CN114270218A - 基于超声波传感器的仰角估计方法 - Google Patents

基于超声波传感器的仰角估计方法 Download PDF

Info

Publication number
CN114270218A
CN114270218A CN202080059106.2A CN202080059106A CN114270218A CN 114270218 A CN114270218 A CN 114270218A CN 202080059106 A CN202080059106 A CN 202080059106A CN 114270218 A CN114270218 A CN 114270218A
Authority
CN
China
Prior art keywords
frequency
ultrasonic
radiation pattern
ultrasonic sensor
elevation angle
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.)
Pending
Application number
CN202080059106.2A
Other languages
English (en)
Chinese (zh)
Inventor
W·苏莱曼
C·布朗
R·亚当斯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Zhixing Germany Co ltd
Original Assignee
Continental Automotive Technologies GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Continental Automotive Technologies GmbH filed Critical Continental Automotive Technologies GmbH
Publication of CN114270218A publication Critical patent/CN114270218A/zh
Pending legal-status Critical Current

Links

Images

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
    • 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
    • G01S7/524—Transmitters
    • 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
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S15/02—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
    • G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S15/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • 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
    • G01S15/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse-modulated waves and based upon the Doppler effect resulting from movement of targets
    • 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
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
    • 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
    • G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
    • G01S7/52019—Details of transmitters
    • G01S7/5202—Details of transmitters for pulse 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
    • G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
    • G01S7/52023—Details of receivers
    • G01S7/52025—Details of receivers for pulse 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/862—Combination of radar systems with 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous 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
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • 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
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar 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
    • G01S15/46—Indirect determination of position data
    • G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
    • 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
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/939—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details vertical stacking of sensors, e.g. to enable obstacle height determination
    • 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
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
CN202080059106.2A 2019-09-12 2020-08-31 基于超声波传感器的仰角估计方法 Pending CN114270218A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP19196984.9 2019-09-12
EP19196984.9A EP3792656B8 (en) 2019-09-12 2019-09-12 Method for elevation angle estimation based on an ultrasound sensor
PCT/EP2020/074176 WO2021047927A1 (en) 2019-09-12 2020-08-31 Method for elevation angle estimation based on an ultrasound sensor

Publications (1)

Publication Number Publication Date
CN114270218A true CN114270218A (zh) 2022-04-01

Family

ID=67956477

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080059106.2A Pending CN114270218A (zh) 2019-09-12 2020-08-31 基于超声波传感器的仰角估计方法

Country Status (5)

Country Link
US (1) US12436277B2 (https=)
EP (1) EP3792656B8 (https=)
JP (1) JP7320127B2 (https=)
CN (1) CN114270218A (https=)
WO (1) WO2021047927A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4191274B1 (en) * 2021-12-03 2026-04-08 Aptiv Technologies AG Radar-based estimation of the height of an object
CN117008112A (zh) * 2022-04-29 2023-11-07 南京隼眼电子科技有限公司 目标方位角测量方法、装置及存储介质
DE102022131873A1 (de) * 2022-12-01 2024-06-06 Valeo Schalter Und Sensoren Gmbh Höhenaufgelöstes hindernisprofil mittels ultraschalls

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5596550A (en) * 1995-06-20 1997-01-21 Northrop Grumman Corporation Low cost shading for wide sonar beams
DE102010028829A1 (de) * 2010-05-11 2011-11-17 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der Position eines Objektes relativ zu einem Fahrzeug, insbesondere einem Kraftfahrzeug, zur Verwendung in einem Fahrerassistenzsystem des Fahrzeuges
CN102258384A (zh) * 2010-05-28 2011-11-30 通用电气公司 具有可配置接收孔径的超声成像系统和方法
DE102012004320A1 (de) * 2012-03-03 2013-09-05 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Umfelderfassung unter Ausnutzung des Dopplereffekts
DE102013207823A1 (de) * 2013-04-29 2014-10-30 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der Koordinaten eines Objekts
US20150323660A1 (en) * 2014-05-12 2015-11-12 Autoliv Asp, Inc. Radar system and method for determining range, relative velocity and bearing of an object using continuous-wave and chirp signals
DE102016105022A1 (de) * 2016-03-18 2017-09-21 Valeo Schalter Und Sensoren Gmbh Verfahren zum Erfassen zumindest eines Objekts in einer Umgebung eines Kraftfahrzeugs durch eine indirekte Messung mit Sensoren, Steuereinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102018101324A1 (de) * 2018-01-22 2019-07-25 Valeo Schalter Und Sensoren Gmbh Verfahren zum Bestimmen einer Position eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs durch Aussenden eines Ultraschallsignals mit verschiedenen Frequenzen, Recheneinrichtung sowie Ultraschallsensorvorrichtung

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3324821B2 (ja) * 1993-03-12 2002-09-17 富士重工業株式会社 車輌用車外監視装置
US20140126822A1 (en) * 2011-03-11 2014-05-08 The University Of Sydney Image Processing
JP2012215490A (ja) * 2011-04-01 2012-11-08 Oki Electric Ind Co Ltd 音源位置推定装置
WO2013042021A1 (en) * 2011-09-22 2013-03-28 Koninklijke Philips Electronics N.V. Ultrasound measurement assembly for multidirectional measurement
US20140022109A1 (en) * 2012-07-23 2014-01-23 Toyota Motor Engineering & Manufacturing North America, Inc. Radar field of view expansion with phased array transceiver
JP5334342B1 (ja) 2012-08-15 2013-11-06 株式会社ソニック 計量魚群探知機
US9129515B2 (en) 2013-03-15 2015-09-08 Qualcomm Incorporated Ultrasound mesh localization for interactive systems
JP5474241B1 (ja) 2013-07-26 2014-04-16 株式会社ソニック パルス圧縮相関係数生成回路及びパルス圧縮超音波探知装置
US20150285904A1 (en) * 2014-04-04 2015-10-08 Texas Instruments Incorporated Antenna configuration for parking assist radar
DE102015107752A1 (de) * 2015-05-18 2016-11-24 Endress + Hauser Flowtec Ag Verfahren zur Ermittlung zumindest einer Rohrwandresonanzfrequenz sowie Clamp-On-Ultraschall-Durchflussmessgerät
CN108780149B (zh) 2016-03-18 2022-12-09 法雷奥开关和传感器有限责任公司 通过传感器的间接测量来改进对机动车辆周围的至少一个物体的检测的方法，控制器，驾驶员辅助系统和机动车辆
US10386792B2 (en) * 2016-10-19 2019-08-20 Ants Technology (Hk) Limited Sensory systems for autonomous devices
DE102018100567B4 (de) 2018-01-11 2019-09-12 Valeo Schalter Und Sensoren Gmbh Verfahren zum Bestimmen einer Position eines Objekts mit Richtungsschätzung mittels eines Ultraschallsensors, Steuergerät, Ultraschallsensorvorrichtung sowie Fahrerassistenzsystem
DE102018103490B4 (de) * 2018-02-16 2023-03-09 Valeo Schalter Und Sensoren Gmbh Verfahren zum Bestimmen einer Höhe eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs durch Bestimmung von Richtungsanteilen in einem Ultraschallsignal, Recheneinrichtung, Ultraschallsensorvorrichtung sowie Fahrerassistenzsystem
US11294031B2 (en) * 2019-07-16 2022-04-05 Nxp B.V. Method and system for height estimation in ultra-short-range radar

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5596550A (en) * 1995-06-20 1997-01-21 Northrop Grumman Corporation Low cost shading for wide sonar beams
DE102010028829A1 (de) * 2010-05-11 2011-11-17 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der Position eines Objektes relativ zu einem Fahrzeug, insbesondere einem Kraftfahrzeug, zur Verwendung in einem Fahrerassistenzsystem des Fahrzeuges
CN102884443A (zh) * 2010-05-11 2013-01-16 罗伯特·博世有限公司 用于确定对象相对于车辆、尤其是机动车的位置以应用在车辆的驾驶员辅助系统中的方法和装置
CN102258384A (zh) * 2010-05-28 2011-11-30 通用电气公司 具有可配置接收孔径的超声成像系统和方法
DE102012004320A1 (de) * 2012-03-03 2013-09-05 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Umfelderfassung unter Ausnutzung des Dopplereffekts
DE102013207823A1 (de) * 2013-04-29 2014-10-30 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der Koordinaten eines Objekts
US20150323660A1 (en) * 2014-05-12 2015-11-12 Autoliv Asp, Inc. Radar system and method for determining range, relative velocity and bearing of an object using continuous-wave and chirp signals
DE102016105022A1 (de) * 2016-03-18 2017-09-21 Valeo Schalter Und Sensoren Gmbh Verfahren zum Erfassen zumindest eines Objekts in einer Umgebung eines Kraftfahrzeugs durch eine indirekte Messung mit Sensoren, Steuereinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102018101324A1 (de) * 2018-01-22 2019-07-25 Valeo Schalter Und Sensoren Gmbh Verfahren zum Bestimmen einer Position eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs durch Aussenden eines Ultraschallsignals mit verschiedenen Frequenzen, Recheneinrichtung sowie Ultraschallsensorvorrichtung

Also Published As

Publication number Publication date
EP3792656B8 (en) 2025-08-20
JP2022543438A (ja) 2022-10-12
JP7320127B2 (ja) 2023-08-02
EP3792656B1 (en) 2025-07-16
US12436277B2 (en) 2025-10-07
US20220334250A1 (en) 2022-10-20
WO2021047927A1 (en) 2021-03-18
EP3792656A1 (en) 2021-03-17

Similar Documents

Publication Publication Date Title
US8942065B2 (en) Method and device for determining the position of an object in relation to a vehicle, in particular a motor vehicle, for use in a driver assistance system of the vehicle
CN106922175B (zh) 物体检测装置
JP6430777B2 (ja) 物体検知装置
JP5831415B2 (ja) 駐車支援装置
JP4698087B2 (ja) レーダの水平方向軸ずれ発生検出装置、軸ずれ量決定装置、および軸ずれ補正装置
CN105549018B (zh) 对象检测装置
JP3736521B2 (ja) 車両用物体認識装置
CN114270218A (zh) 基于超声波传感器的仰角估计方法
CN105549021A (zh) 对象检测装置
JP7602024B2 (ja) 車両の周辺部にあるオブジェクトを特徴付けるための方法
JP2022543438A5 (https=)
JP2023541147A5 (https=)
US20250004115A1 (en) Correction of ultrasound-based measurements by means of angle information
US20240402336A1 (en) Method for characterizing an object in an environment of a motor vehicle
JP4173809B2 (ja) 目標対象の位置を検出する方法及び該方法により動作するレーダシステム
CN110945377B (zh) 用于识别对象的位置的设备和方法
JP2002122670A (ja) 車間距離計測方法
JP2024536916A (ja) 立体角が変化する超音波センサ装置
JP7560397B2 (ja) 物体識別装置、車両および物体識別方法
JP2024529175A5 (https=)
US20210389456A1 (en) Drive support device
CN116134339A (zh) 用于利用超声波脉冲来确定对象的速度的方法
EP4369038A1 (en) Object detection system and object detection device
JP2018087759A (ja) カーブ推定装置
JPWO2019160102A1 (ja) 測定装置、測定方法、測定プログラム、測定プログラムを記録した記録媒体および車両制御装置

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20230113

Address after: Germany Ingolstadt

Applicant after: Continental Zhixing Germany Co.,Ltd.

Address before: Hannover

Applicant before: CONTINENTAL AUTOMOTIVE GmbH

RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20220401