24 which receives the coded ultrasound signal 40. The control unit 26 of the ultrasound terminal 20 decodes the coded ultrasound signal 40 and extracts the transmitted information. or the transmitted code. If the code transmitted by the coded ultrasound signal 40 corresponds to the transmission code associated with the ultrasound terminal 20, the terminal 20 sends by an ultrasound transmitter 22, a position signal 42. The position signal 42 is again received by the ultrasound sensors 12 of the vehicle 1. In the embodiment shown in Figure 1, the vehicle 1 has four ultrasonic sensors 12 in the frontal area and which can receive the position signal 42. On receipt of the position signal 42, the time at which the respective ultrasound sensor 12 receives the position signal 42 is recorded. From the travel time between the transmission of the coded ultrasound signal 40 with the code for transmitting and receiving the position signal 42 by the respective ultrasonic sensors 12, and knowing the speed of the sound in the air, the distance or distance between each ultrasonic sensor 12 and the ultrasound terminal is calculated 20. As in or It is known how the ultrasonic sensors 12 are associated, it is possible, by triangulation, not only to determine the distance between the vehicle 1 and the ultrasound terminal 20 but also the direction in which the ultrasound terminal 20 is seen. from the vehicle 1. This makes it possible to unequivocally determine the position of the vehicle 1 with respect to a reference point 28 of the ultrasonic terminal 20.
    To improve the accuracy and increase the range in which position can be determined with the proposed method, several ultrasound terminals are preferably used. In the example of Figure 1, there is another ultrasonic terminal 20 '. This other ultrasound terminal 20 'corresponds essentially to the ultrasound terminal 20 but it reacts to another transmission code so that the position signal 42 received by the vehicle 1 will be unequivocally associated with each of the respective ultrasonic terminals 20, 20 '.
    To further improve the accuracy, the ultrasonic terminals 20, 20 'start transmitting the position signal 42 only after a predefined waiting time after receiving the encoded ultrasound signal 40 comprising the transmission code, starting with the transmission of the position signal 42. It is thus avoided that the moment at which the position signal 42 is emitted depends on the internal processing speed of the control unit 26 of the ultrasound terminal 20. L control device 14 of the driver assistance system 10 knows the expected waiting time and deduces it from the predefined travel time before calculating the distance between the respective ultrasonic sensor 12 and the ultrasound terminal 20.
    FIG. 2 schematically shows the ultrasonic terminal 20. The ultrasonic terminal 20 of the illustrated embodiment comprises the control apparatus 26, an energy accumulator 29, a plurality of ultrasound emitters 22 and a plurality of receivers. According to other embodiments of the ultrasonic terminal 20, the ultrasound emitters 22 and the ultrasonic receivers 24 shown separately in FIG. 2 can also be produced, in the form of a ultrasonic transceiver, combined. The ultrasound transceivers 22 or the ultrasonic receiver 24 are distributed on the ultrasound terminal 20 to be able to receive coded ultrasound signals 40 originating from a large solid angle and vice versa, the position signals 42 may be radiated in a strong solid angle.
    The ultrasonic terminal shown by way of example in FIG. 2 operates, powered by the energy accumulator 29, independently of an electrical network. The energy accumulator 29 is for example in the form of an accumulator. The electrical energy necessary for the operation of the ultrasonic terminal 20 is here provided, for example, by a solar cell 25 connected to the energy accumulator 29.
    According to other exemplary embodiments, the ultrasound terminal 20 operates for example by being powered by the battery constituting the energy accumulator 29 or by its connection to the electrical network in place of the energy accumulator 29.
    Figure 3 shows the schematic flow of the method of the invention. For this, the driver assistance system 10 starts the execution of the process by the starting block 100 and the ultrasonic barrier 20 begins to perform its part of the process in the block 115.
    In the first step of the method, in the block 110, an activation code is emitted using the ultrasonic sensors 12 of the vehicle 1. The ultrasound terminal 20 is initially in the energy saving mode at from which it will be woken up in the block 115 so as to be able to receive the coded ultrasound signals 40 very quickly. In the following block 120, the ultrasound terminal 20 receives the coded ultrasound signal 40 emitted by the block 110 and comprising an activation code. In the next block 130, the encoded ultrasound signal 40 received is used, and since the activation code has not been recognized, in block 135, it will remain in energy saving mode. and the ultrasound terminal 20 will be ready again only upon the next awakening of the block 115 to receive coded ultrasound signals 40. If, on the other hand, in the block 130 an activation code has been recognized, then in the block 140 it is switched to the active mode in which the ultrasound terminal 20 continuously receives the coded ultrasound signals 40. As confirmation, the ultrasound terminal 20 transmits in the block 150, the confirmation signal that it has received an encoded ultrasound signal 40.
    The driving assistance system 10 of the vehicle 1 was previously waiting in the block 160 to receive the activation signal. As soon as it is received, in the block 170, the method proceeds to the transmission of the transmission code associated with the ultrasound terminal 20 with the aid of the ultrasound signal 40, coded. The ultrasonic terminal 20 waits in the block 180 for receiving an encoded ultrasound signal 40 and uses this signal. In parallel, the method drifts to block 195 in that it launches a clock. In block 190, the received code is exploited and if the transmission code is recognized, the method proceeds to block 200. If the transmission code is not recognized, the method proceeds to block 205 and returns then to the block 180 in which the reception of the coded ultrasound signal 40 is awaited. After the recognition of the transmission code in the block 200, one waits in the block 210 until the end of a predefined waiting time from the activation of the clock 195. As soon as the waiting time has elapsed, the block 220 sends the position signal 42. Then, the process returns to the block 180.
    On the side of the driver assistance system 10, the system waits in the block 230 for the reception of the position signal 42. As soon as this signal has been received, in the block 240, the predefined waiting time is subtracted and in the last block 250 following, with the determined travel time, the distance between the ultrasonic sensors 12 of the vehicle 1 and the ultrasonic terminal 20 is defined.
    To re-determine the position, the operations return to block 170. After a predetermined time since the last recognition of the transmit code in block 180, the ultrasound terminal 20 returns to power saving mode. The process then proceeds by continuing through block 115.
    Figure 4 shows schematically the communication between the ultrasonic terminal 20, 20 'and the vehicle 1. For this, the top diagram shows the state 60 of the terminal; the middle diagram represents the transmission of the signals of the vehicle 70 and the bottom diagram represents the transmission of the signals 80 of the terminal. All these diagrams are represented as a function of time t. In the upper diagram, the state 60 of the terminal varies between the energy saving mode 61 and the active mode 62. The signal 70 of the vehicle changes between the "do not transmit" state which carries the reference 71 and the "transmit" state which carries the reference 72. The terminal signal 80 varies correspondingly between the "do not transmit" state bearing the reference 81 and the "transmit" state bearing the reference 82.
    The terminal 20, 20 'is first in energy saving mode 61 from which it is periodically woken for a short time tp, to check whether an ultrasound signal 40 encoded with an activation code was received. As at this moment the vehicle 1 sends no vehicle signal 70 and thus no ultrasound signal 40, coded, including an activation code, the ultrasound terminal 20, 20 'returns immediately again in operating mode. energy saving 61.
    To determine the position of the vehicle, the vehicle 1 starts by sending an activation signal 73. The activation signal 73 is recognized by the ultrasound terminal 20, 20 'at the next change by switching from the economy mode to in the active mode 62 so that first of all, it is not switched back to energy saving mode 61. Instead, the ultrasonic terminal 20, 20 'sends a confirmation signal. 83. The confirmation signal 83 is an ultrasound signal coded with a confirmation code. The confirmation signal 83 is received by the vehicle 1 and then this cuts the emission of the activation signal 73 and sends a transmission signal 74. The transmission signal 74 is formed as the ultrasound signal coded 40 comprising the emission code. The transmission signal 74 is received by the ultrasonic terminal 20, 20 'so that after the waiting time to start with the transmission of the position signal 84. This is received by the vehicle 1 so that its position will be determined with respect to the ultrasonic terminal 20, 20 '. To re-determine the position of the vehicle, if for example the vehicle has moved, the vehicle 1 again sends a transmission signal 75 and then the ultrasound terminal 20, 20 'responds again with a signal of position 85 after the wait time to.
    If the vehicle 1 no longer needs the ultrasonic terminal 20, 20 ', it stops sending the transmission signals 74, 75. The ultrasonic terminal 20, 20' then alternates after a predefined duration ti since the reception of the last transmission signal 75 or the last recognition of the transmission code, to return to the energy saving mode 61.
    FIG. 4 is simplified and does not represent the switching duration so that the waiting time to directly follow the emission of the transmission signal 74.
    NOMENCLATURE OF KEY ELEMENTS 1 Vehicle 3 Input 10 Driver assistance system 12 Ultrasonic sensor 14 Control unit 16 Reference point 20, 20 'Ultrasonic terminal 22 Ultrasonic transmitter 24 Ultrasonic receiver 26 Control unit 28 Reference point 29 Energy store 32 Garage 34 Wall 36 Path 38 Destination position 40 Coded ultrasound signal 42 Position signal 60 Terminal status 61 Power saving mode 62 Operating mode 70 Vehicle signal 73 Activation signal 74 Emission signal 80 Terminal 83 signal Confirmation signal 100-250 Process steps
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1) Method for determining the position of a vehicle (1) comprising the following steps: a) using an ultrasound terminal (20, 20 '), b) transmitting an encoded ultrasound signal (40) using at least one ultrasonic sensor (12) of the vehicle (1), the encoded ultrasound signal (40) having a transmission code, c) receiving the encoded ultrasound signal (40) by the ultrasonic terminal (20, 20 '), d) transmitting a position signal (42) through the ultrasonic terminal (20, 20') if the emission code is recognized by the ultrasonic terminal ( 20, 20 '), e) receiving the position signal (42) with at least one ultrasonic sensor (12) of the vehicle (1), and f) determining the position of the vehicle with respect to the position of the terminal ultrasound (20, 20 ') using the travel time between the emission of the encoded ultrasound signal (40) and the reception of the position signal (42).
    [0002]
    Method according to claim 1, characterized in that before transmitting the coded signal according to step b), at least one ultrasonic sensor (12) of the vehicle (1) emits an ultrasound signal ( 40) encoded with the activation code and recognizing the activation code, the ultrasonic terminal (20, 20 ') switches from the energy saving mode (61) to the operating mode (62).
    [0003]
    Method according to claim 2, characterized in that after recognizing the activation code, the ultrasound terminal (20, 20 ') emits an encoded ultrasound signal (40) having a confirmation code and the vehicle (1) transmits the encoded ultrasound signal (40) having the transmission code according to step b) only after recognition of the confirmation code.
    [0004]
    Method according to one of Claims 1 to 3, characterized in that at least two ultrasonic terminals (20, 20 ') are used and each ultrasonic terminal (20, 20') has a code of individual issue and / or an individual activation code.
    [0005]
    Method according to one of Claims 1 to 4, characterized in that the transmission of the position signal (42) according to step d) is delayed to allow a predefined waiting time to pass between the reception of the encoded ultrasound signal (40) by the ultrasonic terminal (20, 20 ') and the transmission of the position signal (42), the waiting time being deducted from the travel time.
    [0006]
    Ultrasonic terminal (20, 20 ') having an ultrasonic transmitter (22), characterized in that the ultrasonic terminal (20, 20') further comprises an ultrasonic receiver (24) and a device control unit (26), the ultrasonic terminal (20, 20 ') receiving coded ultrasound signals (40) from a vehicle (1) transmitting a position signal (42) to the vehicle (1) at the recognition of an emission code.
    [0007]
    7 °) ultrasonic terminal (20, 20 ') according to claim 6, characterized in that it delays the emission of the position signal (42) to allow a predefined waiting time to pass between the reception of the signal of encoded ultrasound (40) and transmitting the position signal (42).
    [0008]
    8 °) ultrasonic terminal (20, 20 ') according to one of claims 6 or 7, characterized in that it has an operating mode (62) for receiving and continuously exploiting the coded ultrasound signals ( 40) and a power saving mode (61) for receiving and operating coded ultrasound signals (40) only in predefined time intervals, and the ultrasonic terminal (20, 20 '). the recognition of an activation code switches from the energy saving mode (61) to the operating mode (62).
    [0009]
    A driver assistance system (10) having at least one ultrasonic sensor (12) for transmitting encoded ultrasound signals (40) and receiving position signals (42) and a control device (14). ), system (10) characterized in that it transmits an encoded ultrasound signal (40) having a transmission code, for receiving a position signal (42) and determining the position of the vehicle using the position signal received (42), to determine the position of the vehicle, it determines the travel time between the transmission of the coded ultrasound signal (40) until the reception of the position signal (42), and it subtracts a predefined waiting time of travel time.
    [0010]
    Driving assistance system (10) according to claim 9, characterized in that it assists the driver for repeated driving maneuvers, the driver assistance system (10) having a learning mode for driving. which it records the driving maneuvers and an application mode in which it executes a recorded driving maneuver.
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    同族专利:
    公开号 | 公开日
    GB2548461B|2021-04-28|
    GB2548461A|2017-09-20|
    GB201700886D0|2017-03-01|
    DE102016200813A1|2017-07-27|
    FR3047089B1|2020-01-31|
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    法律状态:
    2018-01-24| PLFP| Fee payment|Year of fee payment: 2 |
    2019-01-22| PLFP| Fee payment|Year of fee payment: 3 |
    2019-01-25| PLSC| Publication of the preliminary search report|Effective date: 20190125 |
    2020-01-23| PLFP| Fee payment|Year of fee payment: 4 |
    2021-01-20| PLFP| Fee payment|Year of fee payment: 5 |
    2022-01-18| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102016200813.7|2016-01-21|
    DE102016200813.7A|DE102016200813A1|2016-01-21|2016-01-21|Method for determining a vehicle position|
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