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
  • G01S7/52004—Means for monitoring or calibrating
• • 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
  • 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
  • G01S13/865—Combination of radar systems with lidar 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
  • G01S13/867—Combination of radar systems with cameras
• • 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
  • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
  • G01S7/497—Means for monitoring or calibrating
  • G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
• • 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
  • G01S2013/93185—Controlling the brakes
• • 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
  • G01S2013/9319—Controlling the accelerator
• • 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
  • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
• • 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
  • G01S2013/9321—Velocity regulation, e.g. cruise control
• • 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
  • G01S2013/9324—Alternative operation using ultrasonic waves
• • 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
  • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
• • 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
  • G01S2013/9327—Sensor installation details
  • G01S2013/93271—Sensor installation details in the front of the 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
  • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
  • G01S7/40—Means for monitoring or calibrating
  • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
• • 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
  • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
  • G01S7/40—Means for monitoring or calibrating
  • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
  • G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating

Definitions

• the invention relates to a distance measuring device and a method for functional testing of a distance measurement according to the generic of the sibling
• the distance of the obstacle to the vehicle is determined.
• ultrasonic distance measuring devices are used in particular to assist the driver when parking the vehicle. This exploits that with relatively few sensors, either the entire vehicle environment, but at least a wide angle range before or behind the vehicle can be covered.
• the range of the ultrasonic sensors is limited.
• radar sensors are used in which radar signals are radiated, reflected by an obstacle and received by the radar sensor again.
• the distance to the obstacle is also determined from the signal change by the transit time.
• Radar sensors are characterized by the fact that they have a relatively long range of up to 200 m. On the other hand, should not be too large for the monitoring of road traffic, the monitored angle range, so that obstacles on the sidewalk or on a parallel road are not detected as a preceding vehicle.
• a parking aid and a It is therefore known to provide ultrasonic sensors on the one hand and radar sensors on the other hand for the various applications on a vehicle. Furthermore, it is also known to perform a self-test for the respective systems. Especially with ultrasonic sensors, it may also be a creeping
• the distance measuring device according to the invention and the method according to the invention for functional testing of a distance measurement have the advantage that a distance measurement, which is operated with a second measuring method, has a
• Distance measurement is checked, which is operated after a first measurement method.
• Different measuring methods should be understood to mean different physical principles with which a distance measurement is carried out.
• an acoustic distance measurement for example an ultrasonic distance measurement
• an electromagnetic distance measurement for example a radar distance measurement or an infrared light distance measurement (LIDAR)
• LIDAR infrared light distance measurement
• the measures listed in the dependent claims advantageous refinements and improvements of the distance measuring device listed in the dependent claims and the method according to the invention for functional testing of a distance measurement are possible. It is particularly advantageous to use the first measuring system as a measuring system with a long range and the second measuring system as a
• Carry out measuring system with a short range and the widest possible angle coverage While the long-range measuring system can also cover a far-away area on the road in front of the vehicle, the measuring system with the wide angular coverage serves in particular to cover the entire vehicle environment, at least in an area in front of the vehicle or behind the vehicle
• the short-range system may be checked if the long-range system detects an obstacle in the immediate vicinity of the vehicle within the range of the short-range system. Because if such an obstacle exists and of the long-range system, so must the short-range system of this
• the short-range system can detect obstacles in the near range. It is particularly advantageous here to implement the short-range system as an ultrasonic distance measuring device and the long-range system as a radar distance measuring device or infrared distance measuring device.
• Measuring system primarily aimed at obstructions at a greater distance from e.g. 10 to 200 m to detect. In the vicinity z. B. between Im and 10m distance measurement is also possible, but can not be detected by an optionally smaller angle coverage, the entire area in front of the vehicle. If there is an obstacle in this area in front of the vehicle, this obstacle may not be detected by the long-range measuring system. However, the short-range measuring system can detect this obstacle. However, such a warning can output the short-range measuring system with high certainty only if its function has been tested. Has, for example, When driving, snow or slush is applied to the sensors of the short-range measuring system, the measurement may be disturbed, in particular if sound signals are used for the measurement.
• a functional test is advantageously carried out in that, in the event that the long-range measuring system detects the obstacle, it is also attempted with the short-range measuring system to measure the distance to the obstacle. If in this case the short-range measuring system also detects the obstacle, the function of the short-range measuring system is ensured. If it does not detect the obstacle, obstacle monitoring in the area in front of the vehicle can not be carried out safely before starting.
• a particularly reliable function check of the short-range system can advantageously take place when the long-range system has detected an obstacle that persists in front of it, since system-related obstacle detection is particularly safe for moving objects.
• a starting request can e.g. be detected by engaging the gear, the choice of a gear, a release of the brakes or a touch of the accelerator pedal. This ensures that in the subsequent
• a corresponding measurement in a vehicle which automatically starts again after a stopping process, even if that in front of him moving vehicle starts again.
• pedestrians may use the opportunity to cross the road and be in the period between the front vehicle and the vehicle itself when the front vehicle is traveling. If now no safe obstacle detection, then the rear vehicle could start and endanger the pedestrian, which is located between the vehicle and the following vehicle. But if a safe obstacle detection, this danger can be excluded.
• Figure 1 is a schematic plan view of a vehicle with an inventive
• Figure 2 shows an inventive method sequence for functional testing of a
• the invention can be used for any distance measuring devices having at least two measuring systems, each working with different measuring methods.
• a measuring system may e.g. be an ultrasonic distance measurement.
• Another measuring system may be an infrared system consisting of two or more wide-angle sensors. It is also possible to use a video distance measurement with a camera evaluation, a lidar distance measurement, a radar distance measurement or a sound distance measurement as different measurement methods. It is advantageous, for example, if at least one ultrasonic distance measurement and one radar distance measurement are integrated in a distance measuring device of a vehicle. Therefore, the present invention will be explained below using the example of such a distance measuring device.
• the distance measuring device has at one Vehicle front side 2 on four ultrasonic sensors 3, which are connected via a data bus 4 with an evaluation unit 5 in the vehicle.
• the ultrasonic sensors 3 are driven by the evaluation unit 5 and emit ultrasonic waves in the area in front of the vehicle. These ultrasonic waves are reflected by obstacles in a detection area 6 of the sensors.
• the detection area 6 is shown in dashed lines in the figure 1. It results from a superimposition of the individual sound lobes, which are emitted by the respective sensors.
• the ultrasonic sensors have a range of about 6 m and cover a nearly semicircular area in front of the vehicle. This also targets can be detected, which are not directly in the track of the vehicle, but could move into the driveway. In other embodiments, more or fewer sensors may be used. The range of the sensors can also vary.
• the evaluation unit 5 is further connected to a radar sensor 7, which emits a radar signal in a signal cone preferably in an opening angle 8 of about 7 ° to 15 °.
• the signal cone 14 makes it possible to detect obstacles in the region of the signal cone 14 up to a distance of about 80 m. Optionally, other ranges and detection angle can be realized.
• the evaluation unit 5 processes the distance data received from the ultrasonic sensors 3 and the radar sensor 7 about obstacles in the vehicle environment. In an embodiment which is not shown in FIG. 1, a separate evaluation unit can be provided in each case for the evaluation of the data from the ultrasonic sensors 3 and from the radar sensor 7.
• the evaluation unit 5 is connected in a preferred embodiment with an output unit 9, the driver on obstacles in his travel or in the
• Warnings can be issued acoustically and / or optically via suitable output means to the driver.
• the evaluation unit 5 is connected to a drive train control unit 10 in a preferred embodiment. Via the drive train control unit 10, the vehicle can be decelerated by an automatic braking intervention, but also accelerated by an automatic acceleration according to specification by the evaluation unit 5 in a further preferred embodiment.
• a first mode of operation of the radar sensor 7 is used in cooperation with the evaluation unit 5 and the drive train control unit 10, the speed of the Vehicle 1 to adapt to a speed of a preceding vehicle.
• the distance to the vehicle in front is measured.
• the speed of the vehicle 1 is regulated in such a way that, after a distance regulation predetermined in the evaluation unit 5, a correspondingly predetermined distance to the vehicle in front is set. To keep this distance, the vehicle is either automatically accelerated or automatically braked.
• the ultrasonic sensors 3 are used in particular to monitor when parking in a parking space, the vehicle environment and the driver in front of a
• the vehicle can also be automatically braked before an imminent collision with an obstacle.
• ultrasonic sensors 11 are also arranged on a vehicle rear side 12, which are activated in a reverse drive to the rear
• a vehicle 13 traveling in front of the vehicle 1 has stopped, e.g. when approaching an intersection, as a result of a red traffic light or due to traffic congestion.
• the signal cone 14 of the radar sensor 7 strikes the vehicle rear side 15 of the further vehicle 13 and is reflected from there, as indicated by the double arrow 16.
• the vehicle 1 located behind it also automatically stops and in this case maintains a predetermined minimum distance.
• a typical distance between the vehicle 1 and another, preceding vehicle is between 2.5 and 4 m. If no automatic stop is provided, the driver automatically stops the vehicle 1 at a comparable distance.
• Ultrasonic sensors 3 A standing of the vehicle 1 is determined in this case, for example via wheel speed sensors. If it is determined that the vehicle 1 is stationary and the radar sensor reports that the further vehicle 13 is below a predetermined distance of, for example, 6 m in front of the vehicle 1, then a functional test for the Ultrasonic sensors 3 started. In the functional test, it is checked here whether the ultrasonic sensors 3 also detect the further vehicle 13.
• the ultrasonic sensors 3 If the other vehicle detected by the ultrasonic sensors 3, then the functional test is completed positively and a functioning of the ultrasonic sensors 3 is detected.
• the measuring system consisting of the ultrasonic sensors 3 is now also activated for further measurements. These can now monitor the detection area 6 via direct echo measurements and / or via cross echo measurements. If the further vehicle 13 now starts again, an increase in the distance to the front further vehicle 13 is detected by the radar sensor 7.
• the ultrasonic sensors 3 check whether a further obstacle is detected in the detection area 6.
• a further obstacle could e.g. a bicycle or pedestrian 18 which has moved into the area between the vehicles 1, 13 during the period in which the vehicles 1, 13 have been stationary. If an obstacle is detected in the detection area 6, starting, in particular automatic starting, is prevented. If no obstacle is detected in the detection area 6, the vehicle automatically drives to follow the preceding vehicle at an appropriate distance. In a further embodiment, starting takes place even if an obstacle is detected in the detection area 6, but this obstacle does not occur in a travel path of the obstacle
• Vehicle 1 is located in front of the vehicle 1. Upon reaching a minimum speed of e.g. 20 km / h, the ultrasonic sensors 3 are deactivated while the radar sensor 7 remains activated to track the movement of the preceding vehicle 13.
• a minimum speed of e.g. 20 km / h the ultrasonic sensors 3 are deactivated while the radar sensor 7 remains activated to track the movement of the preceding vehicle 13.
• FIG. 2 shows a sequence of the method according to the invention for functional testing in an inventive use of the distance measuring device. If the vehicle 1 has stopped behind another vehicle 13, then the inventive method for functional testing is initiated with an initialization step 20. In a subsequent measuring step 21, the ultrasonic sensors measure the distance
• a further subsequent first test step 22 it is checked whether the ultrasonic sensors 3 detect the further vehicle 13 standing in front of the vehicle 1. If this is not the case, then the ultrasonic measuring system is not ready to carry out a monitoring of the area in front of the vehicle. A corresponding error message is output in an output step 27 via the output unit 9 to the driver. A later, possibly automatic startup is omitted. If, on the other hand, the further vehicle 13 standing in front of the vehicle 1 is detected, a functioning of the ultrasound sensors 3 is detected in a determination step 23. In a subsequent measuring step 24, the ultrasonic sensors monitor the area in front of the vehicle in their detection area 6, preferably together with the radar sensor 7.
• a second checking step 25 it is checked whether there is still an obstacle in the area in front of the vehicle. If this is the case, then branching back to the measuring step 24 and the measurement is repeated. If no obstacle is detected, then an acceleration step 26 is branched, in which the vehicle is accelerated again to a predetermined
• the acceleration may also be initiated by the driver, e.g. by an operation of a control element on the steering wheel or by a short
• the functional test not only checks whether the ultrasonic sensors 3 detect the obstacle, but also the signals received by the ultrasonic sensors 3 are evaluated.
• the distance measured by the ultrasonic sensors 3 is compared with the distance measured by the radar sensor 7.
• a function of the ultrasonic sensors 3 is detected only when the distance measured by the ultrasonic sensors 3 is within a predetermined interval around the distance measured by the radar sensor 7. If this is not the case will also be a malfunction of
• Ultrasonic sensors 3 detected.
• the amplitude of the reflected signal received by the ultrasonic sensors 3 can also be evaluated. If the amplitude is below a predetermined value, the sensitivity of the ultrasonic sensors 3 could be impaired. Also in this case, a malfunction of the ultrasonic sensors 3 is detected.
• the functional test is carried out at least for all forward-looking sensors, at least in a central region of the vehicle front of the vehicle 1.
• a function of the ultrasonic sensors 3 is detected only when all forward ultrasonic sensors one of the other
• Vehicle 13 detect reflected ultrasonic signal in the functional test. If at least one of the ultrasonic sensors can not detect the signal, a malfunction is determined according to the further embodiment, even if the vehicle is detected by one or more other sensors.

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• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Physics & Mathematics (AREA)
• Computer Networks & Wireless Communication (AREA)
• General Physics & Mathematics (AREA)
• Electromagnetism (AREA)
• Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
• Traffic Control Systems (AREA)

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• 2005
  • 2005-03-03 DE DE102005009702A patent/DE102005009702A1/de not_active Ceased
• 2006
  • 2006-02-24 CN CN2006800067518A patent/CN101133344B/zh not_active Expired - Fee Related
  • 2006-02-24 EP EP06724886A patent/EP1859297A1/de not_active Withdrawn
  • 2006-02-24 US US11/883,967 patent/US7620518B2/en not_active Expired - Fee Related
  • 2006-02-24 WO PCT/EP2006/060273 patent/WO2006092384A1/de active Application Filing

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