CN103827689A - Method for detecting environment around vehicle by means of ultrasound and device for carrying out method - Google Patents
Method for detecting environment around vehicle by means of ultrasound and device for carrying out method Download PDFInfo
- Publication number
- CN103827689A CN103827689A CN201280046426.XA CN201280046426A CN103827689A CN 103827689 A CN103827689 A CN 103827689A CN 201280046426 A CN201280046426 A CN 201280046426A CN 103827689 A CN103827689 A CN 103827689A
- Authority
- CN
- China
- Prior art keywords
- signal
- sonac
- pulse
- amplifier
- gain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
Abstract
The present invention relates to a method for detecting the environment around a vehicle by means of ultrasound, wherein an ultrasonic sensor is stimulated by means of a transmission pulse for transmitting an ultrasonic pulse, at least one measurement signal is generated, by means of the ultrasonic sensor, from an ultrasonic pulse reflected on an object from the vehicle environment and received by the ultrasonic sensor and the measurement signal is amplified by means of an amplifier before a signal evaluation, wherein the pulse energy of the transmission pulse is chosen at a sufficiently low level to enable an override time of the amplifier and/or a reverberation time of a converter for the ultrasonic sensor to be reduced.
Description
Technical field
The present invention relates to a kind of method for the vehicle-periphery by Ultrasonic Detection vehicle and a kind of for implementing the device of the method according to this invention.The invention still further relates to a kind of vehicle assisted system having according to device of the present invention.
Background technology
For observe vehicle at the current sensor of the surrounding environment in ultrasonic region by the converter of some sonacs not only for transmitting but also for receiving.
Block diagram by the known ultrasound measurement system 10 of background technology shown in Figure 1.In this system 10, launch by the converter 30 of sonac 40 transmitting of being produced by signal generator 20.Receive echo by identical converter 30.Because described echo is very little, so must amplify described echo.In current system, use the amplifier 50 with very high and fixing gain V.To continue to be transferred to signal analysis and processing unit 60 through the measuring-signal U amplifying.
The change curve of the signal amplitude of the measuring-signal U on amplifier out is exemplarily shown according to the transmission time τ of the ultrasonic pulse for object-detection in Fig. 2.At time interval 0≤τ≤T
1during middle transmitting transmits, amplifier 50 is because very high transmitting amplitude transships.Signal amplitude on its output terminal gets at this value U that maximum can be produced by amplifier
max.After shutoff transmits, must reduce the oscillation energy of storage in converter 30.At this, converter produces large output signal.Disadvantageously,, in the current sensor with high, fixing gain, before output signal being conducted to signal analysis and processing unit 60 for further processing, amplify described large output signal, and ignore its size.This causes the overload of amplifier 50 in practice, thus on amplifier out in the transient oscillation time T of converter
1< τ≤T
nmiddle signal amplitude is also greater than current common used analyzing and processing threshold value U
sand in the longest time
in even equal amplifier limit U above
max.
Up to the present, to a great extent accept and tolerance following adverse effect: in this way can not be at range observation scope 0≤d≤d
n(wherein d
n=0.5 × c × T
n) in realize object-detection.Current common value is: T
1=0.3 millisecond, T
n=1.2 milliseconds and
millisecond.At this, in the situation that being approximately 331 meter per second, velocity of sound c obtains the range observation scope d of about 20 centimetres
n, in described range observation scope, can not realize object-detection.In contrast, following system is expected d
nthe nearly measurement range of <15 centimetre.
A kind ofly be suitable for for amplifying the method for echoed signal that vehicle-periphery detects by document DE102008054789A1 is known, wherein amplify described echoed signal with the gain factor in transmission time of depending on echoed signal.In addition, known by identical document, in modern system, also how can reduce analyzing and processing expense by the gain of depending on the transmission time.
By the ultrasonic object detection of the variation of the known a kind of pulse energy by limiting by duration of pulse and pulse strength of document DE102009002870A1.In addition known by background technology, how can modulate to change transponder pulse duration T by distance
1.
Summary of the invention
According to the invention provides a kind of method for the vehicle-periphery by Ultrasonic Detection vehicle, wherein encourage sonac with transmitting ultrasonic pulse by transponder pulse, produce at least one measuring-signal by sonac by ultrasonic pulse that reflect and that received by sonac on object launched, in vehicle-periphery, and amplified described measuring-signal by amplifier before signal analysis and processing.At this, so exomonental pulse energy is selected in lowland, the transient oscillation time that makes to shorten the overload time of amplifier during the transmission time of ultrasonic pulse and/or shorten the converter of sonac.
A kind of for implementing the device of the method according to this invention according to the invention provides.According to the inventive system comprises sonac, described sonac is configured to launch ultrasonic pulse and produces measuring-signal by the ultrasonic pulse of reflecting on the object in vehicle-periphery and received by sonac.Described device also comprises signal analysis and processing unit and the signal generator for the amplifier of measurement by magnification signal, the measuring-signal that amplifies for analyzing and processing, described signal generator be configured to produce transponder pulse, by produced transponder pulse excitation sonac with transmitting ultrasonic pulse and so lowland regulate exomonental pulse energy, make the overload time of the shortening that occurs amplifier during the transmission time of ultrasonic pulse and/or occur transient oscillation time of the shortening of the converter of sonac.
By the decline according to the present invention of exomonental energy realize overload time and/or transient oscillation time general value described above until 0.35 millisecond reduce, especially reduce 0.25 millisecond to 0.35 millisecond, further especially reduce 0.3 millisecond.Therefore realized value T
n<1.2 millisecond and
millisecond, T especially
n=0.85 millisecond to T
n=0.95 millisecond and
millisecond extremely
millisecond, further T especially
n0.9 millisecond of ≈ and
millisecond.
Dependent claims illustrates preferred extension of the present invention.
Realize the transient oscillation time of the overload time of obvious shortening of amplifier and/or the obvious shortening of the converter of sonac in simple mode by the method according to this invention, realize thus the obviously range observation scope below 15 centimetres, in described range observation scope, can not realize object-detection.
Especially, by emission duration reduce and/or exomonental amplitude reduce to regulate exomonental pulse energy, described emission duration preferably reduces 0.15 millisecond to 0.25 millisecond, further preferably reduces 0.2 millisecond, thus preferred implementation value T
1=0.05 millisecond to T
1=0.15 millisecond and further preferred implementation value T
1=0.1 millisecond.Can produce and there is transmitting of low pulse energy in simple mode thus.
Preferably, gain so increases, increases especially continuously during the transmission time of ultrasonic pulse, the transient oscillation time that makes further to shorten the overload time of amplifier during the transmission time of ultrasonic pulse and/or further shorten the converter of sonac.At this, realize transient oscillation time T according to the present invention
nand/or overload time
at most further shorten 0.5 millisecond, thus this preferred embodiment in implementation value T
n≤ 0.7 millisecond and
millisecond, T especially
n0.4 millisecond of ≈ and
millisecond.
In the method according to the invention, use has the transponder pulse of signal amplitude short emission duration and that preferably reduce, and/or changed the gain of measuring-signal with the echo transmission time before signal is processed, wherein gain is especially because the failure of oscillation of converter is very little and increase lentamente in the time starting.Especially, transmitting ultrasonic pulse during and further preferably after soon, the value of gain also can be less than 1.
Thus, can realize in simple mode reducing of overload time and/or the reducing of transient oscillation time of the converter of sonac of amplifier, further reducing of range observation scope can be realized thus, in described range observation scope, object-detection can not be realized.
In the particularly advantageous embodiment of one of the present invention, realize the increase of gain by the switching between at least two different, fixing yield values by only very little expense, especially exist amplify, during lower than the measuring-signal of transient oscillation threshold value.
Especially, realize the increase of gain by the switching between different, fixing yield values in simple mode according to the present invention.
Especially, in the method according to the invention, under a receiving gain, be switched to afterwards in gain different from this receiving gain and that be suitable for continuing analyzing and processing (signal analysis and processing) lower than transient oscillation threshold value (analyzing and processing threshold value).
In addition, according to the invention provides a kind of vehicle assisted system having according to device of the present invention.
Accompanying drawing explanation
Describe embodiments of the invention in detail below with reference to accompanying drawing.Accompanying drawing illustrates:
Fig. 1: according to the block diagram of the ultrasound measurement system of background technology,
Fig. 2: the change curve of the signal amplitude of the measuring-signal producing according to the ultrasound measurement system by Fig. 1 according to the transmission time of the ultrasonic pulse for object-detection of background technology and amplify,
Fig. 3: the block diagram of the ultrasound measurement system of first embodiment of the invention,
Fig. 4: the change curve of the signal amplitude of the measuring-signal producing according to the ultrasound measurement system by first embodiment of the invention in the transmission time of the ultrasonic pulse for object-detection and amplify.
Embodiment
The block diagram of the ultrasound measurement system 11 of first embodiment of the invention shown in Figure 3.In ultrasound measurement system 11, launch by the converter 30 of sonac 40 transmitting of being produced by signal generator 21.Identical converter 30 by sensor 40 receives echo.Because described echo is very little, so must amplify described echo.By amplifier 51 measurement by magnification signal U1 and described measuring-signal is continued to be transferred to signal analysis and processing unit 60.Gain control 52 is by depending on that the gain V (τ) of time changes the gain of amplifier 51.
The change curve of the signal amplitude of the measuring-signal U1 being produced on amplifier out by the ultrasound measurement system 11 of first embodiment of the invention is shown according to the transmission time τ of the ultrasonic pulse for object-detection in Fig. 4.At time interval 0≤τ≤T
1during middle transmitting transmits, the measuring-signal amplitude on amplifier out is got the value U that maximum can be produced by amplifier 51
max.After shutoff transmits, must reduce the oscillation energy of storage in converter 30.According to the present invention, by gain V (τ) the measurement by magnification signal U1 that depends on the time.Gain control 52 obtains that the information that stops of transmitting and (selectively) transmitting start or the information of emission duration and the information of (selectively) transmit signal strength from the generation device 21 that transmits, and so change the gain of amplifier 51 with adjustable or switchable gain V (τ), make to obtain the transient oscillation time T of shortening
n2and the overload time shortening
.According to the configuration of following analyzing and processing technology, especially transmitting sound pulse during and soon afterwards, the value of gain is also less than 1.Those skilled in the art are also called signal attenuation by the gain with the value that is less than 1.
For comparing object, the change curve that depends on the time of the measuring-signal U known by background technology is also shown in Fig. 4, it has transient oscillation time T
nand overload time
analog value.Can see at this, with respect to by the known overload time of background technology
with transient oscillation time T
nvalue, realized overload time by the method according to this invention and device according to the present invention
with transient oscillation time T
n2the value of obvious shortening.
Beyond upper word disclosure, consult clearly the figure diagram in Fig. 1 to 4 at this.
Claims (10)
1. the method for the vehicle-periphery by Ultrasonic Detection vehicle, wherein, encourage sonac (40) to launch ultrasonic pulse by transponder pulse, by described sonac (40) by launched, ultrasonic pulse that reflect on the object in described vehicle-periphery and that received by described sonac produces at least one measuring-signal (U), and amplified described measuring-signal (U) by amplifier (50) before signal analysis and processing, it is characterized in that, so described exomonental pulse energy is selected in lowland, make to realize described amplifier (50, 51) overload time of shortening
and/or the transient oscillation time (T of the shortening of the converter (30) of described sonac (40)
n2).
2. method according to claim 1, is characterized in that, reduces to regulate described exomonental pulse energy by emission duration and/or described exomonental amplitude.
3. method according to claim 1 and 2, is characterized in that, described gain (V (τ)) so increases during the transmission time of described ultrasonic pulse (τ), makes the overload time of the further shortening that realizes described amplifier (51)
and/or the transient oscillation time (T of the further shortening of the converter (30) of described sonac (40)
n2).
4. method according to claim 3, is characterized in that, realizes the increase of described gain (V (τ)) by the switching between the yield value two different choice, fixing.
5. according to the method described in any one of the preceding claims, it is characterized in that, at the measuring-signal (U1) amplifying with receiving gain lower than transient oscillation threshold value (U
s) afterwards, be adjusted in gain different from described receiving gain and that be suitable for further signal analysis and processing.
6. one kind for implementing the device (10) according to the method described in claim 1 to 4 any one, it is characterized in that sonac (40), be used for amplifying the amplifier of described measuring-signal (U1), signal analysis and processing unit (60) and signal generator (21), described sonac is configured to launch ultrasonic pulse and produces measuring-signal (U1) by the ultrasonic pulse of reflecting on the object in vehicle-periphery and received by described sonac (40), the measuring-signal (U1) that described signal analysis and processing unit structure amplifies for analyzing and processing, described signal generator is configured to produce transponder pulse, encourage described sonac (40) to launch described ultrasonic pulse and the described exomonental pulse energy of lowland adjusting like this by produced transponder pulse, make to occur described amplifier (50, 51) overload time of shortening
and/or there is transient oscillation time of the shortening of the converter (30) of described sonac (40)
.
7. device according to claim 6, is characterized in that, described signal generator (20) is configured to reduce to regulate described exomonental pulse energy by described emission duration and/or described exomonental amplitude.
8. according to the device described in any one in claim 6 or 7 (10), it is characterized in that the amplifier control device (52) of the gain (V (τ)) for changing described amplifier (51), described amplifier control device is configured to produce during the transmission time (τ) in described ultrasonic pulse the increase like this of the gain (V (τ)) of described measuring-signal, makes to occur the overload time further shortening
and/or the transient oscillation time (T of the further shortening of the converter (30) of described sonac (40)
n2).
9. device according to claim 8 (10), is characterized in that, described amplifier control device (52) be configured to especially exist amplify, lower than transient oscillation threshold value (U
s) measuring-signal (U1) time produce described gain (V (τ)) by the switching between at least two different, fixing yield values increase.
10. a vehicle assisted system, it has according to the device described in any one in claim 5 to 8 (10).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011083337A DE102011083337A1 (en) | 2011-09-23 | 2011-09-23 | A method for detecting the vehicle environment of a vehicle by means of ultrasound and apparatus for carrying out the method |
| DE102011083337.4 | 2011-09-23 | ||
| PCT/EP2012/065356 WO2013041294A1 (en) | 2011-09-23 | 2012-08-06 | Method for detecting the environment around a vehicle by means of ultrasound and device for carrying out the method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103827689A true CN103827689A (en) | 2014-05-28 |
| CN103827689B CN103827689B (en) | 2018-02-06 |
Family
ID=46650533
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280046426.XA Active CN103827689B (en) | 2011-09-23 | 2012-08-06 | Method and apparatus for implementing the method for the vehicle-periphery by ultrasound detection vehicle |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP2758797A1 (en) |
| CN (1) | CN103827689B (en) |
| DE (1) | DE102011083337A1 (en) |
| WO (1) | WO2013041294A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106537175A (en) * | 2014-07-09 | 2017-03-22 | 罗伯特·博世有限公司 | Device and method for the acoustic examination of objects in the environment of a means of conveyance |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013222860A1 (en) * | 2013-11-11 | 2015-05-13 | Robert Bosch Gmbh | Method for detecting a vehicle environment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2062177A1 (en) * | 1970-12-17 | 1972-07-06 | Siemens Ag | Ultrasonic device working according to the pulse-echo method |
| JPH01196589A (en) * | 1987-12-11 | 1989-08-08 | Siemens Ag | Non-contact type distance measuring apparatus |
| JPH06347537A (en) * | 1993-04-30 | 1994-12-22 | Robert Bosch Gmbh | Circuit device for damping ultrasonic wave converter |
| CN1349612A (en) * | 1999-05-11 | 2002-05-15 | 罗伯特·博施有限公司 | Device for detecting objects in the area surroundiong a vehicle |
| CN101163985A (en) * | 2005-03-16 | 2008-04-16 | 阿米特克公司 | Ultrasonic ranging in the near zone |
| EP2251710A2 (en) * | 2009-05-06 | 2010-11-17 | Robert Bosch GmbH | Ultrasound object recognition system and method for recognising objects using ultrasound |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3405915A1 (en) * | 1984-02-18 | 1985-08-22 | Bayerische Motoren Werke AG, 8000 München | SWITCHING ARRANGEMENT FOR AN ULTRASONIC DISTANCE METER |
| DE3513270A1 (en) * | 1985-04-13 | 1986-10-23 | Swf Auto Electric Gmbh | Device for distance measurement, in particular for motor vehicles |
| DE3937585C2 (en) * | 1989-11-11 | 1998-11-05 | Teves Gmbh Alfred | Distance measuring device |
| DE102006041529B4 (en) * | 2006-09-05 | 2012-04-05 | Continental Automotive Gmbh | Method for determining distance |
| DE102008054789A1 (en) | 2008-12-17 | 2010-07-15 | Robert Bosch Gmbh | Method and apparatus for amplifying a signal suitable for vehicle environment detection |
-
2011
- 2011-09-23 DE DE102011083337A patent/DE102011083337A1/en not_active Withdrawn
-
2012
- 2012-08-06 WO PCT/EP2012/065356 patent/WO2013041294A1/en active Application Filing
- 2012-08-06 EP EP12746077.2A patent/EP2758797A1/en not_active Ceased
- 2012-08-06 CN CN201280046426.XA patent/CN103827689B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2062177A1 (en) * | 1970-12-17 | 1972-07-06 | Siemens Ag | Ultrasonic device working according to the pulse-echo method |
| JPH01196589A (en) * | 1987-12-11 | 1989-08-08 | Siemens Ag | Non-contact type distance measuring apparatus |
| JPH06347537A (en) * | 1993-04-30 | 1994-12-22 | Robert Bosch Gmbh | Circuit device for damping ultrasonic wave converter |
| CN1349612A (en) * | 1999-05-11 | 2002-05-15 | 罗伯特·博施有限公司 | Device for detecting objects in the area surroundiong a vehicle |
| CN101163985A (en) * | 2005-03-16 | 2008-04-16 | 阿米特克公司 | Ultrasonic ranging in the near zone |
| EP2251710A2 (en) * | 2009-05-06 | 2010-11-17 | Robert Bosch GmbH | Ultrasound object recognition system and method for recognising objects using ultrasound |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106537175A (en) * | 2014-07-09 | 2017-03-22 | 罗伯特·博世有限公司 | Device and method for the acoustic examination of objects in the environment of a means of conveyance |
| CN106537175B (en) * | 2014-07-09 | 2020-05-19 | 罗伯特·博世有限公司 | Device and method for the acoustic inspection of surrounding objects of a vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2758797A1 (en) | 2014-07-30 |
| CN103827689B (en) | 2018-02-06 |
| DE102011083337A1 (en) | 2013-03-28 |
| WO2013041294A1 (en) | 2013-03-28 |
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