DE102022107381A1 - Adjusting detection of objects based on receiving ultrasonic echo signals with a vehicle's ultrasonic sensors - Google Patents

Abstract

The invention relates to a method for adapting a detection of objects (18) in a surrounding area (20) of a vehicle (10) based on the reception of ultrasonic echo signals (26) with ultrasonic sensors (14) of the vehicle (10), comprising the steps of receiving Ground information regarding the surrounding area (20) of the vehicle (10), and adjusting the detection of objects (18) in the surrounding area (20) of the vehicle (10) from ultrasonic echo signals (26) received by the ultrasonic sensors (14) based on the received ground information . The invention also relates to a system (12) for detecting objects (18) in a surrounding area (20) of a vehicle (10) based on the reception of ultrasonic echo signals (26) with ultrasonic sensors (14) of the vehicle (10), with a plurality Ultrasonic sensors (14), which are connected to one another via a data connection (34), the system (12) being designed to carry out the above method for adapting a detection of objects (18).

Description

The present invention relates to methods for adjusting a detection of objects in a surrounding area of a vehicle based on the reception of ultrasonic echo signals with ultrasonic sensors of the vehicle.

The present invention also relates to a system for detecting objects in a surrounding area of a vehicle based on the reception of ultrasonic echo signals with ultrasonic sensors of the vehicle, with a plurality of ultrasonic sensors that are connected to one another via a data connection, the system being designed to carry out the above methods .

Autonomous driving is a topic that is of utmost importance for current vehicles. Autonomous driving is usually divided into five levels, with level five referring to fully autonomous driving that can be performed without the presence of a human supervisor or driver in the vehicle. Such level five vehicles can therefore be provided, for example, without controls for driving the vehicle.

For example, various systems for level four are currently available or in development for some use cases. For example, for functions related to slow driving, level four can already be reached in certain, narrowly defined use cases. Such functions can be used, for example, to park the vehicle, e.g. for valet parking, or generally to move the vehicle within a limited range of motion. It is essential that the vehicle can reliably detect its surroundings. In addition, it is necessary for such systems to be able to determine how reliable the detection of the environment is in order to be able to hand over control of the vehicle to the human driver if necessary. Other systems in this context are known, for example, as Park4U, in which a vehicle moves autonomously in a known environment from its current position to a predetermined target position, for example a parking space, especially in a garage. Such systems are based on a trained trajectory, which is first traveled by the driver with the vehicle and then followed autonomously by the vehicle, taking into account obstacles in the environment, in particular moving or non-stationary obstacles.

Other support functions for vehicles also require reliable detection of the environment. Such functions are provided, for example, under the keyword ASP (Advanced Safety Platform) and can include functions such as ACC (Adaptive Cruise Control), lane keeping assistant, lane change assistant and others.

To detect the environment, environmental detection sensors of different types, numbers and arrangements are used on the vehicle. Common environmental sensing sensors may include optical cameras, LiDAR-based environmental sensors, radar sensors, and/or ultrasonic sensors, with each type of sensor having certain advantages and disadvantages. Ultrasonic sensors have proven particularly useful for slow driving functions, as they are reliable and cost-effective and can adequately cover an environmental area with a range of typically five to six meters. Such ultrasonic sensors are now often used for driving support systems in vehicles to take on various functions, for example to detect parking spaces, measure parking spaces, monitor distances to obstacles during a parking process, or to monitor a blind spot in the vehicle. Therefore, systems based on the use of ultrasonic sensors can now largely be provided without additional sensors and therefore without additional hardware costs.

Problems can arise with ultrasonic sensors when echoes are received that cause non-existent objects to be recognized as obstacles. Such detections are also referred to as “false positives”, i.e. incorrect detection of obstacles that do not exist in the environment. Such errors can occur if, for example, a floor in the surrounding area has a condition that leads to reflections of the ultrasonic pulses emitted by the ultrasonic sensors, or if reflections of the ultrasonic pulses emitted by the ultrasonic sensors occur on other objects. It can also happen in the area of ramps that incorrect objects are detected, even though the vehicle can in principle drive on the ramps and they do not represent any obstacles.

In this context, infrastructure-based systems and combined systems are also known in which information about the environment is recorded and provided by an infrastructure in order to control the vehicle from the outside or to make the control of the vehicle more reliable based on the additional information. However, incorrect detection of objects remains a major problem lem that impairs or prevents the implementation of autonomous driving functions.

The document US 10,821,971 B1 concerns monitoring the use, risk determination and pricing of insurance policies for a vehicle with autonomous or semi-autonomous functions. The operational status of the functions, the identity of a vehicle operator, risk levels to the vehicle operator's operation of the vehicle, or damage to the vehicle may be determined based on sensor or other data. Decisions about transferring control between the features and the vehicle operator can be made based on sensor data and information about the vehicle operator. Furthermore, updates for the autonomous operating functions can be recommended or installed based on the identified risk levels.

The document US 2018 0127001 A1 relates to a method for optimizing the use of autonomous functions of advanced driver assistance systems and their tracking. For example, a vehicle can be equipped with several driver assistance systems that can support the driver of the vehicle. The vehicle may automatically change the number of active assistance systems or suggest to the driver to activate one or more assistance systems based on various factors, including poor driving style of the driver or poor driving conditions due to weather or road quality. Statistics regarding the use of such advanced driver assistance systems can be monitored and tracked and stored in an on-board database or transmitted to various locations continuously or at regular intervals.

Based on the above-mentioned prior art, the invention is therefore based on the object of specifying a method for adapting a detection of objects in a surrounding area of a vehicle and a system for detecting objects in a surrounding area of a vehicle, which reduce incorrect detections of Objects based on ultrasonic echo signals received by the ultrasonic sensors, thereby improving the driving safety of the vehicle and general traffic safety.

The problem is solved according to the invention by the features of the independent claims. Advantageous embodiments of the invention are specified in the subclaims.

According to the invention, a method for adjusting a detection of objects in a surrounding area of a vehicle based on the reception of ultrasonic echo signals with ultrasonic sensors of the vehicle is thus specified, comprising the steps of receiving ground information relating to the surrounding area of the vehicle, and adjusting the detection of objects in the surrounding area of the vehicle Vehicle from ultrasonic echo signals received by the ultrasonic sensors based on the received ground information.

According to the invention, a system for detecting objects in a surrounding area of a vehicle based on the reception of ultrasonic echo signals with ultrasonic sensors of the vehicle, with a plurality of ultrasonic sensors that are connected to one another via a data connection, is also specified, the system being designed to carry out the above method .

The basic idea of the present invention is therefore to improve the detection of objects in a surrounding area of a vehicle based on the reception of ultrasonic echo signals with ultrasonic sensors of the vehicle by adapting the detection of objects from the ultrasonic echo signals without changing the transmission of the ultrasonic signals or when receiving the ultrasonic echo signals with the ultrasonic echoes from objects in the vicinity of the vehicle. This adjustment is made based on the received ground information for the surrounding area of the vehicle, since in practice it has been found that the ground area has a particularly large influence on the received ultrasonic echo signals and the ultrasonic echoes contained therein. The ultrasonic sensors are deliberately not calibrated, i.e. there is no adjustment when receiving the ultrasonic echo signals, since such a calibration can lead to the detection of real objects being deteriorated, i.e. the objects present in the environment no longer become reliable as obstacles recognized. By adapting in the area of object recognition, the adaptation can be carried out at a higher level of signal processing than the calibration of the ultrasonic sensors, which can also be easily implemented. Interventions in the basic functions of the ultrasonic sensors are not necessary.

Known sensors can be used as ultrasonic sensors. The ultrasonic sensors emit ultrasonic pulses that are reflected by the surrounding objects as ultrasonic echoes. The ultrasonic sensors receive the associated ultrasonic echo signal with the ultrasonic echoes in order to record distances between the objects and the ultrasonic sensors from a time difference between the emission of the ultrasonic pulses and the reception of the ultrasonic echoes.

The ultrasonic echo signals are signals based on the reception of ultrasonic signals. The ultrasonic echo signals are typically processed, in particular at least partially amplified, in order to be able to reliably receive and detect ultrasonic echoes. The ultrasonic echo signals can be provided, for example, in the manner of an envelope curve. Alternatively, the ultrasonic echo signals may indicate discrete ultrasonic levels for different distances from the ultrasonic sensor. This allows the envelope to be approximated depending on the number of discrete ultrasound levels.

The ultrasonic sensors typically operate on one channel or multiple channels in a narrow frequency band, which is in the range of approximately 50 kHz. With multiple channels, the channels are typically in a range of a few kilohertz around 50 kHz. For example, a single-channel ultrasonic sensor can transmit and receive at a center frequency of approximately 51 kHz, while in a multi-channel ultrasonic sensor a first channel can be at a center frequency of 51 kHz, while a second receiving channel is shifted by 3 kHz, for example at 48 kHz or 54 kHz.

Receiving ground information regarding the area surrounding the vehicle involves providing the ground information for use in adjusting the detection of objects in the area surrounding the vehicle from ultrasonic echo signals received from the ultrasonic sensors. The ground information can be received in any way from outside the vehicle, from any system of the vehicle or even from the present system for detecting objects in the surrounding area of the vehicle from ultrasonic echo signals received by the ultrasonic sensors. The ground information contains information on the basis of which the adaptation is carried out, for example about the type of ground, which results in corresponding information in relation to the received ultrasonic echo signals, so that the adaptation of the detection of the objects in the surrounding area of the vehicle from the ultrasonic echo signals is carried out based on this can be.

The ultrasonic sensors can be attached, for example, to a front and/or a rear of the vehicle. Additional ultrasonic sensors can be arranged on the long sides of the vehicle. The ultrasonic sensors on each side of the vehicle can form their own systems or a common one.

The data connection can be designed as a common data bus to which all ultrasonic sensors are connected. Different topologies can be used for the data connection and different protocols can be used for data transmission, which are known as such in the prior art. The data connection can, for example, be designed according to one of the CAN, FlexRay, or LIN standards.

In an advantageous embodiment of the invention, receiving ground information regarding the surrounding area of the vehicle includes receiving a ground condition and/or a ground shape. The ground condition can, for example, indicate whether the ground has gravel, gravel or the like, which can, for example, cause a scattering of ultrasonic pulses emitted by the ultrasonic sensors and thus generate a background noise in the ultrasonic echo signals received by the ultrasonic sensors. In contrast, a floor condition such as concrete can indicate, for example, that a particularly low background noise is to be expected. The floor shape can, for example, distinguish between a flat floor shape, an upward ramp and a downward ramp, so that the detection of objects can be adjusted depending on this. For example, recognition of the ramp as an object can be avoided.

In an advantageous embodiment of the invention, receiving ground information relating to the surrounding area of the vehicle includes receiving direction-specific ground information relating to the surrounding area of the vehicle. Based on the direction-specific ground information, the adjustment of the detection of objects from the received ultrasonic echo signals can be performed differently for the different ultrasonic sensors. In accordance with the arrangement of the ultrasonic sensors on the vehicle, the adaptation of the detection of objects from the received ultrasonic echo signals can be carried out differently.

In an advantageous embodiment of the invention, receiving ground information relating to the surrounding area of the vehicle includes receiving distance-specific ground information relating to the surrounding area of the vehicle. For example, the distance-specific ground information allows individual Ultrasonic echoes in the received ultrasonic echo signals are individually recognized as belonging to the ground, so that this information can be taken into account accordingly when adjusting the detection of objects.

In an advantageous embodiment of the invention, receiving ground information regarding the surrounding area of the vehicle includes receiving the ground information from an infrastructure that detects the surrounding area of the vehicle. The ground information is received via a communication module and provided accordingly for adapting the detection of objects in the surrounding area of the vehicle from ultrasonic echo signals received by the ultrasonic sensors. The ground information can be provided by the infrastructure in different ways, for example by comparing the position of the vehicle with a corresponding map, or the infrastructure includes corresponding sensors to provide the ground information for the respective surrounding area of the vehicle and transmit it to the vehicle. The infrastructure can also receive and collect ground information from other vehicles and transmit it to the vehicle based on its position.

In an advantageous embodiment of the invention, receiving ground information regarding the surrounding area of the vehicle includes receiving sensor information from at least one surrounding sensor of the vehicle and determining the ground information based on the received sensor information. The ground information is therefore generated and provided in the vehicle itself. Additional sensor information from optical cameras and/or LiDAR-based environmental sensors and/or radar sensors as well as fundamentally other environmental sensors can be received and evaluated in order to generate the ground information. In particular, the additional sensor information can be processed with a neural network to generate the ground information.

In an advantageous embodiment of the invention, receiving ground information regarding the surrounding area of the vehicle includes determining the ground information based on the received ultrasonic echo signals. The ground information is thus determined based on ultrasonic echo signals received by the ultrasonic sensors. The adaptation can preferably be carried out in such a way that the ground information for each of the ultrasonic sensors is determined based on the ultrasonic echo signals received with this ultrasonic sensor, so that the ground information can be assigned directly to the corresponding ultrasonic sensors. To determine the ground information based on the received ultrasonic echo signals, a neural network can be trained and used accordingly, for example, to determine different ground conditions based on the received ultrasonic echo signals.

In an advantageous embodiment of the invention, receiving ground information regarding the area surrounding the vehicle includes determining a position of the vehicle on a ground information map and determining the ground information based on the position of the vehicle in the ground information map. The position of the vehicle can be determined based on satellite position signals. Corresponding systems are known, for example, under the names GPS, Galileo, GLONASS or Beidou. The position of the vehicle can also be recorded by an infrastructure for the surrounding area and transmitted to the vehicle. Other methods, for example based on a detection of static objects in the surrounding area and a comparison with a corresponding map, are also possible. The ground information map contains the corresponding ground information that can be extracted from the ground information map depending on the position of the vehicle and used to adjust the detection of objects in the surrounding area of the vehicle from ultrasonic echo signals received by the ultrasonic sensors.

In an advantageous embodiment of the invention, adjusting the detection of objects in the surrounding area of the vehicle from ultrasonic echo signals received by the ultrasonic sensors based on the determined ground information includes adjusting a threshold value for detecting an object in the received ultrasonic echo signals based on the received ground information. The threshold value defines at which signal level of the ultrasonic echo signal an ultrasonic echo is present. The threshold value is typically not constant, but changes depending on the distance of the respective object from the ultrasonic sensor. The threshold can be in the form of a threshold curve that can be shifted for adjustment. Preferably, threshold values are defined in sections for different distances from the ultrasonic sensor, which simulate a corresponding curve. The threshold values can then preferably be adjusted individually, so that, for example, only ultrasonic echoes in an area for which the corresponding threshold value is applicable are the adjusted ones Threshold must be reached to lead to object detection. Other areas can then remain unchanged and contribute as usual to the detection of objects in the area surrounding the vehicle.

In an advantageous embodiment of the invention, adjusting the detection of objects in the surrounding area of the vehicle from ultrasonic echo signals received by the ultrasonic sensors based on the determined ground information includes marking objects recognized in the received ultrasonic echo signals as irrelevant objects belonging to the ground based on the received ones Soil information. These irrelevant objects can therefore be masked or hidden so that the remaining objects can be recognized and further processed as usual.

In an advantageous embodiment of the invention, adjusting the detection of objects in the surrounding area of the vehicle from ultrasonic echo signals received by the ultrasonic sensors based on the determined ground information includes a semantic classification of objects recognized in the received ultrasonic echo signals based on the received ground information. Accordingly, for example, downstream processing of the detected objects can be adapted depending on the semantic type of the corresponding object.

The system for detecting objects in a surrounding area of a vehicle based on the reception of ultrasonic echo signals with ultrasonic sensors of the vehicle can be provided in different ways, as exemplified below

In an advantageous embodiment of the invention, the ultrasonic sensors are designed to detect objects in the ultrasonic echo signals received by them, and the ultrasonic sensors are further designed to adapt the detection of objects in the ultrasonic echo signals received by them based on the ground information received. This system can only be implemented with ultrasonic sensors connected via the data connection. The ultrasonic sensors can receive the ground information immediately and adjust the detection of objects in the ultrasonic echo signals they receive. Alternatively, one of the ultrasonic sensors can receive the ground information as a master and send signals to the other ultrasonic sensors to adjust the detection of objects in the ultrasonic echo signals received by them. Further alternatively, a higher-level control unit, which is connected to the ultrasonic sensors via the data connection, can receive the ground information and send signals to the ultrasonic sensors in order to adjust the detection of objects in the ultrasonic echo signals received by them. Each of the ultrasonic sensors can transmit information about the objects it detects to an ultrasonic sensor designed as a master or the higher-level control unit for further processing. The ultrasonic sensors are preferably of the same type or have the same construction and differ - if necessary - only in their configuration.

In an advantageous embodiment of the invention, one of the ultrasonic sensors is designed as a master, which receives the ultrasonic echo signals from the other ultrasonic sensors, which are designed as slaves, and detects objects in the received ultrasonic echo signals, and the ultrasonic sensor designed as a master is further designed to detect objects in the received ultrasonic echo signals based on the received ground information. This system can also only be implemented with ultrasonic sensors connected via the data connection. The ultrasonic sensor designed as a master can immediately receive the ground information and adjust the detection of objects in the received ultrasonic echo signals. Alternatively, a higher-level control unit, which is connected to the master ultrasonic sensor via the data connection, can receive the ground information and send signals to the master ultrasonic sensor in order to adjust the detection of objects in the received ultrasonic echo signals. The ultrasonic sensors are preferably of the same type or have the same construction and differ - if necessary - only in their configuration, for example as master and slave. The received ultrasonic echo signals include ultrasonic echo signals from the ultrasonic sensor designed as a master.

In an advantageous embodiment of the invention, the system has a higher-level control unit which is connected to the ultrasonic sensors via the data connection and which receives the ultrasonic echo signals from the ultrasonic sensors and detects objects in the received ultrasonic echo signals, and the control unit is further designed to detect objects in the received ultrasonic echo signals based on the received ground information. Accordingly, the control unit receives the ground information to adjust the detection of objects in the received ultrasonic echo signals. Preferably, the ultrasonic sensors are of the same type or have the same construction differed - where necessary - only in their configuration.

The ultrasonic sensors can be connected to the control unit individually or in groups via a data connection or via multiple data connections. In principle, it is also possible for groups of ultrasonic sensors to be connected to the control unit independently of other ultrasonic sensors. In this case, several systems, each with a group of ultrasonic sensors, can be installed on the vehicle. The control unit is a data processing unit with a processor and a memory to execute a program stored therein. Such control units are also known in the automotive sector as “electronic control units” (ECU).

Features and advantages of the method described can easily be transferred to the system described and vice versa. Individual steps of the process can also be carried out in a different order. The process is not limited to the sequence of process steps described as an example, as is obvious to a person skilled in the art from the description.

The invention is explained in more detail below with reference to the accompanying drawing using preferred embodiments. The features shown can represent an aspect of the invention both individually and in combination. Features of different exemplary embodiments can be transferred from one exemplary embodiment to another.

• 1 eine schematische Ansicht eines Fahrzeugs mit einem System zur Erkennung von Objekten in einem Umgebungsbereich basierend auf dem Empfang von Ultraschallechosignalen mit einer Mehrzahl Ultraschallsensoren, die über eine Datenverbindung miteinander und mit einer Steuereinheit verbunden sind, gemäß einer ersten, bevorzugten Ausführungsform,
• 2 eine schematische Ansicht eines Empfangs von Ultraschallsignalen mit einem Ultraschallsensor des Systems zur Erkennung von Objekten des Fahrzeugs aus 1,
• 3 eine schematische Ansicht des Empfangs von Ultraschallsignalen mit Ultraschallsensoren des Fahrzeugs aus 1 bei einer Annäherung an ein Hindernis,
• 4 eine schematische Ansicht des Empfangs von Ultraschallsignalen mit Ultraschallsensoren des Fahrzeugs aus 1 bei einer Annäherung an eine Rampe nach oben,
• 5 eine schematische Ansicht des Empfangs von Ultraschallsignalen mit Ultraschallsensoren des Fahrzeugs aus 1 beim Fahren auf einer Rampe nach unten,
• 6 einen beispielhaften Verlauf eines mit einem der Ultraschallsensoren des Fahrzeugs aus 1 empfangen Ultraschallechosignals mit einem Verlauf eines Schwellwerts,
• 7 eine schematische Ansicht eines Systems zur Erkennung von Objekten in einem Umgebungsbereich basierend auf dem Empfang von Ultraschallechosignalen mit einer Mehrzahl Ultraschallsensoren, die über eine Datenverbindung miteinander und mit einer Steuereinheit kaskadenartig verbunden sind, gemäß einer zweiten Ausführungsform,
• 8 eine schematische Ansicht eines Systems zur Erkennung von Objekten in einem Umgebungsbereich basierend auf dem Empfang von Ultraschallechosignalen mit einer Mehrzahl Ultraschallsensoren, die über eine Datenverbindung kaskadenartig miteinander verbunden sind, gemäß einer dritten Ausführungsform,
• 9 einen beispielhaften Verlauf eines mit einem der Ultraschallsensoren des Fahrzeugs aus 1 empfangen Ultraschallechosignals mit Schwellwerten für verschiedene Bereiche und einem Objekterkennungssignal für in dem Ultraschallechosignal erkannte Objekte,
• 10 den beispielhaften Verlauf des Ultraschallechosignals aus 9 mit Schwellwerten für verschiedene Bereiche und einem Objekterkennungssignal für in dem Ultraschallechosignal erkannte Objekte, wobei ein Objekt maskiert ist,
• 11 den beispielhaften Verlauf des Ultraschallechosignals aus 9 mit Schwellwerten für verschiedene Bereiche und einem Objekterkennungssignal für in dem Ultraschallechosignal erkannte Objekte, wobei die Schwellwerte teilweise angepasst sind, so dass das Ultraschalecho eines Objekts unterhalb der angepassten Schwellwerte liegt,
• 12 eine schematische Ansicht einer Ebene eines Parkhauses als Umgebungsbereich, der eine Infrastruktur aufweist, um Bodeninformationen betreffend den Umgebungsbereich an das Fahrzeug zu übertragen,
• 13 ein Ablaufdiagramm eines Verfahrens zum Anpassen einer Erkennung von Objekten in dem Umgebungsbereich des Fahrzeugs aus 1 basierend auf dem Empfang von Ultraschallechosignalen mit den Ultraschallsensoren des Fahrzeugs, wobei das Verfahren mit dem Fahrzeug aus 1 durchgeführt wird.

It shows

• 1 a schematic view of a vehicle with a system for detecting objects in a surrounding area based on the reception of ultrasonic echo signals with a plurality of ultrasonic sensors that are connected to one another and to a control unit via a data connection, according to a first, preferred embodiment,
• 2 a schematic view of a reception of ultrasonic signals with an ultrasonic sensor of the system for detecting objects of the vehicle 1 ,
• 3 a schematic view of the reception of ultrasonic signals with the vehicle's ultrasonic sensors 1 when approaching an obstacle,
• 4 a schematic view of the reception of ultrasonic signals with the vehicle's ultrasonic sensors 1 when approaching an upward ramp,
• 5 a schematic view of the reception of ultrasonic signals with the vehicle's ultrasonic sensors 1 when driving down a ramp,
• 6 an exemplary course of one with one of the vehicle's ultrasonic sensors 1 receive an ultrasonic echo signal with a profile of a threshold value,
• 7 a schematic view of a system for detecting objects in an environmental area based on the reception of ultrasonic echo signals with a plurality of ultrasonic sensors which are cascaded to one another via a data connection and to a control unit, according to a second embodiment,
• 8th a schematic view of a system for detecting objects in an environmental area based on the reception of ultrasonic echo signals with a plurality of ultrasonic sensors that are connected to one another in a cascade manner via a data connection, according to a third embodiment,
• 9 an exemplary course of one with one of the vehicle's ultrasonic sensors 1 receive ultrasonic echo signals with threshold values for different areas and an object detection signal for objects recognized in the ultrasonic echo signal,
• 10 the exemplary course of the ultrasonic echo signal 9 with threshold values for different areas and an object detection signal for objects recognized in the ultrasonic echo signal, an object being masked,
• 11 the exemplary course of the ultrasonic echo signal 9 with threshold values for different areas and an object detection signal for objects recognized in the ultrasonic echo signal, the threshold values being partially adjusted so that the ultrasonic echo of an object lies below the adjusted threshold values,
• 12 a schematic view of a level of a parking garage as a surrounding area that has an infrastructure to transmit ground information regarding the surrounding area to the vehicle,
• 13 a flowchart of a method for adjusting a detection of objects in the surrounding area of the vehicle 1 based on the reception of ultrasonic echo signals with the ultrasonic sensors of the vehicle, the procedure being carried out with the vehicle 1 is carried out.

The 1 shows a vehicle 10 with a system 12 for recognizing objects 18 according to a first, preferred embodiment.

The system 12 includes a plurality of ultrasonic sensors 14, which are known per se. The ultrasonic sensors 14 send out ultrasonic pulses 16, which are reflected as ultrasonic echoes 22 by objects 18 in a surrounding area 20 around the vehicle 10. The ultrasonic sensors 14 receive an associated ultrasonic echo signal 24 with the ultrasonic echoes 22, as in 2 is shown schematically. The objects 18 detected with the ultrasonic sensors 14 can be, for example, objects 18 close to the ground such as curbs or objects 18 rising from the ground 24. How out 2 results, a reflection of the emitted ultrasonic pulses 18 or the ultrasonic echoes 22 can also take place on a floor 24, so that a total of several reflections can occur between the emission of the ultrasonic pulses 16 and the reception of the ultrasonic echoes 22. In 2 Of the system 12, only one ultrasonic sensor 14 is shown.

The ultrasonic echo signals 26, which are exemplified in the 9 until 11 can be seen are signals that are based on the reception of ultrasound signals. The ultrasonic echo signals 26 are at least partially amplified in order to be able to reliably receive and recognize the ultrasonic echoes 22. The ultrasonic echo signals 26 are provided in the manner of an envelope with discrete values. From a time difference between the emission of the ultrasonic pulses 16 and the reception of the ultrasonic echoes 22, also referred to as “time of flight”, distances between the objects 18 and the ultrasonic sensors 14 can be determined, as in the 9 until 11 is shown schematically for a first received ultrasound echo 22. There are 26 in the ultrasonic echo signals 9 until 11 The emitted ultrasonic pulses 16 are also shown and a decay time 30 of a membrane of the ultrasonic sensors 14 after the ultrasonic pulses 16 have been emitted.

The ultrasonic sensors 14 can be designed as single-channel or multi-channel ultrasonic sensors 14. In the first embodiment, the ultrasonic sensors 14 are arranged, for example, on a front side 28 of the vehicle 10.

The system 12 further includes a control unit 32. The control unit 32 is a data processing unit with a processor and a memory to execute a program stored therein. Such control units 32 are also known in the automotive sector as “electronic control units” (ECU).

The ultrasonic sensors 14 are connected to each other and to the control unit 32 via a common data connection 34. In the first exemplary embodiment 1 the data connection 34 is designed as a common data bus to which all ultrasonic sensors 14 and the control unit 32 are connected. Different protocols can be used for the data connection 34, which are known as such in the prior art. The data connection 34 can, for example, be designed according to one of the CAN, FlexRay, or LIN standards.

In a second embodiment, in 7 is shown schematically, the ultrasonic sensors 14 and the control unit 32 are connected to one another via a cascade-like data connection 34. The operation of the system 12 of the first embodiment described below is identical to the operation of the system 12 of the second embodiment.

The system 12 is designed to carry out the methods described below for adjusting a detection of objects 18 in the surrounding area 20 of the vehicle 10 based on the reception of ultrasonic echo signals 26 with the ultrasonic sensors 14 of the vehicle 10.

The method begins in step S100 with receiving ground information regarding the surrounding area 20 of the vehicle 10.

The soil information contains information, for example, about the type of soil 24, which results in corresponding information regarding the received ultrasonic echo signals 26 for carrying out the subsequent step S110, as described there in detail.

In this exemplary embodiment, the soil information includes a soil condition and a soil shape. As already stated 2 results, depending on the nature of the ground, for example with gravel, gravel or the like, a scattering of ultrasonic pulses 16 emitted by the ultrasonic sensors 14 or of the ultrasonic echoes 22 generated on the objects 18 can take place. In addition, in the 4 and 5 shown that when driving with a bottom shape of a ramp 36 ultrasonic echoes 22 can be generated that do not belong to objects 18. How out 4 results, when driving with a bottom shape of a ramp 36 upwards, a reception area 38 of the ultrasonic sensors 14 hits the ramp 36, whereby ultrasonic echoes 22 can be generated on the ramp 36. In a similar way, a bottom shape of a ramp 36 downwards when driving on the ramp 36, the reception area 38 of the ultrasonic sensors 14 onto the floor 24 adjoining the ramp 36, whereby ultrasonic echoes 22 can be generated on the floor 24, as shown in FIG 5 shown reception area 38 of the ultrasonic sensors 14 results, which hits the floor 24. As in 3 is shown schematically, the reception area 38 can lie above the floor 24 with a flat bottom shape, so that objects 18 located there can be detected in the reception area 38 by the ultrasonic sensors 14. Corresponding scenarios for driving up and down ramps arise, for example, when parking in a parking garage 12 a level 40 is shown.

The ground information is also direction-specific and distance-specific, i.e. the information relating to the ground condition is assigned to positions in relation to the arrangement of the ultrasonic sensors 14 on the vehicle 10 and the distance therefrom.

In this exemplary embodiment, the ground information is provided by an infrastructure 48, which detects the surrounding area 20 of the vehicle 10, and is received via a communication module, not shown, of the vehicle 10. In this exemplary embodiment, the infrastructure 48 includes optical cameras 42 as sensors to provide the ground information for the respective surrounding area 20 of the vehicle 10 when driving along the in 12 trajectories 44 shown to parking spaces 46 to be provided and transmitted to the vehicle 10. Alternatively or additionally, the ground information is provided by the infrastructure 48, for example by comparing the position of the vehicle 10 with a corresponding map.

In an alternative embodiment, receiving ground information regarding the surrounding area 20 of the vehicle 10 includes receiving sensor information from at least one surrounding sensor, not shown, of the vehicle 10 and determining the ground information based on the received sensor information. The ground information is therefore generated and provided in the vehicle 10 itself, for example based on sensor information from optical cameras and/or LiDAR-based environmental sensors and/or radar sensors. The sensor information can be processed with a neural network to generate the ground information.

In a further alternative embodiment, receiving ground information regarding the surrounding area 20 of the vehicle 10 includes determining the ground information based on the ultrasonic echo signals 26 received with the ultrasonic sensors 14. To determine the ground information, a neural network can be trained and used accordingly, for example, different To determine ground conditions based on the ultrasonic echo signals 26 received.

In a still further alternative embodiment, receiving ground information regarding the surrounding area 20 of the vehicle 10 includes determining a position of the vehicle 10 on a ground information map and determining the ground information based on the position of the vehicle 10 in the ground information map. The position of the vehicle 10 is determined based on satellite position signals, for example based on one of the GPS, Galileo, GLONASS or Beidou systems. The ground information map contains the corresponding ground information extracted from the ground information map depending on the position of the vehicle 10.

In step S110, the detection of objects 18 in the surrounding area 20 of the vehicle 10 is adjusted from ultrasonic echo signals 26 received from the ultrasonic sensors 14 based on the received ground information.

The adjustment of the detection of objects 18 in the surrounding area 20 of the vehicle 10 from ultrasonic echo signals 26 received by the ultrasonic sensors 14 based on the determined ground information takes place at a higher level of signal processing than, for example, the calibration of the ultrasonic sensors 14, as will be explained below.

9 shows a course of an exemplary ultrasonic echo signal 26, as already explained. The ultrasonic echo signal 26 shows the emitted ultrasonic pulses 16 and the decay time 30 of the vibration of the ultrasonic membrane. In addition, three ultrasonic echoes 22 can be seen in the ultrasonic echo signal 26. Threshold values 50 for detecting an object 18 in the received ultrasonic echo signal 26 are defined in the diagram. The threshold values 50 are specified in sections for different distance ranges of the ultrasonic echo signal 26. The middle of the three ultrasonic echoes 22 is below the threshold values 50 there, while the threshold values 50 are exceeded for the other two ultrasonic echoes 22. Accordingly, the system 12 recognizes the two ultrasonic echoes 22, which determine the threshold values exceed 50, as objects 18. An object detection signal 52 for outputting the detected objects 18 thus changes its level for the two ultrasonic echoes 22, which exceed the threshold values 52, to an object detection level 54, which is low in this exemplary embodiment. Accordingly, objects 18, as in the 2 and 3 displayed, recognized.

In the 4 and 5 Ramps 36 are shown as examples. These ramps 36 are recognized by the infrastructure 48 and transmitted to the vehicle 10 as part of the ground information. The ones in the 4 and 5 The driving situations shown lead to the following: 4 an ultrasonic echo 22 is generated on the ramp 36 itself and in 5 an ultrasonic echo 22 is also generated on the floor 24. This should be in the ultrasonic echo signals 26 of 10 and 11 be the right ultrasonic echo 22, which is generated at the greatest distance from the ultrasonic sensor 14.

Based on the received ground information 10 adjusting the detection of objects 18 in the surrounding area 20 of the vehicle 10 from ultrasonic echo signals 26 received from the ultrasonic sensors 14 in such a way that corresponding ultrasonic echoes 22 are marked as irrelevant objects 18 belonging to the ground 24 based on the determined ground information in the received ultrasonic echo signals 26 become. These irrelevant objects 18 are masked or hidden accordingly, as in the object recognition signal 52 in 10 can be recognized. The right ultrasonic echo 22 exceeds the threshold values 50 there, which, however, is not indicated by a low object detection level 54 in the object detection signal 52 based on the adjustment of the detection of the objects 18. The remaining objects 18 are recognized as usual and displayed in the object recognition signal 52.

Alternatively, based on the received ground information 11 adjusting the detection of objects 18 in the surrounding area 20 of the vehicle 10 from ultrasonic echo signals 26 received from the ultrasonic sensors 14 such that the threshold values 50 for detecting an object 18 in the received ultrasonic echo signals 26 are adjusted based on the received ground information. As in 11 can be seen, the threshold values 50 are opposite in the area of the right ultrasound echo 22 9 increased so that the right ultrasonic echo 22 lies below the increased threshold values 50. Accordingly, no low object detection level 54 is set for this right ultrasonic echo 22 in the object detection signal 52. The remaining objects 18 are recognized as usual and displayed in the object recognition signal 52.

In another embodiment, in 6 is illustrated, the threshold value 50 is indicated as a curve over the entire distance range of the ultrasonic echo signal 26. The ultrasonic echo signal 26 there causes a corresponding output in the object detection signal 52 when the threshold value 50 is exceeded, as described above. Based on the ground information received, the threshold value 50 can also be adjusted here by shifting the entire curve of the threshold value 50. Alternatively or additionally, individual ultrasonic echoes 22 can be marked in the received ultrasonic echo signals 26 as irrelevant objects 18 belonging to the floor 24.

In the present exemplary embodiment, the ultrasonic echo signals 26 are transmitted from the ultrasonic sensors 14 via the data connection 34 to the control unit 32, which carries out the detection of the objects 18 in the ultrasonic echo signals 26. Accordingly, the adjustment of the detection of objects 18 is also carried out in the control unit 32 as described.

In an alternative exemplary embodiment, the ultrasonic sensors 14 are designed to detect the objects 18 in the ultrasonic echo signals 26 received by them. The control unit 32 receives the ground information and sends signals to the ultrasonic sensors 14 to adjust the detection of objects 18 in the ultrasonic echo signals 26 received therefrom. The ultrasonic sensors 14 merely transmit the object detection signal 52 to the control unit 32. In both cases, the ultrasonic sensors 14 are of the same type or have the same construction.

An alternative system 12 according to a third embodiment is shown in FIG 8th shown. The system 12 only includes the ultrasonic sensors 14, which are connected to one another in a cascade manner via the data connection 34, as already described above. One of the ultrasonic sensors 14 is configured as a master and in 8th marked with “M”, while the other ultrasonic sensors 14 are configured as slaves and in 8th are marked with 'S'. In the third exemplary embodiment, the ultrasonic sensor 14 takes over the tasks of the control unit 32 as a master, as described above.

Reference symbol list

10

vehicle

12

system

14

Ultrasonic sensor

16

Ultrasonic pulse

18

object

20

Surrounding area

22

Ultrasound echo

24

Floor

26

Ultrasonic echo signal

28

Front

30

Cooldown time

32

Control unit

34

Data Connection

36

ramp

38

Reception area

40

level

42

optical camera

44

Trajectory

46

parking spot

48

Infrastructure

50

Threshold

52

Object detection signal

54

Object detection level

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 10821971 B1 [0009]
• US 20180127001 A1 [0010]

Claims (15)

Method for adjusting a detection of objects (18) in a surrounding area (20) of a vehicle (10) based on the reception of ultrasonic echo signals (26) with ultrasonic sensors (14) of the vehicle (10), comprising the steps Receiving ground information regarding the surrounding area (20) of the vehicle (10), and Adjusting the detection of objects (18) in the surrounding area (20) of the vehicle (10) from ultrasonic echo signals (26) received by the ultrasonic sensors (14) based on the received ground information. Procedure according to Claim 1 , characterized in that receiving ground information regarding the surrounding area (20) of the vehicle (10) includes receiving a ground condition and/or a ground shape. Procedure according to one of the Claims 1 or 2 , characterized in that receiving ground information regarding the surrounding area (20) of the vehicle (10) includes receiving direction-specific ground information regarding the surrounding area (20) of the vehicle (10). Method according to one of the preceding claims, characterized in that receiving ground information regarding the surrounding area (20) of the vehicle (10) includes receiving distance-specific ground information regarding the surrounding area (20) of the vehicle (10). Method according to one of the preceding claims, characterized in that receiving ground information regarding the surrounding area (20) of the vehicle (10) involves receiving the ground information from an infrastructure (48) which detects the surrounding area (20) of the vehicle (10), includes. Method according to one of the preceding claims, characterized in that receiving ground information regarding the surrounding area (20) of the vehicle (10) includes receiving sensor information from at least one surrounding sensor of the vehicle (10) and determining the ground information based on the received sensor information . Method according to one of the preceding claims, characterized in that receiving ground information regarding the surrounding area (20) of the vehicle (10) comprises determining the ground information based on the received ultrasonic echo signals (26). Method according to one of the preceding claims, characterized in that receiving ground information regarding the surrounding area (20) of the vehicle (10) includes determining a position of the vehicle (10) on a ground information map and determining the ground information based on the position of the vehicle ( 10) included in the soil information map. Method according to one of the preceding claims, characterized in that adjusting the detection of objects (18) in the surrounding area (20) of the vehicle (10) from ultrasonic echo signals (26) received by the ultrasonic sensors (14) based on the determined ground information is an adjustment a threshold value (50) for detecting an object (18) in the received ultrasonic echo signals (26) based on the received ground information. Method according to one of the preceding claims, characterized in that adjusting the detection of objects (18) in the surrounding area (20) of the vehicle (10) from ultrasonic echo signals (26) received by the ultrasonic sensors (14) based on the determined ground information involves marking of objects (18) recognized in the received ultrasonic echo signals (26) as irrelevant objects (18) belonging to the ground (24) based on the received ground information. Method according to one of the preceding claims, characterized in that the adaptation of the detection of objects (18) in the surrounding area (20) of the vehicle (10) from ultrasonic echo signals (26) received by the ultrasonic sensors (14) based on the determined ground information is a semantic one Classifying objects (18) detected in the received ultrasonic echo signals (26) based on the received ground information. System (12) for detecting objects (18) in a surrounding area (20) of a vehicle (10) based on the reception of ultrasonic echo signals (26) with ultrasonic sensors (14) of the vehicle (10), with a plurality of ultrasonic sensors (14), which are connected to one another via a data connection (34), characterized in that the system (12) is designed to have a method for adapting a detection of Objects (18) according to one of the Claims 1 until 11 to carry out. System (12) after Claim 12 , characterized in that the ultrasonic sensors (14) are designed to detect objects (18) in the ultrasonic echo signals (26) received by them, and the ultrasonic sensors (14) are further designed to detect objects (18) in the ones they receive to adapt received ultrasonic echo signals (26) based on the received ground information. System after Claim 12 , characterized in that one of the ultrasonic sensors (14) is designed as a master (M), which receives the ultrasonic echo signals (26) from the further ultrasonic sensors (14), which are designed as slaves (S), and objects (18) in the received ultrasonic echo signals (26), and the ultrasonic sensor (14) designed as a master (M) is further designed to adapt the detection of objects (18) in the received ultrasonic echo signals (26) based on the received ground information. System after Claim 12 , characterized in that the system has a higher-level control unit (32) which is connected to the ultrasonic sensors (14) via the data connection (34) and receives the ultrasonic echo signals (26) from the ultrasonic sensors (14) and objects (18) in the Recognizes received ultrasonic echo signals (26), and the control unit (32) is further designed to adapt the detection of objects (18) in the received ultrasonic echo signals (26) based on the received ground information.

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