EP2893368A1 - Procédé pour générer une courbe de valeurs seuils ainsi que procédé pour évaluer des signaux d'un capteur à ultrasons et dispositif de détection de l'environnement - Google Patents

Procédé pour générer une courbe de valeurs seuils ainsi que procédé pour évaluer des signaux d'un capteur à ultrasons et dispositif de détection de l'environnement

Info

Publication number
EP2893368A1
EP2893368A1 EP13753328.7A EP13753328A EP2893368A1 EP 2893368 A1 EP2893368 A1 EP 2893368A1 EP 13753328 A EP13753328 A EP 13753328A EP 2893368 A1 EP2893368 A1 EP 2893368A1
Authority
EP
European Patent Office
Prior art keywords
support point
threshold curve
time
curve
threshold
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Withdrawn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
EP13753328.7A
Other languages
German (de)
English (en)
Inventor
Michael Hallek
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.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren 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 Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of EP2893368A1 publication Critical patent/EP2893368A1/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Withdrawn legal-status Critical Current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
    • 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
    • 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
    • G01S15/88—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

Definitions

  • the invention relates to a method for producing a
  • driver assistance systems such as a parking assist system, a Spur Lobassis ⁇ tenzsystem, a distance warning system, etc.
  • a membrane is excited by at least one ultrasonic sensor in resonance frequency, wherein the ultrasonic sensor emits ultrasonic waves as a measurement signal in response to the excitation to a predetermined start of transmission time.
  • These emitted ultrasonic waves are reflected by an object to be detected and in turn, as a reflected echo signal, excite the membrane of the at least one ultrasonic sensor.
  • Transfer piezoelectric element which converts this mechanical vibration into an electrical signal and outputs to the evaluation ei ⁇ ne evaluation and control unit.
  • the electrical signal represents in connection with the transmission start time the scarf ⁇ running time and thus the ob ektabstand. Since not only he ⁇ know obstacles or objects reflect the ultrasonic waves re ⁇ , but also unwanted design-related objects or a roadway, measures are provided to hide the undesired interference signals, such as ground reflections.
  • the interference signals are usually masked out by means of threshold values or a threshold curve, wherein the threshold curve is generated from interpolation points, which because they are defined by a temporal position and an amplitude value.
  • the reference points are stored with a pre ⁇ given fixed time interval from the transmission start time and an amplitude value which is determined based on a correspondent pondierenden amplitude value of a to be suppressed interference signal ⁇ pattern to said given time position in a memory in the ultrasonic sensor.
  • the amplitude (intensity) of the received corresponding echo signal must additionally exceed the previously defined threshold curve, so that the echo signal or the echo information is recognized as valid.
  • the threshold curve itself is individually determined and set for each ultrasonic sensor on each vehicle. It will seek a compromise between the sensitivity of the system (low threshold curve) and robustness against disturbances to the fin ⁇ . However, mostly strong disturbances exceed the
  • Threshold curve anyway and thus need to be additionally filtered in a nachge ⁇ switched software evaluation.
  • a downstream filtering is usually very computationally intensive and requires ever more Mes ⁇ solutions for Störschallbetician to make a reliable statement.
  • Helpful laundri ⁇ re information which could detect a fault before the egg ⁇ tual Send.
  • Driver assistance systems are also known from the prior art, in which the ultrasonic sensor first "hears" whether background noise is present before generating a transmission signal, in which case the level of the interference sound is compared with a threshold value. which is later used for the comparison with the echo signal, ie the first zeitli ⁇ surface portion of the threshold curve is for the detection of sturgeon ⁇ sound and the second, subsequent time portion of the
  • Threshold curve is intended to detect objects.
  • the generation of the threshold values is carried out by analogous methods using a capacitor which is charged according to the ge ⁇ desired amplitude value. This correspond the connections between two adjacent nodes the course of a charging curve (increasing e-function) or a discharge curve (falling e-function) of the capacitor. Since the threshold curve has a maximum amplitude value during the transmission process in order to hide the measurement signal, the capacitor is charged to the maximum value at the end of the measurement process. Thus, the capacitor is fully charged at the beginning of each measurement, so that only very strong interference can be detected before the transmission.
  • EP 1 562 050 B1 describes a method and a device for adjusting a threshold value of a defection device.
  • an adaptive threshold scheme is provided wel ⁇ che De Stammionsschwelle the function of external Bege ⁇ ben clarified by the system.
  • a Störpegelmes ⁇ solution is performed in a time interval in which no re ⁇ inflected measurement signal is expected.
  • an adaptive threshold control is made possible whose defection threshold or manipulated variable in a time range, preferably at the end of a measurement cycle is detected, in which no reflected Nutz ⁇ signal occurs with a correspondingly high signal level.
  • the object of the invention is to provide a method for generating a threshold value curve GE in the preamble of claim 1 ⁇ type mentioned, and a method for evaluating signals of an ultrasonic sensor of the type mentioned in the preamble of claim 11 and a corresponding device for
  • the advantage achieved with the invention is that noise can be detected during a measurement without additional loss of time and can be used to assess the validity of detected echo signals.
  • the sensitivity of the noise detection can be adjusted by a parameterized Vorga ⁇ be the amplitude value of the starting support point of the threshold ⁇ curve depending on the installation location and the application.
  • the basic concept of the invention is based on the fact that a first section of the threshold curve, which is arranged before the start of the transmission time window of the measurement signal, is used to detect interference signals or noise, the amplitude value of the start support point of the threshold curve being smaller than the amplitude value the first interpolation point is selected, which marks the beginning of the transmission time window. Since ⁇ through, it is possible in an advantageous manner, the sensitivity of the Störschallerkennung preferably flat so that, weaker interference signals can be detected.
  • the inventive method for producing a threshold ⁇ value curve for the evaluation of signals of an ultrasonic sensor generates provide ⁇ which are each defined by a corresponding amplitude value and a temporal position of the threshold value curve from stored support. moreover A start support point and an end support point of the threshold curve define a measurement time window, wherein between the
  • a first support point is arranged, whose temporal position is set to a transmission start time of a measurement signal. Furthermore, at least one further support point is arranged after the first support point and before the end support point, which adjusts the course of the threshold curve to a Störsignalmuster. According to the invention, the amplitude values of the nodes of the threshold curve are generated digitally. This is for the
  • Start support point given an amplitude value which is klei ⁇ ner than an amplitude value of the first interpolation point, wherein a first portion of the threshold curve, starting from the amplitude ⁇ tudenwert the starting support point increases to the amplitude value of the first interpolation point.
  • the interference signal pattern can be created based on detected interference signals, wherein the amplitude values of the support points are defined and stored in a second section of the threshold curve beginning with the first support point by analysis of the interference signal pattern.
  • the Störsigna ⁇ le can be caused for example as a ground reflections of the road or as reflections of vehicle attachments become.
  • the amplitude values of the transmission time window ⁇ delimiting reference points can be set for example to a maximum amplitude value of the threshold value curve, as during the transmission time window, no Störschallerkennung or echo detection is possible.
  • the threshold curve can from the amplitude value of the starting reference point to the achievement chen of the amplitude value of the first reference point steadily anstei ⁇ gen in the first section of ⁇ possible.
  • the starting reference point for example, by a
  • Start support point, the Endstützstelle and the airtime ⁇ window limiting first and second interpolation points are fixed.
  • the time positions of the support points arranged after the transmission time window and in front of the end support point can be carried out variably.
  • the temporal positio ⁇ NEN the time-varying interpolation points may be defined for example, by analysis of the Störsignalmusters and stored.
  • variable nodes By setting of variable nodes, the number of sampling points for generating a threshold value curve can be reduced, and thus a storage unit in Ult ⁇ raschallsensor can be dimensioned smaller.
  • the time can be selected individually each support point advantageously so that the threshold curve can be better adapted to an existing StörsignalGerman and unwanted noise or floor reflections may be more finalized ⁇ hidden.
  • the second section of the threshold curve can be generated from straight line sections, which each connect two mutually temporally successive support points.
  • the threshold generated by the inventive process curve is preferably used in a method for evaluating signals of an ultrasonic sensor, which is activated at a predetermined start time, the ultrasonic sensor, and a transmission start time emits a measurement signal for a given period of time before ⁇ .
  • the start time and an end time defining a measurement window of time within which background noise and in response to the measurement signal are ⁇ least receive an echo information and evaluated Minim.
  • a first portion of the measurement time window limited from the start time and the start of transmission time is used for the detection of background noise
  • a second portion of the measurement time window limited from the transmission start time and the end time is used for the detection of echo information and for the suppression of background noise
  • ⁇ gener background noise and / or echo received information is compared with the inventive threshold value curve, which is generated from the stored support points, wherein received echo information and noises are hidden whose amplitudes are below the threshold value curve, and are received, ⁇ generate echo signals whose amplitude above the threshold curve be evaluated to determine distances to detected objects.
  • noise which is detected within the first portion of the threshold curve defined as Störsignalmesszeitfessen- be analyzed and evaluated for the evaluation of subsequently detected during the second portion of the threshold curve echo information.
  • the echo information detected during the second section of the threshold curve can be assigned, for example, a weighting factor, the weighting factor being dependent on the noise can be specified, which is detected within the first portion of the threshold curve.
  • the echo information detected during the second section of the threshold curve can be further processed or assigned to a high weighting factor if no background noise is detected within the first section of the threshold curve. This means that the acquired echo information is valid and can be used for the detection of the e-signature.
  • the echo information detected during the second section of the threshold curve can be discarded or assigned to a low weighting factor if interference noise is detected within the first section of the threshold curve whose amplitude values exceed the threshold curve.
  • the ⁇ be indicated that the echo signals detected due to the detected wind noise are not valid and can not be used for Whether ekterkennung.
  • Threshold curve detected background noise for the generation of the interference signal pattern are analyzed and evaluated. This can be used, in particular, to generate variable interpolation points if the interference signal time window arranged before the transmission time window is long enough in time.
  • the device according to the invention for detecting the surroundings in a vehicle for carrying out the above-mentioned methods comprises at least one ultrasonic sensor and an evaluation and control unit.
  • the evaluation and Steuerein ⁇ integrated activates the at least one ultrasonic sensor at a predetermined starting time point which a transmission start time sends a measurement signal via a broadcast starting time window.
  • the evaluation and control unit defines a limited by the start time and an end time measurement time window within which background noise and in response to the Messsig ⁇ nal can be received at least one echo information indicating the Evaluation and control unit evaluates.
  • the evaluation and control unit uses a limited from the start time and the start of transmission time first section of the measuring time ⁇ window for detecting noise, and limited by the transmission start time and the end time second Ab ⁇ section of the measuring time window for the detection of Echoinformatio ⁇ NEN and for suppressing background noise, wherein the evaluation and control unit compares during the evaluation received noise and / or received echo information with a threshold curve, which generates the evaluation and control unit from stored support points with the inventive method described above.
  • the evaluation and control unit displays received echo information from whose Amplitu ⁇ are below the threshold value curve, and evaluates the received echo signals whose amplitude are above the Schwellwertkur ⁇ ve, to determine distances to detected objects from.
  • the evaluation and control unit stores the digitally generated threshold curve in a memory unit.
  • the evaluation and control unit can analyze and evaluate the interference sound detected within the first section of the threshold curve bounded by the start support point and the first support point for the purpose of evaluating subsequently detected echo information during the second section of the threshold curve.
  • the evaluation and control unit can analyze and evaluate the interference sound detected within the first section of the threshold curve defined by the start support point and the first support point in order to generate the interference signal pattern.
  • FIG. 1 is a block diagram of an embodiment of a device according to the invention for detecting the surroundings in a vehicle.
  • FIG. 2 shows a flow chart of an exemplary embodiment of a method according to the invention for generating a threshold curve for evaluating signals of an ultrasonic sensor.
  • Fig. 3 is a characteristic diagram for representing a signal waveform on a digital signal line of an ultrasonic sensor.
  • FIG. 4 is a characteristic diagram for illustrating a threshold value curve generated by the method according to the invention for evaluating signals of an ultrasonic sensor.
  • an exemplary embodiment of a device for detecting surroundings in a vehicle comprises a plurality of ultrasound sensors, which are each connected to a control unit 40 via a digital signal line or a vehicle bus, and of which an ultrasound sensor 10 is represented is.
  • the ultrasonic sensor 10 comprises a transmitting / receiving unit 20, a signal generator 22 for generating a measuring signal 24 which is transmitted via the transmitting / receiving unit 20, an evaluation and control unit 30 and a storage unit 32nd
  • the control device 40 transmits a transmission request signal to the ultrasonic sensor 10 at a time to, which is present at the ultrasonic sensor 10 for the duration of a transmission request time window T ⁇ p.
  • the evaluation and control unit 30 activates in reac ⁇ tion to a rising edge of the transmission request signal, the ultrasonic sensor 10 shown to a predetermined Start time t START ⁇
  • the ultrasonic sensor 10 transmits a measurement signal 24 starting at a transmission start time T s starting at a transmission start time t s _start
  • the evaluation and control unit 30 indicating a start time t START and an end time T END limited measurement time window T measurement defines within which background noise 28 and in response to the measurement signal 24 at least one Echo ⁇ information 26 are receivable, which evaluates the evaluation and control ⁇ unit 30.
  • the evaluation and control unit 30 uses a limited from the start time t START and the transmission start time t s _start first section T MSt ör the Mess ⁇ time window T measurement for detecting noise, 28 and one of the transmission start time t s _start and the end time t ENDE be ⁇ limited second section T MEcho the measuring time window T measurement for detecting echo information 26 and for hiding
  • the evaluation and control unit 30 compares received during the analysis Störschall 28 and / or received echo information 26 with a threshold curve SK D shown in FIG. 4, which the evaluation and control unit 30 from stored nodes S START? S I to Sir S NDE he testifies ⁇ e.
  • the evaluation and control unit 30 fades out received echo information 26 and interference signals whose amplitudes are below the threshold curve SK D , and evaluates received echo information 26 for determining distances to detected objects whose amplitudes are above the threshold curve SK D.
  • the echo information 26 represent a useful signal component and an interference signal are received, the genes ⁇ echo signals.
  • the evaluation and control unit 30 generates the threshold curve SK D digital by executing a fiction, ⁇ the method according disadvantages described below with reference to FIG. 2 to generate a threshold curve and stores the threshold value curve generated in the storage unit 32.
  • the inside of the first portion T MSt ör the threshold curve SK D which is limited by the start support point S START and the first node S i, detected noise is 28 from the evaluation and control unit 30 for evaluating after ⁇ subsequent during the second section T MECHO the threshold ⁇ curve SK D detected echo information 26 analyzed and evaluated.
  • the evaluation and control unit 30 can analyze and evaluate the interference sound 28 detected within the first section T MSt ör of the threshold curve SK D for generating the interference signal pattern .
  • the evaluation and control unit 30 transmits the ultrasonic sensor 10, the useful signal ⁇ portions 26 for example via a bus system or a digital ⁇ le signal line to the control unit 40, which the Nutzsig ⁇ nalanmaschine 26 evaluates for determining distances to detected objects.
  • This distance information can then be used in driver assistance systems 50, such as, for example, a parking aid assistance system 53 and / or a distance warning system 54 and / or a lane change assistance system 56.
  • FIGS. 2 to 4 an embodiment of the inventive method to generate a threshold curve SK D and an embodiment of it ⁇ inventive method for evaluating signals 26, 28 of an ultrasonic sensor 10 described.
  • Fig. 2 shows a flow diagram of one embodiment of the method for generating He ⁇ a threshold curve SK D, in a
  • Step S10 defines the measuring time window T Mess via the starting support point S START and the end support point S END of the threshold curve SK D.
  • Step S20 the temporal position ti arranged between the starting support point S of the START and END Endstützstel ⁇ S le first support point Si is the time t s Sendestart- _st a rt of the measurement signal 24 is set.
  • Step S30 after the first support point Si and before the end support point S END, at least one further support point S2 to S 7 is arranged, which adapt the course of the threshold curve SK D to a disturbance signal pattern.
  • the Start support point S S TART an amplitude value A 3 , A END predetermined, which is smaller than an amplitude value Ai of the first interpolation point S i.
  • SI to S 7, S END of the threshold curve SK D which are to t 7, END t each defined by a corresponding amplitude value Astari, i to A 7, A END, A max and a temporal position t START r ti, and reacted with a digital ⁇ len method generated, wherein a first portion T MS t ör of the threshold curve SK D starting from the amplitude value A 3 , A ENDE of the starting support point S S TART increases to the amplitude value Ai of the first interpolation point SI.
  • the Amplitu ⁇ denwert Ai corresponds to the first support point S i in the illustrated exemplary embodiment the threshold value curve SK D a maximum amplification ⁇ tudenwert A max of the threshold curve D SK.
  • amplitude value As amplitude value
  • an amplitude value A END of the end support point S ENDE of the threshold curve SK D at the end of the measurement time window T Mess or an amplitude value A 3 to A 7 of a support point S 3 to S 7 can be selected the temporal position ti of the first interpolation point Si and a temporal position t, 2 of a second interpolation point S 2 are limited to the transmission time window T transmit .
  • the amplitude value A3 of the third interpolation point S3 as a selectable amplitude value A START for the starting interpolation point S START.
  • the interference signal pattern which is to be masked out with the illustrated threshold curve SK D is generated on the basis of detected interference signals 28, the amplitude values Ai to A 7 , A ENDE of the interpolation points S i to S ENDE starting in the first interpolation point S i second section T ME ch o the Schwell ⁇ value curve SK D defined by analysis of the Störsignalmusters and stored.
  • the amplitude values Ai, A 2 of the transmission time window T transmitting limiting support points S i, S 2 correspond to a maximum amplitude ⁇ value A max of the threshold curve SK D.
  • the temporal position t, 2 the second interpolation point of the threshold curve SK D corresponds to the transmission end time t s _ E nde of the transmission time window T send .
  • the threshold curve SK D increases continuously in the first section T MSt ör starting from the amplitude value A START of the starting support point S S TART until the amplitude value Ai of the first interpolation point S i is reached.
  • the starting support point S START is defined by a straight line with the first supporting point S i, wherein the line segment between a predetermined as the amplitude value A END of Endstützstelle S END amplitude value AS ART of the starting support point S G O dash-dotted lines is Darge ⁇ represents, and wherein the line segment between a given as amplitude value A 3 of the third node S3 Amplitu ⁇ value AS ART of the starting support point S S TART dashed Darge ⁇ represents is.
  • the threshold value curve SK D at least the temporal Po sitions ⁇ t START END rt r ti, t 2 the starting support alarm z ste 1 1e S G O? the end support point S END and the transmission time window T Sen de ⁇ limiting first and second nodes S i, S 2 fixed.
  • the temporal positions t 3 to t 7 of the arranged after the Sendezeitfens- ter Tsende and before Endstützstelle S E NDE support S 3 to provide S 7 can be set depending on the used ultrasonic sensor 1 0 fixed or variable.
  • the time positions t3 to t 7 of the time-variable interpolation points S 3 to S 7 can be defined and stored, for example, by analysis of the interference signal pattern.
  • the second section T mecho the threshold curve D SK is generated from straight lines connecting in each case two temporally consecu- deressede support points S i to S END together.
  • Discharge curve (falling e-function) of a capacitor the is used for the analog method for generating the analog threshold curve SK A.
  • the capacitor is charged according to the measuring time window T measurement on the maximum amplitude value A max, so that as the amplitude value A START for the start ⁇ support point S START also the maximum amplitude value A max is given.
  • Threshold curve SK D is preferably used in a method for evaluating signals 26, 28 of an ultrasonic sensor 10.
  • the ultrasonic sensor 10 is activated at a predetermined start time t START .
  • the activation takes place for example by a rising edge of a trigger pulse as a transmission request on the digital signal line, which is generated by the control unit 40 and transmitted to the ultrasonic sensor 10.
  • the ultrasonic sensor 10 receives this pulse or demand this transmitting and starts after a short delay T D (de lay) to the transmission start time t s _start with the emitting Ult ⁇ raschallwellen as the measurement signal 24 and provides in response to the transmitted measurement signal 24 received echo information as runtime information (Time of Flight) to the control unit 40 back.
  • echo time window T echo is limited by an echo start time TE_start and Echoendzeittician T E _ end Echoin ⁇ formations detected.
  • the echo Informa ⁇ tions exceed the echo start time T E _ sta rt the threshold curve SK D and the echo end time T E _ the end of the echo Informa ⁇ tions below the threshold curve SK D again.
  • Control unit 30 or the control unit 40 calculates the object distance based ⁇ the lapse of time between a rising edge of the transmission request at the time t START and a falling flank of the echo information to the echo end time T E _ end. Also, the transmission start time t s _start and the end of the transmission time t s _ end of the transmission process and thus the transmission time window T Send of the transmission process are known.
  • the tarry ⁇ tion T D (delay) between the transmission requirement and the transmission process is constant in the undisturbed case.
  • the measurement signal 24 is emitted transmission for a predetermined period of time T, wherein the start time S START and the end time define S END the threshold ⁇ value curve SK D, a measurement time window T measurement, within which interference noise 28 and in response to the sensor signal 24 at least an echo information 26 be received and evaluated.
  • the time from the start t START and the transmission start time point t s _s tart limited first section T MStör of Messzeitfens ⁇ ters T measurement is for the detection of noise field 28 is used, and the sending start time t s _s tart and the end time t END limited second section T MEcho of the measuring time window T measurement is used for the detection of echo information 26 and for suppressing interference sound 28.
  • the delay time interval T D (delay) is used for the noise detection. From the time of the transmission request t START , the ultrasonic sensor 10 supplies the background noise 28 and / or echo information 26, whereby the emitted ultrasonic waves are also considered as echo information, to the control unit 40.
  • the illustrated delay time interval T D (Delay) is not a delay on the signal line, but an internal delay in the ultrasonic sensor 10. Should now meet within the delay time period T D echo information on the ultrasonic sensor 10, the ultrasonic sensor 10 will report this echo information to the controller 40. Thus, the ultrasonic sensor 10 already detects an echo formation before an ultrasonic signal is sent out as a measuring signal 24 ⁇ . This echo information can be interpreted as noise 28 in ⁇ .
  • this echo information prolongs the transmission time window T Send forward because the background noise 28 also excites the ultrasound sensor 10 to transmit, so that the falling edge of the transmission time window T Send shown in dashed lines earlier than expected before the Eigent ⁇ union transmission start time T s _ sta rt at a time t s up occurs, at which the amplitude of the noise or interference ⁇ echo information 28, the threshold curve D exceeds SK.
  • the threshold curve D SK exceed in order to be transmitted to the control unit 40th
  • the evaluation and control unit 30 or the control unit 40 analyze the interference sound 28, which is detected within the first section of the threshold curve SK D defined as the interference signal measurement time window T MSt ör, for the evaluation of subsequently during the second section T MEcho the threshold value ⁇ curve SK D detected echo information 26.
  • the threshold curve D SK no interference sound 28th This means that the detected echo information 26 is valid and can be used for the recognition of the eighth.
  • the echo information 26 detected during the second section T MEcho of the threshold curve SK D is assigned a weighting factor, which is predetermined as a function of the background noise 28 is detected within the first section T MSt ör the threshold curve SK D.
  • the echo information 26 detected during the second section T MEcho of the threshold curve SK D can be assigned a high weighting factor if no background noise 28 is detected within the first section T MSt ör of the threshold curve SK D.
  • the Detek ⁇ oriented during the second portion T mecho the threshold curve SK D echo information are assigned 26, a low weighting factor, when it is detected within the first section T MSt ör the threshold curve SK D background noise 28, the amplitude values exceed the threshold value curve SK D.
  • Fig. 4 shows a typical threshold curve SK D with an elevation for the suppression of ground reflections. Also visible is the time ti and the amplitude value Ai of the first node Si, with which the transmission process T send begins.
  • the starting support point S START before the first support point may be configured as a start amplitude value A with START ver ⁇ different amplitude values A END, a 3. Shown are two possible ones

Abstract

L'invention concerne un procédé pour générer une courbe de valeurs seuils (SKD) pour l'évaluation de signaux d'un capteur à ultrasons, la courbe de valeurs seuils (SKD) étant générée à partir de points d'appui mis en mémoire (SSTART, S1 à S7, SENDE), lesquels sont respectivement définis par une valeur d'amplitude correspondante (ASTART, A1 à A7, AENDE, Amax) et une position temporelle (tSTART, t1 à t7, tENDE). Un point d'appui de début (SSTART) et un point d'appui de fin (SENDE) de la courbe de valeurs seuils (SKD) définissent une fenêtre de temps de mesure. Un premier point d'appui (S1) dont la position temporelle (t1) est fixée sur un point de temps de début d'émission (tS_Start) d'un signal de mesure est disposé entre le point d'appui de début (SSTART) et le point d'appui de fin (SENDE). Au moins un autre point d'appui (S2 à S7) qui adapte l'allure de la courbe de valeurs seuils (SKD) à un modèle de signal parasite est disposé après le premier point d'appui (S1) et avant le point d'appui de fin (SENDE). L'invention concerne également un procédé pour évaluer des signaux d'un capteur à ultrasons et un dispositif de détection de l'environnement dans un véhicule, lesquels utilisent le procédé selon l'invention pour générer une courbe de valeurs seuils (SKD). Pour rendre possible un avis fiable sur la validité des signaux d'écho détectés, les valeurs d'amplitude (ASTART, A1 à A7, AENDE, Amax) des points d'appui (SSTART, S1 à S7, SENDE) de la courbe de valeurs seuils (SKD) sont générées numériquement, une valeur d'amplitude (A3, AENDE) qui est plus petite qu'une valeur d'amplitude (A1) du premier point d'appui (S1) étant prédéfinie pour le point d'appui de début (SSTART) et une première partie (TMStör) de la courbe de valeurs seuils (SKD) se haussant en partant de la valeur d'amplitude (A3, AENDE) du point d'appui de début (SSTART) à la valeur d'amplitude (A1) du premier point d'appui (S1).
EP13753328.7A 2012-09-07 2013-08-29 Procédé pour générer une courbe de valeurs seuils ainsi que procédé pour évaluer des signaux d'un capteur à ultrasons et dispositif de détection de l'environnement Withdrawn EP2893368A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012017667.8A DE102012017667A1 (de) 2012-09-07 2012-09-07 Verfahren zur Erzeugung einer Schwellwertkurve sowie Verfahren zur Auswertung von Signalen eines Ultraschallsensors und Vorrichtung zur Umfelderfassung
PCT/EP2013/067859 WO2014037269A1 (fr) 2012-09-07 2013-08-29 Procédé pour générer une courbe de valeurs seuils ainsi que procédé pour évaluer des signaux d'un capteur à ultrasons et dispositif de détection de l'environnement

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DE102015211467B3 (de) * 2015-06-22 2016-05-04 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Einstellung der Empfindlichkeit eines Ultraschallsensors
DE102018111854A1 (de) * 2018-05-17 2019-11-21 Valeo Schalter Und Sensoren Gmbh Verfahren zum Schätzen einer Höhe eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs mittels eines Ultraschallsensors durch Bestimmung von Wahrscheinlichkeitswerten und Extraktion von Parametern
CN116760466B (zh) * 2023-08-23 2023-11-28 青岛诺克通信技术有限公司 一种光缆定位方法及系统

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