CN106199614A - For the method and apparatus detecting the object in vehicle-periphery - Google Patents
For the method and apparatus detecting the object in vehicle-periphery Download PDFInfo
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- CN106199614A CN106199614A CN201610364513.XA CN201610364513A CN106199614A CN 106199614 A CN106199614 A CN 106199614A CN 201610364513 A CN201610364513 A CN 201610364513A CN 106199614 A CN106199614 A CN 106199614A
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- Prior art keywords
- echo
- sonac
- vehicle
- threshold value
- ground
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Classifications
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
- G01S15/104—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
- G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
Abstract
The present invention relates to the method for object in the surrounding with at least one sonac detection vehicle, described sonac sends ultrasonic pulse and receives again ultrasonic echo, described sonac has visibility region, can be by the echo identification object being reflected in described visibility region.Being provided for concealing the threshold value of ground echo, the ultrasonic echo with the amplitude more than described threshold value is classified as the echo of object.Carrying out described threshold value adaptability adaptive, described threshold value is chosen so as to the ground echo of estimated rate and is classified as the echo of object mistakenly, and ground echo is filtered from the ultrasonic echo of echo being classified as object.Use tracking filter is with the ground clutter suppression that will occur at random, and or uses optimal filter with by the ground clutter suppression of Doppler frequency shift.Other aspects of the present invention relate to detect the device of the object in the surrounding of vehicle, have the driver assistance system of this device and have the vehicle of this driver assistance system.
Description
Technical field
The present invention relates to the side of a kind of object for detecting in vehicle-periphery with at least one sonac
Method, wherein, at least one sonac described sends ultrasonic pulse and receives again the ultrasonic echo being reflected.The present invention's
Other aspects relate to a kind of apparatus for carrying out this method, a kind of driver assistance system including such device and
Plant the vehicle including this driver assistance system.
Background technology
Using different driver assistance systems at automotive field, described driver assistance system should be different in enforcement
Driver is supported during driving maneuver action.Such as parking assistance system belongs to driver assistance system, described parking assistance system
Detect surrounding by means of the sensor being associated with vehicle, ask for the possible parking position of environment around and fashionable on the berth
Hold driver.Another driver assistance system warning driver such as watches out for the object being positioned in dead angle.
In order to realize its function, driver assistance system needs the data of vehicle-periphery, to this end, use multiple sensing
Device, is based particularly on ultrasonic sensor.Send ultrasonic signal based on ultrasonic sensor and receive by surrounding
The echo of object reflection.Calculate sensor from transmission time and the aerial known speed of sound wave of ultrasonic signal and enter
Spacing between the object of row reflection.Such sensor has visibility region, and within described visibility region, sensor is permissible
Identify object.On the one hand visibility region is given by the radiation characteristic of ultrasonic tr-ansducer.Sound wave is sent by the shape bored with sound, institute
State sound cone and there is the opening angle determined.The opening angle of sensor defines a region at this, and in this region, acoustic pressure is closed
-3dB is dropped to for the acoustic pressure recorded on the main shaft of sensor.The opening angle of sound cone is at this with the physics fact such as
The size of film and the configuration of speaker about and relevant with the supersonic frequency used, wherein, for relatively low supersonic frequency
Obtain bigger opening angle.
In addition to the opening angle of sound cone, for the visibility region of sonac, the characteristic curve used is
Important, described characteristic curve is the threshold value relevant with the time.Only amplitude is in the ultrasonic echo of more than threshold value and is known by sensor
Wei echo.This threshold value or characteristic curve are chosen relevantly with the time, in order in the time window determined or distance range
Conceal often occur by ultrasonic reflection (hereinafter referred to as ground echo) faced by track or ground.This relevant with the time
The setting of threshold value is the most by DE 196 45 339 disclosure.
If threshold value selects the lowest, then has too many ground echo and is mistakenly identified as object.If contrary threshold
Value is chosen the highest, then the visibility region of sensor is greatly limited because object more weak, be positioned on sound taper edge
Ultrasonic echo be no longer recorded.
A kind of situation for the detection characteristic at adaptability adaptation detection device is disclosed by DE 103 23 639 A1
Get off to detect the method for object.First detection device runs with maximum sphere of action or sensitivity.If it find that, utilize and adjust
The detection parameter detecting saved out is to interference data, the fragmentary reflection of such as road gallet, then just change the feature of detection device
Line parameter, wherein, detection range spatially reduces length, until random interference data no longer being detected.
Being disclosed a kind of driver assistance system by DE 10 2,004 047 485 A1, it has for measuring parking position
Sensor.Here, not only analyze and process the single echo detected by sensor.The substitute is, at sensor
Receive and signal is recognized multiple echo-signal and uses it for analyzing and processing.Echo-signal is analyzed by means of tracking filter
Assessment, wherein, the echo-signal that will be due to ground return filters.
DE 10 2,011 075 484 A1 describes a kind of method of sphere of action for improving ultrasound measurement system.
There is described herein, send and detect again modulated signal.Advise at this, use optimal filter, wherein, respectively for not
Same speed uses through adaptive optimal filter.
A kind of method and apparatus for determining object distance is disclosed by DE 102 59 902 A1.Here, analyzing
Arrange when processing the signal received, extract spacing wave out.Spacing wave includes interference sections such as clutter and noise at this.The most right
The adaptability carrying out threshold value in detection is adaptive.Predetermined false alarm rate is allowed when adaptation.
The optimal choice of threshold value is determined by the visibility region of sonac.Known shortcoming of the prior art
It is, it is impossible in terms of the big visibility region of sonac, carry out the optimization of threshold value.
Summary of the invention
It is proposed that it is a kind of for utilizing at least one sonac to detect object in vehicle-periphery
Method, wherein, at least one sonac described sends ultrasonic pulse and receives again the ultrasonic echo reflected.Described extremely
A few sonac has visibility region, can be by the echo identification object reflected in described visibility region, its
In, it is provided for the threshold value concealed by ground echo, wherein, the ultrasonic echo with the amplitude more than described threshold value is classified as
The echo of object.In addition arranging, the adaptability carrying out described threshold value is adaptive, and wherein, described threshold value is chosen so as to estimated rate
Ground echo be classified as the echo of object mistakenly, ground echo is filtered from the ultrasonic echo of the echo being classified as object
Remove, wherein,
A) tracking filter is used, in order to the ground clutter suppression that will occur at random；With or
B) optimal filter is used, in order to the ground clutter suppression of Doppler frequency shift will occur.
Arranging in the method, threshold value is predefined for the visibility region so that at least one sonac described as far as possible
Greatly.To this end, threshold value must be chosen to the least.Generally, threshold value is chosen to do not have ground echo to be returned mistakenly
Echo for object.Here, threshold value is relevant with the time, wherein, the time zone that threshold value occurs at ground echo probability is the highest
Territory has its maximum.
In order to identify object, by the echo-signal relevant with the time of ultrasonic echo with as the threshold ratio relevant with the time
Relatively.If the amplitude of echo-signal exceedes the amplitude of threshold value, then just the ultrasonic echo received to be classified as the echo of object.
The method of suggestion is arranged, threshold value is declined with following degree targetedly so that the ground of estimated rate
Echo has the amplitude exceeding threshold value and the echo being first classified as object.Do not made a reservation for regularly in this threshold value,
But be adjusted in continuous print runs.It is to say, such as threshold value declines from predetermined initial value, until reach ground echo
The estimated rate being classified as object returns.Term " ratio " is interpreted as the quantity of ground echo at this, sonac every
The ground echo of the described quantity in the individual ultrasonic pulse sent has more than the amplitude of threshold value and is therefore classified as mistakenly
The echo of object.If such as recording a ground echo as object returns in every ten ultrasonic pulses sent, that
This ratio is 0.1 in other words 10%.If seeing statistically and recording one in each ultrasonic pulse sent as thing
The ground echo of body echo, then this ratio is 1 in other words 100%.This ratio is likely to more than 1 in other words 100%.This
In the case of, the amplitude of echo-signal repeatedly exceedes threshold value, and wherein, that gives threshold value within the transmission time exceedes one phase of configuration every time
Spacing for sonac.If the ratio of ground echo is more than predetermined value, then the most correspondingly improve threshold value.Permissible
Known to using for professional and technical personnel in the field, any control method is to regulate threshold value.Such as can use from radar skill
In art, (constant false alarm rate, English is constant false alarm rate to known method such as CFAR, and German is
Konstante Falschalarmrate) and CA-CFAR (CA-CFAR rate, English is cell-averaging
Constant false alarm rate, German is Zelle-Mittelung konstante Falschalarmrate).But
It is that needing can by ground echo for typical driver assistance system such as dead angle assists or moors the operation of auxiliary
Conceal by ground, enter ground echo is classified as during process object to trigger brake regulation and in dead angle auxiliary because on the berth
In the case of may cause irrational warning.The most and then the detection of echo is provided that, is filtered.
When filtering, use tracking filter according to modification a), in order to the ground clutter suppression that will occur at random.By with
Track wave filter, can verify the what state of echo in bigger time interval.If echo occurs the most occasionally, also
That is, the identified ultrasonic pulse only once and below of echo does not reappears, then it is very greatly possibly
Interference, described interference must be filtered out.Moreover it is preferred that the transmission from ultrasonic signal can be checked by tracking filter
The what state of the spacing that Time Calculation goes out.If the spacing calculated keeps constant, even if (sonac is configured vehicle
To described vehicle) move, then there is a strong possibility equally, and property is ground echo.If distribution ground on vehicle
Multiple sonac is set and their visibility region is the most overlapping, then the measurement knot of a sonac
Fruit can be examined by the measurement result of other sonacs.If adjacent sonac also detects that echo, its meter
The spacing calculated is the most constant when vehicle moves, then substantially increase the probability that there is ground echo.If at least two
The visibility region of sonac is the most overlapping, then the object recognized can carry out trilateration, wherein,
During with tracking filter filtering object, not only use the relative distance relative to vehicle and use direction.Although if
Vehicle itself moves, but before vehicle or after the distance of object and direction do not change, then be ground echo, described ground
Echo must be concealed, and is therefore filtered out.
Preferably the ultrasonic signal sent is modulated.To this end, such as use linear FM signal, say, that have really
The signal duration of fixed, in the described duration medium frequency change determined.Such as, the feelings of Linear Frequency Modulation rising signals
Under condition, supersonic frequency improves constantly, and in the case of Linear Frequency Modulation dropping signal, frequency declines constantly.In order to conceal
Interference, is preferably set up, and uses optimal filter (English is Matched-Filter, matched filtering device), described optimal filter
Device is transferred on modulated signal.Can be filtered those simply by means of optimal filter and to send out in terms of shape or modulation
The signal that the modulated signal that goes out is inconsistent.Therefore, the ground echo of the transmitting of Super pulse showing as sending is not filtered out,
Because this ground echo has modulation equally.If but vehicle motion, then so-called Doppler effect, described Doppler occur
Effect causes the frequency displacement of ultrasonic signal.Doppler effect relevant with direction works at this, wherein, is parallel to travel direction ground
The Doppler frequency shift that the ultrasonic echo entered suffers is maximum, and how general the ultrasonic echo being perpendicular to travel direction entrance then occur without
Strangle effect.Doppler frequency shift can be utilized fully to filter ground by the optimal filter of corresponding regulation targetedly return
Ripple.Here, make full use of, ground echo typically directly or directly goes out before front part of vehicle after vehicle tail
Existing, say, that ground echo is parallel to travel direction and injects and suffer Doppler effect the most completely.
It is therefore preferable that the ultrasonic pulse sent modulation and a tune being used for allowing do not have Doppler frequency shift is set
The optimal filter that signal processed passes through.Along with increasing and the increase of therefore Doppler effect, sonac of car speed
Visibility region increase ground distribution and neutralize in the region being substantially perpendicular to travel direction and be arranged essentially parallel to the district of travel direction
In territory.Along with the increase of car speed, increasing, from the region being parallel to travel direction, inject echo concealed.Phase
Instead, wave filter can be passed through from the region being perpendicular to travel direction.
Preferably, the bandwidth of modulated ultrasonic pulse increases along with the increase of car speed.Linear Frequency Modulation signal
In the case of, bandwidth is referred to as frequency separation, the frequency shift of ultrasonic pulse in described frequency separation.Owing to bandwidth increases,
The preciseness of separation of excellent wave filter reduces, thus the damping being parallel to the echo that travel direction is injected less greatly and is directly in
Object returns in travel direction also can also be detected.
By selecting the bandwidth of modulated ultrasonic pulse and regulating corresponding optimal filter, sonac can
See that region can be controlled.If it is desire to be limited to the visibility region being perpendicular to the region of travel direction, then be reduced by being modulated
The bandwidth of ultrasonic pulse.On the contrary, if it is desire to the visibility region of sonac also extends into the region along travel direction
On, then can extend visibility region, its mode is, increases the bandwidth of modulated ultrasonic pulse.For example, this makes bandwidth become
Changing 1kHz to 10kHz, wherein, the ultrasonic carrier frequency sent is typically in the range of 40kHz to 60kH.
Particularly, it is also possible to by by means of having the filtering of tracking filter of trilateration and modulated ultrasonic pulse
The adaptation of bandwidth combined.If such as by one echo of sonac record of orientation in travel direction, but three
Limit is measured and is found, this echo is not detected by adjacent sonac, then it is certain or relating to ground echo wants
Relate to the object being positioned at the visibility region center of sonac, before or after namely relating to being located immediately at vehicle
Object.By the result of modulated ultrasonic pulse, (in modulated ultrasonic pulse, bandwidth is from a ultrasonic pulse to
Ultrasonic pulse reduces) ground echo suffering Doppler effect is increasingly suppressed by optimal filter.Therefore, it can carry out
Having the adaptive combination of the tracking filter of trilateration and the bandwidth of modulated ultrasonic pulse, its mode is, first
Filter step is implemented the trilateration of echo by means of adjacent sonac, and, if trilateration is impossible
, then in the second filter step, the modulated ultrasonic pulse with the bandwidth reduced from pulse to pulse is concealed, wherein,
The ultrasonic echo being no longer identified in having the ultrasonic pulse of the bandwidth of reduction is classified as ground echo and is filtered out.
The preferably speed according to vehicle carries out the adaptation of threshold value.
Carry out the adaptation of threshold value the most as follows, i.e. realize each ultrasonic pulse sent has when vehicle stops
The ratio of 0.1 ground echo and this ratio also rise until each ultrasonic arteries and veins sent in the case of car speed increases
Punching has 5 ground echos.Preferably, this ratio is that each ultrasonic pulse sent is up to 2 ground echos and the most excellent
The each ultrasonic pulse sent of selection of land is up to 1 ground echo.Preferably reach maximum when car speed is 50km/h.
The visibility region of sonac not only by threshold value and determines also by acoustic pressure, and described acoustic pressure is bored towards sound
The direction at edge declines.Here, realize the bigger opening angle of sound cone for relatively low supersonic frequency, thus result is to occur
The bigger visibility region of sonac.It is therefore preferred that arrange, carry out predetermined sonac by regulation supersonic frequency
Visibility region.Here, supersonic frequency is preferably in the range of 20-80kHz, preferred 40-60kHz, particularly preferably 45-55kHz
Change, wherein, obtains bigger visibility region for relatively low supersonic frequency and correspondingly obtains for higher supersonic frequency
Visibility region that must be less.
Further, it is preferable to affected the visibility region of sonac by the intervention during adaptability adaptation of threshold value.?
This, can make visibility region increase by reducing threshold value, otherwise, visibility region can be made to reduce by improving threshold value.
Opening angle, wherein, this opening angle one cone of definition can also be defined for visibility region, in described cone,
Object can be by sensor identification.Therefore, the opening angle of this visibility region is owing to using low acoustic frequency and low threshold value
Increase.Additionally, in this visibility region, as described, due to the automobile in travelling Doppler effect can the time limit its
He divides, wherein, by using the little bandwidth of modulated ultrasonic pulse in the visibility region of sonac, from flat
The row ultrasonic echo in travel direction region is greatly damped.
Another aspect of the present invention is to provide the device of a kind of object for detecting in vehicle-periphery, described dress
Put and include controller and at least one sonac.Preferably, described device structure and/or be provided for implementing described here
Method.Correspondingly, the feature described in the framework of method is correspondingly also applied for this device and on the contrary at this device
Framework described in feature be correspondingly also applied for the method.Particularly, controller is provided for implementing side described here
Method.
Additionally, it is an aspect of the invention to provide a kind of driver assistance system, described driver assistance system includes
Device for detecting the object in vehicle-periphery described here.
Preferably, driver assistance system or be included in this driver assistance system for detecting vehicle periphery ring
The device of the object in border includes that multiple sonac, described sonac take with being respectively parallel to the travel direction of vehicle
To, i.e. along travel direction or against travel direction sensing.Additionally, driver assistance system is preferably provided for alert
Accuse and watch out for the object in vehicle dead angle and/or identify empty parking position when passing by.
In a particularly preferred form of implementation of driver assistance system, this device has eight sonacs,
Wherein, four sonacs are orientated along travel direction orientation and four sonacs against travel direction respectively.
Moreover, it relates to a kind of vehicle, described vehicle includes in driver assistance system described here
Individual.
By proposed method so that the visibility region of sonac is maximized.Sonac visible
Region bores and receive characteristic curve by its sound or threshold value determines.Advantageously advise, threshold value is carried out adaptability adaptive.Threshold value
Decline the most consumingly at this, to such an extent as to allow interference signal particularly ground echo with certain ratio.But vehicle periphery
Object in environment remains to reliably be detected, because advantageously using filtering, described filtering will be erroneously identified as object
The ground clutter suppression of echo.
Therefore, in proposed method, obtain in the case of not changing sonac and there is larger open angle
Bigger visibility region.
Advantageously, because the opening angle of bigger visibility region or bigger, reduce the surrounding for surrounding
The quantity of the sensor needed for supervision.It is thus possible, for instance the sensor being arranged on front part of vehicle can not only detect relative to
The spacing of the barrier before vehicle, and parking position can also be measured during vehicle travels and passes through simultaneously.
Bigger visibility region by means of the sonac being such as arranged on front part of vehicle or afterbody, it is also possible to
Such as carry out the supervision at dead angle.Therefore particularly can realize dead in the case of the most additional sensor towards side orientation
Angle auxiliary (SVA, English is side view assist).
Alternatively, or additionally, in the quantity phase of sensor simultaneously as the visibility region increased can also obtain and changes
That enters is functional.Owing to the visibility region of each sonac increases, the visibility region of adjacent ultrasonic transducers can be at least
Partly overlapping.In overlapping region, not only spacing but also the direction of object can also determine by means of trilateration.Therefore, by
The quality of the data that ambient sensors provides significantly increases.The most thus can also significantly improve the measurement essence of parking position
Degree.
Accompanying drawing explanation
Shown in the drawings of:
Fig. 1: the visibility region of the sonac of device of the prior art；
The visibility region of the device for detecting the object in vehicle-periphery of Fig. 2: the present invention；
Fig. 3: the concealing of ground echo in the case where the vehicle is running；
Fig. 4 a: there is the vehicle of 12 sonacs；
Fig. 4 b: there is the vehicle of 8 sonacs；
The time changing curve of the threshold value of Fig. 5: being accommodated property regulation.
Detailed description of the invention
Figure 1 illustrates the device of the object 26 in the surrounding detecting vehicle 1 according to prior art
12’.This device 12 ' includes multiple sonac 16 ', 18 ', wherein, according to being exemplarily illustrated a car in the view of Fig. 1
Sonac 16 ' on front portion, that be orientated forward and illustrate one towards the sonac 18 ' of right side orientation.These surpass
Sonic transducer 16 ' and 18 ' is connected with a controller 14 '.
Figure 1 illustrates, this vehicle 1 is how to travel through parking position 24, wherein, super by means of be orientated towards side
The size of parking position 24 measured by sonic transducer 18 '.Identify that (described kerb limits kerb in side by sonac 18 '
Boundary's parking position 24) and two objects 26 (being parked vehicle here), said two object forwardly and rearwardly gauge parking position
24.As very clear from Fig. 1, sonac 18 ' has visibility region 22 ', and described visibility region is suitable for
Measure parking position 24.The corresponding visibility region 20 ' of the sonac 16 ' being orientated forward can also identify that object 26 is (described
Object forwardly and rearwardly gauge parking position 24), owing to this visibility region 20 ' is restricted, it is impossible to use sonac
16 ' the degree of depth measuring parking position 24.
In the description below of embodiments of the invention, identical or similar parts or element with identical or
The reference that person is similar to marks, and wherein, saves the explanation repeating these parts or element on rare occasion.Accompanying drawing is only
Present disclosure is shown schematically only shown.
Figure 2 illustrates vehicle 1, it has the object 26 in the surrounding detecting vehicle 1 according to the present invention
Device 12.Described device 12 includes exemplarily two sonacs 16,18, and said two sonac is arranged on car
In anterior region.Here, a sonac 16 is orientated forward, another sonac 18 is orientated towards side.These
Sonac 16,18 is connected with a controller 14.
View from Fig. 2 is it is known that the sonac 16 being orientated forward has visibility region 20 and towards right side
The sonac 18 of orientation has visibility region 22.Visibility region 20,22 is following region, in this region ultrasonic sensing
Device 16,18 can be by the object 26 in the surrounding of the ultrasonic echo identification vehicle 1 of reflection.Visibility region 20,22 at this
Being increased significantly by the reduction of threshold value, the amplitude of ultrasonic echo must be over described threshold value, in order to returning as object 26
Ripple is identified.Now, by increasing visibility region 20,22, the sonac 16 being orientated forward also is able to measure parking position 24,
Because this sonac can identify two objects 26 and the kerb 28 of gauge parking position 24, described kerb shows pool
The degree of depth of parking stall 24.
Additionally, the view from Fig. 2 is it is known that the visibility region 20,22 of two sonacs 16,18 is overlapping one
In region 29 partly overlapping.Trilateration can be carried out, say, that situation shown in figure 2 in this overlapping region 29
Under not only may determine that the distance of object 26, and can determine that the object 26 direction relative to vehicle 1.
Fig. 3 illustrates the vehicle 1 having according to assembly of the invention 12, and described device includes two sonacs 16,18
With described controller 14.Vehicle 1 travels forward along travel direction 50.Ultrasonic pulse 52, institute is sent by sonac 16
State ultrasonic pulse to be reflected by object 26.The echo 56 reflected by object 26 is identified by sonac 16 again, thus controller
14 can determine the distance relative to object 26 according to signal transmission time.
In addition to the echo 56 of the object 26 in the surrounding of vehicle 1, reflection can also be caused by track itself, example
Such as ground echo 54.If the amplitude of ground echo 54 is more than threshold value, then this ground echo by controller 14 first as thing
The echo 56 of body 26 processes like that, but for the function of aid system of vehicle 1 it is required that by ground echo 54 reliably
Conceal.
If vehicle 1 moves along travel direction 50, then ultrasonic suffer Doppler effect.Here, be parallel to traveling side
Frequency displacement is there is in ultrasonic pulse or echo to 50 due to Doppler effect.
It is preferably set up, the ultrasonic pulse 52 sent is modulated into the form of the most linearly FM signal, wherein, online
In property FM signal, in the case of such as Linear Frequency Modulation rising signals, supersonic frequency rises over time.Then, it is filtered,
Wherein, using optimal filter, described optimal filter sets for the modulated linear FM signal of ultrasonic pulse 52
Put.Thus, it is possible to the echo 56 of object 26 is separated with ground echo 54, because object 26 is a side relative to vehicle 1
Upwards, described direction is perpendicular to travel direction 50.Therefore, echo 56 is not subjected to Doppler frequency shift.Ground echo 54 is again from one
Individual direction is injected on sonac 16, described in be oriented parallel to travel direction 50.Therefore, there is Doppler in ground echo 54
Frequency displacement.The ground echo 54 that Doppler frequency shift occurs can be filtered by the filtering (particularly by means of optimal filter) used.
Preferably, underneath with tracking filter, in order to distance and/or position according to the motion relative to vehicle 1 filter other
Ground echo 54.
Filtering can fully or partly be implemented in controller 14.Preferably, by means of the filter of optimal filter
Ripple has passed through sonac 16, and the corresponding device in 18 is carried out and controller is passed through in filtering by means of tracking filter
14 are carried out.
Passing through carried out filtering, the visibility region 20 of sonac 16 is substantially divided into two regions 58,60, its
In, first area 58 is arranged essentially parallel to travel direction 50 and second area 60 is substantially perpendicular to travel direction 50.Pass through
The filtering (particularly by means of optimal filter) carried out, there occurs Doppler frequency shift echo, particularly there occurs how general
The ground echo 54 strangling frequency displacement is damped consumingly, thus the visibility region 20 of sonac 16 is substantially confined to vertically
On the second area 60 of travel direction 50.
The vehicle 1 with driver assistance system 10 is shown respectively in figs 4 a and 4b, and described vehicle includes according to this
The device 12 of the bright object 26 in the surrounding detecting vehicle 1.The enforcement modification that two of this device 12 illustrate
Difference is the quantity of sonac 16-19 respectively.
In the enforcement modification of Fig. 4 a, device 12 includes 12 sonac 16-19 altogether, and wherein, four ultrasonic
Sensor 16 is arranged on the front portion of vehicle 1 and four sonacs 17 are arranged on the afterbody of vehicle 1.Sonac 16 He
17 are respectively parallel to travel direction at this is orientated, say, that sonac 16 points to along travel direction, and ultrasonic biography
Sensor 17 points to against travel direction.Additionally, at front part of vehicle, two sonacs 18 are orientated towards the side of vehicle 1, and
And, at the afterbody of vehicle 1, it being also provided with two sonacs 19, the two sonac is partly orientated to side.
In fig .4, be exemplarily illustrated along travel direction orientation sonac 16 visibility region 20, against
Travel direction orientation sonac 17 visibility region 21, towards side orientation sonac 18 visibility region 22 with
And partly to the visibility region 23 of the sonac 19 of side orientation.
Refer to that sideways sonac 18 and the sonac 19 being partly orientated towards side are generally used for monitoring
Dead angle and be used for identifying parking area.Sonac 16 and 17 along travel direction or against travel direction sensing is usual
For measuring the spacing of vehicle 1 and barrier, the pool especially in conjunction with vehicle 1 enters.As be appreciated that from the description of Fig. 4 a that
Sample, the visibility region of sonac 16-19 is the biggest, to such an extent as to produces overlapping region 29.
In the enforcement modification of Fig. 4 a, overlapping region 29 is for improving the quality of sensing data.Such as, in overlapping region
In 29, the position of object is determined by trilateration.
The enforcement modification illustrated in fig. 4b is corresponding to Fig. 4 a, wherein, save finger sideways sonac 18 and
Partly towards the sonac 19 of side orientation, thus the device 12 of Fig. 4 b the most only includes eight sonacs 16,
17.The corresponding visibility region 20,21 of sonac extends to side at least in part, without additionally taking towards side
To sonac 18,19, see Fig. 4 a.These information can use or for alerting in the framework measuring parking position
Watch out for the object in dead angle.Therefore, the vehicle 1 (it driver assistance system 10 including there is device 12) illustrated in fig. 4b
Can alert object that driver watches out in dead angle or can travel through time identify empty parking position, without arranging other
Sonac.
Depicting a chart in Figure 5, described figure indicates the time trend of adaptive threshold.X-axis is described
Be time t and in Y-axis, depict amplitude A.In order to be identified as the echo of object 26, the amplitude A of echo-signal is necessary
Amplitude more than described threshold value.
Describe typical ground echo signal 30 in Figure 5.Ground echo signal 30 has it at this in a region 32
Amplitude maximum.This region 32 is with interval consistent relative to sonac 16, the time interval of 18 or distance.
Generally according to prior art, threshold value 40 is predefined for so that ground echo signal 30 or its amplitude are in any situation
It is no more than down threshold value 40.As the description from Fig. 4 is appreciated that, threshold value 40 is selected as very big at this, because
Even if also should reliably conceal occurred ground echo in the case of bad road conditions, such as road gallet.
Additionally, the adaptive threshold 42 for the vehicle (that is speed is zero) stopped is charged in Figure 5.Through suitable
The threshold value 42 answered is significantly below threshold value 40, and thus, the sensitivity of corresponding sonac rises significantly.Therefore, this surpasses
Sonic transducer can also record the ultrasonic echo being reflected by the object, and described ultrasonic echo is positioned on the edge of sound cone, wherein acoustic pressure
It is readily apparent from declining.The decline of threshold value caused due to the threshold value 42 after adapting to causes, the amplitude of ground echo signal 30
Can also temporarily threshold value more than 42 after adaptation.The ground being classified as object returns the most mistakenly is returned
Ripple is by back to back filtering suppression.
Additionally, the threshold value 44 car speed being more than after the adaptation of 0 is described in Figure 5.Threshold value 44 after this adaptation
Decline the most significantly, wherein, tolerance, see statistically for each ultrasonic pulse sent, ground echo
The amplitude of signal once exceedes threshold value, and a ground echo of the most each ultrasonic pulse sent is classified as returning of object
Ripple.The height ratio of error detector can be tolerated, because when travel speed is higher, ground echo can be based on tracking filter
Carry out.
As be appreciated that from Fig. 5 equally, whole threshold values or characteristic curve are relevant with the time, wherein,
Its amplitude maximum occurs respectively in region 32, and the amplitude of ground echo signal 30 is maximum in this region.Threshold value or
Characteristic curve not only all declines towards when during t=0 but also tending to infinitely great ∞ for t.
The invention is not restricted to embodiment described here and the aspect emphasized wherein.On the contrary, preferred embodiment giving
In the range of going out, the change in those of ordinary skill in the art's limit of power is possible in a large number.
Claims (12)
1. one kind is used for the object (26) utilized in the surrounding of at least one sonac (16-19) detection vehicle (1)
Method, wherein, described at least one sonac (16-19) sends ultrasonic pulse (52) and receives again ultrasonic echo,
And described at least one sonac (16-19) has visibility region (20-23), can pass through in described visibility region
The echo (56) of reflection identifies described object (26), wherein, is provided with the threshold value (42,44) for concealing ground echo (54),
Wherein, the ultrasonic echo having the amplitude more than described threshold value (42,44) is classified as the echo (56) of object (26), its feature
Being, carrying out described threshold value (42,44) adaptability adaptation, wherein, described threshold value (42,44) is chosen so as to the ground of estimated rate
Face echo (54) is classified as the echo (56) of object (26), mistakenly by ground echo (54) from the echo being classified as object (26)
(56) ultrasonic echo filters, wherein,
A) tracking filter is used, in order to filtered by the ground echo (54) occurred at random；With or
B) optimal filter is used, in order to filtered by the ground echo (54) that there occurs Doppler frequency shift.
Method the most according to claim 1, it is characterised in that described threshold value (42,44) is according to the speed of described vehicle (1)
Come adaptive.
Method the most according to claim 2, it is characterised in that the adaptation of described threshold value (42,44) is carried out as follows,
I.e. reach each ultrasonic pulse (52) sent when described vehicle (1) stops and having the ratio of 0.1 ground echo (54), and
This ratio rises when described vehicle (1) speed increases until each ultrasonic pulse (52) sent has 5 ground echos (54).
The most according to the method in any one of claims 1 to 3, it is characterised in that use at least two sonac
(16-19), described at least two sonac has least partially overlapped visibility region (20-23), wherein, to recognizing
Object (26) carry out trilateration, and abandon the following object (26) before and after described vehicle (1) when filtering,
Described object still keeps constant relative to the relative position of this vehicle (1) in the case of vehicle (1) displacement.
Method the most according to any one of claim 1 to 4, it is characterised in that to by least one sonac
(16-19) ultrasonic pulse (52) sent is modulated, wherein, described optimal filter be arranged for making through ovennodulation,
The signal that Doppler frequency shift does not occur passes through.
Method the most according to claim 5, it is characterised in that through the bandwidth of ultrasonic pulse (52) of ovennodulation along with described
The speed of vehicle (1) promotes and increases.
7. according to the method described in claim 5 or 6, it is characterised in that described at least one sonac (16-19) can
See that region (20) is regulated by the bandwidth selecting the described ultrasonic pulse through ovennodulation (52), wherein, described visibility region
(20) in the case of bandwidth reduces, it is limited to be perpendicular to the second area (60) of travel direction (50), and increases in bandwidth
In the case of widen with the first area (58) in travel direction (50).
Method the most according to any one of claim 1 to 7, it is characterised in that at least one sonac described
(16-19) visibility region (20-23) by select described threshold value (42,44) regulate, wherein, along with described threshold value (42,
44) declining, described visibility region (20-23) increases, otherwise, along with described threshold value (42,44) raises, described visibility region (20-
23) reduce.
9. the device (12) being used for detecting the object (26) in the surrounding of vehicle (1), described device includes controller
(14) and at least one sonac (16-19), it is characterised in that described device (12) is provided for implementing to want according to right
Seek the method according to any one of 1 to 8.
10. a driver assistance system (10), it has according to claim 9 for detecting vehicle (1) around
The device (12) of the object (26) in environment.
11. driver assistance systems according to claim 10 (10), it is characterised in that described device includes multiple ultrasonic
Sensor (16,17), wherein, described sonac (16,17) is parallel to the travel direction orientation of described vehicle (1), and
Described driver assistance system (10) is provided for object (26) and/or the identification when passing by giving a warning to watch out in dead angle
Empty parking position.
12. 1 kinds of vehicles (1), it is characterised in that described vehicle (1) includes according to the driver described in claim 10 or 11
Aid system.
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| DE102015209878.8A DE102015209878B3 (en) | 2015-05-29 | 2015-05-29 | Method and device for detecting objects in the environment of a vehicle |
| DE102015209878.8 | 2015-05-29 |
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|---|---|
| CN (1) | CN106199614B (en) |
| DE (1) | DE102015209878B3 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| FR3036809A1 (en) | 2016-12-02 |
| GB2539798A (en) | 2016-12-28 |
| DE102015209878B3 (en) | 2016-02-18 |
| GB2539798B (en) | 2021-03-10 |
| FR3036809B1 (en) | 2019-06-21 |
| GB201609309D0 (en) | 2016-07-13 |
| CN106199614B (en) | 2021-08-31 |
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