EP2380037A1 - Procédé et dispositif d'amplification d'un signal approprié pour la détection de l'environnement d'un véhicule - Google Patents

Procédé et dispositif d'amplification d'un signal approprié pour la détection de l'environnement d'un véhicule

Info

Publication number
EP2380037A1
EP2380037A1 EP09749068A EP09749068A EP2380037A1 EP 2380037 A1 EP2380037 A1 EP 2380037A1 EP 09749068 A EP09749068 A EP 09749068A EP 09749068 A EP09749068 A EP 09749068A EP 2380037 A1 EP2380037 A1 EP 2380037A1
Authority
EP
European Patent Office
Prior art keywords
signal
gain
echo signal
time
echo
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.)
Withdrawn
Application number
EP09749068A
Other languages
German (de)
English (en)
Inventor
Matthias Karl
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2380037A1 publication Critical patent/EP2380037A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/529—Gain of receiver varied automatically during pulse-recurrence period

Definitions

  • the present invention relates to a method according to claim 1, a device according to claim 11 and a computer program product according to claim 12.
  • Ultrasonic sensors are used to detect objects in an environment of a vehicle. These are installed remotely around the vehicle. The ultrasonic sensors are designed to receive echoes sent out and to a central one by means of transmission lines
  • FIG. 8 shows a schematic representation of an arrangement for vehicle environment detection according to the prior art. Shown is a vehicle 800 having a first converter 801, a second converter 802, a third converter
  • the transducers 801, 802, 803, 804 may be disposed on an outside of the vehicle 800.
  • the transducers 801, 802, 803, 804 can each be designed as ultrasonic transmitters and receivers. Thus, the transducers 801, 802, 803, 804 can receive both ultrasonic signals and their reflections.
  • the converters 801, 802, 803, 804 are connected via transmission lines 805, 806, 807, 808 to a central signal processor 809.
  • the central signal processing 809 is designed to detect an object in the vehicle environment based on the received signals.
  • the number of transducers 801, 802, 803, 804 is exemplified and may be increased or decreased in accordance with the requirements of vehicle surroundings detection. Fig.
  • the decentralized sensor has a converter 801.
  • the transducer 801 may be implemented as an acoustic-to-electrical converter and is suitable for use with the vehicle surroundings detection shown in FIG. 8.
  • the distributed sensor further has an interface 912 to a transmission line, via which the decentralized sensor can be coupled to the central signal processor 809 shown in FIG. 8.
  • the distributed sensor is configured to filter and amplify a signal received by the converter 801.
  • the decentralized sensor has an amplifier device with an amplifier 913, a
  • the amplifiers 913, 918 are mostly combined with filters 915, 917, 919 with band-pass characteristics, or the filters 915, 917, 919 are integrated into the amplifiers.
  • the transmittable signal dynamics are determined on the one hand by the maximum permissible emission of the transmission line 805, 806, 807, 808 or by the maximum signal strength which can be generated with little effort and on the other hand by the coupling into the transmission lines 805, 806, 807, 808 Disturbances limited.
  • the amplitude compression 916 shown in FIG. 9 is frequently carried out in the case of analog transmission. Amplitude compression 916 may be performed by a logarithmic curve.
  • FIG. 10 shows a logarithmic characteristic suitable for amplitude compression.
  • the degree of compression is shown in the shown logarithmic curve.
  • variable A the variable A of the fixed amplification architecture described in particular.
  • DE 42 08 595 A1 describes a device for distance measurement with ultrasound.
  • the distance between transmitter and receiver is determined. Since the height of the echo signal depends inter alia on the distance between transmitter and receiver, inaccuracies in the evaluation of the echo signal may occur. These can be avoided by changing a switching threshold or by changing the amplification of the echo signal or by influencing the radiated signal as a function of the previously received echo signal.
  • the change in the gain of the echo signal is carried out in response to an envelope shape of a previous echo signal.
  • the disadvantage here is that the set gain for the current echo signal may be inappropriate if the current echo signal deviates from a previous echo signal in an unforeseen way.
  • the required evaluation of the envelope shape of the previous echo signal is complex and expensive.
  • the present invention proposes a method for amplifying an echo signal suitable for vehicle environment detection, a method for vehicle environment detection, furthermore a device which uses these methods and finally a corresponding computer program product according to the independent patent claims.
  • Advantageous embodiments emerge from the respective subclaims and the following description.
  • the invention is based on the recognition that in the pulse transit time measuring systems, the receiving sensitivity to compensate for the room attenuation can be continuously tracked to analyze the received pulses with little effort in terms of their amplitude.
  • the approach according to the invention also enables a distortion-free and low-interference analog transmission of the received echo.
  • the inventive approach can thus be used advantageously in ultrasonic driver assistance systems.
  • the present invention provides a method of amplifying an echo signal suitable for vehicle surroundings detection, comprising the steps of: amplifying the echo signal with a gain factor dependent on a propagation time of the echo signal; and providing an amplified echo signal to an interface.
  • the echo signal may be a reflection of a
  • the transmission signal can be emitted for detection of an object in the vehicle surroundings by a sensor arranged on the vehicle.
  • the transmission signal may be an ultrasonic signal.
  • the duration of the echo signal may define a time duration between a transmission of the transmission signal and a reception of the echo signal.
  • the echo delay loss resulting from the echo propagation time can be compensated for.
  • the gain may have a greater value for a longer runtime than for a shorter runtime.
  • a value of the amplification factor may increase between a first time and a later second time in accordance with a predetermined amplification function. In this way, the gain can be continuously adjusted while waiting for the arrival of the echo signal. In this case, the change of the amplification factor for each expected echo signal can be repeated in the same way. When the echo signal arrives, the amplification factor can then have a value optimally adapted to the transit time. Due to the continuous change of the amplification factor, it is not necessary to determine the propagation time of the echo signal separately.
  • the first time may be a predetermined time after a transmission time of the transmission signal.
  • the predetermined gain function may be defined by a linear function, an exponential function, a power function or a jump function.
  • the method according to the invention may comprise a step of calibrating the amplification factor based on an echo signal serving as a reference, wherein the reference signal serving as echo signal represents a reflection of a reference transmission signal.
  • the reference transmission signal may have a course optimized for calibration.
  • the reference transmission signal may be a static signal having a predetermined reference value.
  • the transmission of the reference transmission signal with a predetermined reference value is advantageous when acoustic interferers occur that have no stationary size statistically.
  • the predetermined reference value of the reference transmission signal can approach zero or be zero.
  • the interference signal of the acoustic interferers is received as a supposed echo signal.
  • the calibration it is possible to compensate for variations in the amplification that occur, for example, in the case of simple analog circuits in the case of temperature fluctuations.
  • the inventive method may further comprise a step of amplitude compression of the echo signal.
  • signal strengths that are too large for further transmission can be compressed.
  • the echo signal can be compressed both before and after amplification.
  • the method may include a step of transmitting the amplified echo signal to an interface of central signal processing, wherein the central signal processing may be adapted to detect a vehicle environment based on a plurality of echo signals.
  • the transmission can be wired or wireless. In this way, the gain of the echo signal can be performed decentralized.
  • the present invention further provides a method for vehicle surroundings detection based on a plurality of echo signals, comprising the steps of: amplifying at least one of the plurality of echo signals according to the inventive method for amplifying an echo signal suitable for vehicle surroundings detection; and evaluating the at least one amplified echo signal and the remainder of the plurality of echo signals to detect a vehicle environment.
  • the inventive approach can be used in conjunction with known arrangements for vehicle environment detection.
  • Also of advantage is a computer program product with program code, which is stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and is used to carry out the method according to one of the embodiments described above, when the program is executed on a control unit ,
  • the signal strength of an analog signal transmitted on the transmission line between the sensor and central signal evaluation does not decrease in the usual measure for the room attenuation.
  • the gain of a constant acoustic pulse in the receiver changes depending on the time of arrival of the acoustic pulse to the receiver.
  • FIG. 1 shows a flow chart of an embodiment of a method according to the invention
  • FIG. 2 is a block diagram of a remote sensor according to an embodiment of the present invention
  • FIGS. 3 a to 3 d show timing diagrams for transmitting the transmission start of a transmission pulse, according to an exemplary embodiment of the present invention
  • Fig. 5 is a circuit diagram of an adjustable gain, according to an embodiment of the present invention.
  • FIG. 6 is a graph showing a stepwise gain characteristic according to an embodiment of the present invention.
  • Fig. 7 is a circuit diagram of an adjustable gain, according to another embodiment of the present invention.
  • FIG. 8 shows a schematic illustration of an arrangement for vehicle surroundings detection, according to the prior art
  • FIG. 9 is a block diagram of a decentralized sensor according to the prior art
  • FIG. 1 shows a flow chart of a method for amplifying an echo signal suitable for vehicle environment detection in accordance with an embodiment of the present invention.
  • a received echo signal is amplified.
  • An amplification factor on which the amplification is based is dependent on a transit time of the echo signal.
  • an amplified echo signal is provided to an interface. The amplified echo signal can be output for further evaluation via the interface.
  • the amplification factor may have a greater value for a longer transit time than for a shorter transit time.
  • the change of the amplification factor can be synchronized with the duration of the echo signal.
  • the currently current value of the changing amplification factor can be selected and used to amplify the echo signal.
  • the method according to the invention can be used in conjunction with an arrangement for vehicle surroundings detection, as shown in FIG. 8.
  • the method can be implemented in a decentralized sensor of an arrangement for vehicle surroundings detection.
  • the echo signals received by one, several or all of the transducers shown in FIG. 8 can be amplified by means of the method according to the invention and relayed via transmission channels to the central signal processing.
  • at least one of the plurality of echo signals may be amplified according to the method of the present invention.
  • the detection of an object in the vehicle environment can then be based either only on echo signals which are amplified according to the invention or on a combination of inventive and conventionally amplified echo signals.
  • the decentralized sensor has a converter 21 1.
  • the converter is configured to receive an echo signal.
  • the transducer 21 1 may be formed as an acoustic-electric converter and used for the vehicle environment detection shown in Fig. 8.
  • the decentralized sensor is designed to detect the received echo signal. strengthen and provide as an amplified echo signal at an interface 212.
  • the amplified echo signal may be provided as an analog signal for transmission to central signal processing.
  • the distributed sensor has an amplifier device with a variable amplifier 213.
  • the amplifier device is designed to amplify the received echo signal and to provide it as an amplified echo signal to the interface 212.
  • the variable amplifier 213 may be driven by a gain controller 214.
  • the gain controller 214 may be configured to increase the gain of the variable gain amplifier 213 as the gain increases
  • the gain controller 214 may be coupled to the interface 212. Furthermore, the gain control 214 may have an interface for synchronization with a transmission time of the echo signal or of a transmission signal on which the echo signal is based.
  • the amplifier device may further comprise a bandpass filter 215 and optionally an amplitude compression device 216.
  • the bandpass filter 215 may filter the signal provided by the variable gain amplifier 213.
  • the amplitude compression device 216 may perform amplitude compression of the filtered signal and provide a compressed signal to the interface 212.
  • the decentralized sensor may further comprise a further bandpass filter 217 and a further amplifier device with an amplifier 218 and another bandpass filter
  • the further bandpass 219 is designed to filter the echo signal provided by the converter 21 1 and to provide it to the amplifier 218.
  • the further bandpass 219 is designed to filter the echo signal preamplified by the amplifier 218 and to provide it to the variable amplifier 213.
  • the approach according to the invention is based on the recognition that echoes with a longer transit time T generally have a lower signal strength, since they As a result, the room attenuation are attenuated stronger than short-term echoes. This results from the fact that for the echo strength applies:
  • the size k 4 is not subject to closer inspection.
  • the space attenuation increases with increasing object distance d, where the increase per object is: 1, 5 ⁇ x ⁇ 4.
  • FIG. 1 A corresponding receiver architecture of the decentralized sensors is shown in FIG. In contrast to the amplifier shown in FIG.
  • At least one receiving amplifier 213 whose gain is variable and can be varied by means of a gain control 214.
  • the timing of the receive amplification 213 should preferably run synchronously with the transmit pulse and thus also synchronously with the reflected echo signal.
  • Figures 3a to 3d represent possible timing schemes for easy transmission of the transmission start of the transmission pulse to all sensors of an arrangement for vehicle environment detection. If the receiver, as shown in Fig. 8, connected by means of transmission lines to a central signal processing, so the control center can tell all receivers the start of transmission of the pulse whose reflection represents the echo signal. This can e.g. be effected in that the supply voltage or the supply current to the decentralized sensors differs during the transmission of the pulse. By transmitting the transmission start, the amplification factor can be synchronized with the transit time of the echo signal.
  • 3b shows a voltage curve U in a receiving sensor, plotted against the time T.
  • T P From time T P , the voltage again has the constant value of 8V.
  • FIG. 3c shows a voltage curve U in the case of a further receiving sensor, plotted over time T.
  • the voltage curve corresponds to the voltage curve shown in FIG. 3b.
  • the transmitting sensor is informed by transmission of a clock signal that it is to transmit, while the receiving sensors are notified by means of a digital jump of duration T P that another sensor is currently transmitting.
  • the predetermined gain function may be defined by a linear function, an exponential function, a power function or a jump function.
  • the basic principle of all curves 321, 322, 323 is here that the gain preferably starts from a basic gain V 0 and with a maximum gain V ⁇ or
  • V max should end.
  • the basic gain should be chosen so that important strong echoes are still transmitted without distortion and the maximum gain is at most in the order of magnitude of the in-band background noise.
  • Vp ( ⁇ ) K 1 (T - Tp - T D ) X + V 0 , where x « 2.5
  • V * ( ⁇ ) % - lk) e ** + I? «.
  • FIG. 4 shows an embodiment of a profile of a gain characteristic 424 that is realized by approximating a plurality of curve pieces.
  • the gain V ( ⁇ ) may have a maximum value V ⁇ .
  • the gain may be at a value
  • V 0 fall and remain at the time V P + T D at the value V 0 .
  • the gain can increase until the value V ⁇ is reached .
  • the steepness of the rise of the gain curve 424 is increased in four steps.
  • Fig. 5 shows a circuit diagram of an adjustable gain, which is realized according to this embodiment by means of steepness modulation.
  • the slope modulation can be realized by means of a known slope multiplier, which is characterized by the characteristic curve
  • a first gain characteristic 625 has a time equidistant gain change.
  • a second gain characteristic 626 has an amplitude equidistant gain change.
  • the gain may have a maximum value V ⁇ .
  • the gain may fall and remain until the time T P + T D at the value V 0, the gain for example to a value V. From the time T P + T D , the gain can increase abruptly until the value V max is reached .
  • the first gain characteristic 625 increases in four steps from the value V 0 to the value V max .
  • the second gain characteristic 625 increases in five steps from the value V 0 to the value V max .
  • FIG. 7 shows a circuit diagram of a realization of an abrupt gain, as shown in FIG. Shown is a particularly simple variant of the sudden change in gain, as described, for example, in US Pat. caused by a gain switching.
  • the gain of the circuit shown in Fig. 7 can be changed abruptly by switching on or off resistors. The switching of the resistors can be done by the gain control shown in FIG.
  • the signal distortion caused by the sudden change in amplification can preferably be compensated by means of digital signal processing.
  • all the sensors may be controlled as receiving sensors, as shown in Figures 3b and 3c, and the acoustic noise may be used as a reference by multiple correlation if necessary.
  • the central signal processing can determine from the time course of the signals from the reception amplifiers of the decentralized sensors the time profile of the respective amplification. It is assumed that the acoustic interferers are at least statistically a stationary size.
  • At least one sensor can be set as "continuous tone transmitter" and all other sensors can, as in the
  • Figures 3b and 3c shown as receiving sensors are driven. If necessary, the continuous tone signals can be used as a reference by means of multiple correlation. In this case, the central signal processing can determine from the time course of the signals from the reception amplifiers of the decentralized sensors the time profile of the respective amplification. This active
  • Variant can be preferably used when the acoustic interferers are not even statistically a stationary size. In this method of amplifier calibration, it must be ensured that, in principle, the signals of the
  • Echoes that are noticeably stronger than the continuous tone signal can be filtered out.
  • At least one of the gain quantities may have a value known to the central signal processing.
  • the cost of the self-calibration can be limited by this fixed reference to the determination of the relative change to this reference.
  • the calibration may be performed by the gain driver shown in FIG.
  • the gain driver may receive a calibration signal from the central signal processing shown in FIG.
  • the central signal processing can determine the calibration signal based on a reference echo signal.
  • the echo signal serving as a reference can represent a reflection of a reference transmission signal that, according to the exemplary embodiments described, can be a continuous tone signal with a predetermined reference value.
  • the predetermined reference value may also be a zero value, so that no reference transmission signal is transmitted.
  • the receivers can still be controlled as if a transmission signal were sent out.
  • the receive Receiver in this case, however, interference signals.
  • the interference signals can be forwarded to the central signal processing for evaluation.
  • the propagation-time-dependent amplification can preferably be designed for the optimum transmission of the small signals. Too large signal strengths of large signals can be compressed in this case with the amplitude compression shown in Fig. 2.
  • the present invention provides a system for vehicle surroundings detection by means of pulse echo modulation which decentrally amplifies the strength of a received signal before being transmitted over a transmission link, e.g. a line or a radio link is transmitted analogously to a central signal processing.
  • a transmission link e.g. a line or a radio link is transmitted analogously to a central signal processing.
  • at least the gain of one of the decentralized amplifying receivers can be dependent on a time interval between transmission of a transmission pulse up to arrival of a reception echo.
  • the amplification can start from a basic gain VO and end with a maximum gain V ⁇ .
  • the gain can also increase with the transit time T and be approximated by sections of curve pieces.
  • a variation of the gain in time or gain value can by means of
  • Reference signal calibrated preferably at least one of the gain values base gain V 0 and / or maximum gain V ⁇ require no calibration during the operating time.
  • a calibration reference of the reception gain a strength of a stochastic stationary noise signal can be used.
  • the calibration reference of the receive gain can be a from the System self-generated reference signal, such as a continuous tone used.
  • the amplification can be switched over in a jump, whereby preferably the times and the respective amplification values of the central signal processing are known. Also, the gain can be jumped over, with the course of the sudden gain change must be calibrated by the central signal processing.
  • Switching elements and different circuit architecture can be replaced.
  • the method according to the invention can also be used with other suitable signal types.
  • individual process steps can be performed in different order or multiple times.

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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)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention concerne un procédé d'amplification d'un signal d'écho approprié pour la détection de l'environnement d'un véhicule comprenant une étape d'amplification du signal d'écho avec un facteur d'amplification qui dépend du temps de propagation du signal d'écho et une étape de délivrance d'un signal d'écho amplifié sur une interface (212).
EP09749068A 2008-12-17 2009-11-02 Procédé et dispositif d'amplification d'un signal approprié pour la détection de l'environnement d'un véhicule Withdrawn EP2380037A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008054789A DE102008054789A1 (de) 2008-12-17 2008-12-17 Verfahren und Vorrichtung zum Verstärken eines zur Fahrzeugumfelddetektion geeigneten Signals
PCT/EP2009/064421 WO2010076061A1 (fr) 2008-12-17 2009-11-02 Procédé et dispositif d'amplification d'un signal approprié pour la détection de l'environnement d'un véhicule

Publications (1)

Publication Number Publication Date
EP2380037A1 true EP2380037A1 (fr) 2011-10-26

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EP09749068A Withdrawn EP2380037A1 (fr) 2008-12-17 2009-11-02 Procédé et dispositif d'amplification d'un signal approprié pour la détection de l'environnement d'un véhicule

Country Status (3)

Country Link
EP (1) EP2380037A1 (fr)
DE (1) DE102008054789A1 (fr)
WO (1) WO2010076061A1 (fr)

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DE102011077578A1 (de) 2011-06-16 2012-12-20 Robert Bosch Gmbh Verfahren und Vorrichtung zum Verstärken eines zur Fahrzeugumfelddetektion geeigneten Echosignals
DE102011082479A1 (de) 2011-09-12 2013-03-14 Robert Bosch Gmbh Verfahren zum Verstärken eines zur Fahrzeugumfelddetektion geeigneten Echosignals und Vorrichtung zum Durchführen des Verfahrens
DE102011083337A1 (de) 2011-09-23 2013-03-28 Robert Bosch Gmbh Verfahren zur Erfassung der Fahrzeugumgebung eines Fahrzeuges mittels Ultraschall und Vorrichtung zum Durchführen des Verfahrens
DE102011088225A1 (de) 2011-12-12 2013-06-13 Robert Bosch Gmbh Verfahren und Einrichtung zur Umfelderfassung eines Bewegungshilfsmittels mittels von pulsförmig ausgesendeten Schallsignalen
DE102012200017A1 (de) 2012-01-02 2013-07-04 Robert Bosch Gmbh Vorrichtung zur Erfassung von analogen Signalen sowie Verfahren zum Betreiben der Vorrichtung
DE102012200743A1 (de) 2012-01-19 2013-07-25 Robert Bosch Gmbh Verfahren zur Bestimmung der Position und/oder der Bewegung mindestens eines Objektes in der Umgebung eines Fahrzeuges und/oder zur Informationsübertragung mittels mindestens eines gesendeten akustischen Signals und Umfelderfassungsvorrichtung zum Durchführen des Verfahrens
DE102012200729A1 (de) 2012-01-19 2013-07-25 Robert Bosch Gmbh Verfahren und Umfelderfassungsvorrichtung zur Bestimmung der Position und/oder der Bewegung mindestens eines Objektes in der Umgebung eines Fahrzeuges mittels von an dem Objekt reflektierten akustischen Signalen
DE102012200991A1 (de) 2012-01-24 2013-07-25 Robert Bosch Gmbh Umfelderfassungsvorrichtung und dazugehöriges Verfahren zur Bestimmung der Position und/oder der Bewegung von einem Objekt
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WO2010076061A1 (fr) 2010-07-08
DE102008054789A1 (de) 2010-07-15

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